My Marlin configs for Fabrikator Mini and CTC i3 Pro B
您最多选择25个主题 主题必须以字母或数字开头,可以包含连字符 (-),并且长度不得超过35个字符

Marlin_main.cpp 149KB

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  1. /* -*- c++ -*- */
  2. /*
  3. Reprap firmware based on Sprinter and grbl.
  4. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  5. This program is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. This program is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with this program. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /*
  17. This firmware is a mashup between Sprinter and grbl.
  18. (https://github.com/kliment/Sprinter)
  19. (https://github.com/simen/grbl/tree)
  20. It has preliminary support for Matthew Roberts advance algorithm
  21. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  22. */
  23. #include "Marlin.h"
  24. #ifdef ENABLE_AUTO_BED_LEVELING
  25. #include "vector_3.h"
  26. #ifdef AUTO_BED_LEVELING_GRID
  27. #include "qr_solve.h"
  28. #endif
  29. #endif // ENABLE_AUTO_BED_LEVELING
  30. #include "ultralcd.h"
  31. #include "planner.h"
  32. #include "stepper.h"
  33. #include "temperature.h"
  34. #include "motion_control.h"
  35. #include "cardreader.h"
  36. #include "watchdog.h"
  37. #include "ConfigurationStore.h"
  38. #include "language.h"
  39. #include "pins_arduino.h"
  40. #include "math.h"
  41. #ifdef BLINKM
  42. #include "BlinkM.h"
  43. #include "Wire.h"
  44. #endif
  45. #if NUM_SERVOS > 0
  46. #include "Servo.h"
  47. #endif
  48. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  49. #include <SPI.h>
  50. #endif
  51. #define VERSION_STRING "1.0.0"
  52. // look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
  53. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  54. //Implemented Codes
  55. //-------------------
  56. // G0 -> G1
  57. // G1 - Coordinated Movement X Y Z E
  58. // G2 - CW ARC
  59. // G3 - CCW ARC
  60. // G4 - Dwell S<seconds> or P<milliseconds>
  61. // G10 - retract filament according to settings of M207
  62. // G11 - retract recover filament according to settings of M208
  63. // G28 - Home all Axis
  64. // G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  65. // G30 - Single Z Probe, probes bed at current XY location.
  66. // G31 - Dock sled (Z_PROBE_SLED only)
  67. // G32 - Undock sled (Z_PROBE_SLED only)
  68. // G90 - Use Absolute Coordinates
  69. // G91 - Use Relative Coordinates
  70. // G92 - Set current position to coordinates given
  71. // M Codes
  72. // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  73. // M1 - Same as M0
  74. // M17 - Enable/Power all stepper motors
  75. // M18 - Disable all stepper motors; same as M84
  76. // M20 - List SD card
  77. // M21 - Init SD card
  78. // M22 - Release SD card
  79. // M23 - Select SD file (M23 filename.g)
  80. // M24 - Start/resume SD print
  81. // M25 - Pause SD print
  82. // M26 - Set SD position in bytes (M26 S12345)
  83. // M27 - Report SD print status
  84. // M28 - Start SD write (M28 filename.g)
  85. // M29 - Stop SD write
  86. // M30 - Delete file from SD (M30 filename.g)
  87. // M31 - Output time since last M109 or SD card start to serial
  88. // M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  89. // syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  90. // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  91. // The '#' is necessary when calling from within sd files, as it stops buffer prereading
  92. // 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.
  93. // M80 - Turn on Power Supply
  94. // M81 - Turn off Power Supply
  95. // M82 - Set E codes absolute (default)
  96. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  97. // M84 - Disable steppers until next move,
  98. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  99. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  100. // M92 - Set axis_steps_per_unit - same syntax as G92
  101. // M104 - Set extruder target temp
  102. // M105 - Read current temp
  103. // M106 - Fan on
  104. // M107 - Fan off
  105. // M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  106. // Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  107. // IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  108. // M112 - Emergency stop
  109. // M114 - Output current position to serial port
  110. // M115 - Capabilities string
  111. // M117 - display message
  112. // M119 - Output Endstop status to serial port
  113. // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  114. // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  115. // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  116. // M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  117. // M140 - Set bed target temp
  118. // 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.
  119. // M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  120. // Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  121. // M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  122. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  123. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  124. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  125. // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  126. // 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
  127. // M206 - set additional homing offset
  128. // M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
  129. // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
  130. // 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.
  131. // M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  132. // M220 S<factor in percent>- set speed factor override percentage
  133. // M221 S<factor in percent>- set extrude factor override percentage
  134. // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  135. // M240 - Trigger a camera to take a photograph
  136. // M250 - Set LCD contrast C<contrast value> (value 0..63)
  137. // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  138. // M300 - Play beep sound S<frequency Hz> P<duration ms>
  139. // M301 - Set PID parameters P I and D
  140. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  141. // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  142. // M304 - Set bed PID parameters P I and D
  143. // M400 - Finish all moves
  144. // M401 - Lower z-probe if present
  145. // M402 - Raise z-probe if present
  146. // M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
  147. // M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
  148. // M406 - Turn off Filament Sensor extrusion control
  149. // M407 - Displays measured filament diameter
  150. // M500 - stores parameters in EEPROM
  151. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  152. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  153. // M503 - print the current settings (from memory not from EEPROM)
  154. // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  155. // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  156. // M665 - set delta configurations
  157. // M666 - set delta endstop adjustment
  158. // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  159. // M907 - Set digital trimpot motor current using axis codes.
  160. // M908 - Control digital trimpot directly.
  161. // M350 - Set microstepping mode.
  162. // M351 - Toggle MS1 MS2 pins directly.
  163. // ************ SCARA Specific - This can change to suit future G-code regulations
  164. // M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  165. // M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  166. // M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  167. // M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  168. // M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  169. // M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  170. //************* SCARA End ***************
  171. // M928 - Start SD logging (M928 filename.g) - ended by M29
  172. // M999 - Restart after being stopped by error
  173. //Stepper Movement Variables
  174. //===========================================================================
  175. //=============================imported variables============================
  176. //===========================================================================
  177. //===========================================================================
  178. //=============================public variables=============================
  179. //===========================================================================
  180. #ifdef SDSUPPORT
  181. CardReader card;
  182. #endif
  183. float homing_feedrate[] = HOMING_FEEDRATE;
  184. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  185. int feedmultiply=100; //100->1 200->2
  186. int saved_feedmultiply;
  187. int extrudemultiply=100; //100->1 200->2
  188. int extruder_multiply[EXTRUDERS] = {100
  189. #if EXTRUDERS > 1
  190. , 100
  191. #if EXTRUDERS > 2
  192. , 100
  193. #endif
  194. #endif
  195. };
  196. float volumetric_multiplier[EXTRUDERS] = {1.0
  197. #if EXTRUDERS > 1
  198. , 1.0
  199. #if EXTRUDERS > 2
  200. , 1.0
  201. #endif
  202. #endif
  203. };
  204. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  205. float add_homing[3]={0,0,0};
  206. #ifdef DELTA
  207. float endstop_adj[3]={0,0,0};
  208. #endif
  209. float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  210. float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  211. bool axis_known_position[3] = {false, false, false};
  212. float zprobe_zoffset;
  213. // Extruder offset
  214. #if EXTRUDERS > 1
  215. #ifndef DUAL_X_CARRIAGE
  216. #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
  217. #else
  218. #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
  219. #endif
  220. float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
  221. #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
  222. EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
  223. #endif
  224. };
  225. #endif
  226. uint8_t active_extruder = 0;
  227. int fanSpeed=0;
  228. #ifdef SERVO_ENDSTOPS
  229. int servo_endstops[] = SERVO_ENDSTOPS;
  230. int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
  231. #endif
  232. #ifdef BARICUDA
  233. int ValvePressure=0;
  234. int EtoPPressure=0;
  235. #endif
  236. #ifdef FWRETRACT
  237. bool autoretract_enabled=false;
  238. bool retracted[EXTRUDERS]={false
  239. #if EXTRUDERS > 1
  240. , false
  241. #if EXTRUDERS > 2
  242. , false
  243. #endif
  244. #endif
  245. };
  246. bool retracted_swap[EXTRUDERS]={false
  247. #if EXTRUDERS > 1
  248. , false
  249. #if EXTRUDERS > 2
  250. , false
  251. #endif
  252. #endif
  253. };
  254. float retract_length = RETRACT_LENGTH;
  255. float retract_length_swap = RETRACT_LENGTH_SWAP;
  256. float retract_feedrate = RETRACT_FEEDRATE;
  257. float retract_zlift = RETRACT_ZLIFT;
  258. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  259. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  260. float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
  261. #endif
  262. #ifdef ULTIPANEL
  263. #ifdef PS_DEFAULT_OFF
  264. bool powersupply = false;
  265. #else
  266. bool powersupply = true;
  267. #endif
  268. #endif
  269. #ifdef DELTA
  270. float delta[3] = {0.0, 0.0, 0.0};
  271. #define SIN_60 0.8660254037844386
  272. #define COS_60 0.5
  273. // these are the default values, can be overriden with M665
  274. float delta_radius= DELTA_RADIUS;
  275. float delta_tower1_x= -SIN_60*delta_radius; // front left tower
  276. float delta_tower1_y= -COS_60*delta_radius;
  277. float delta_tower2_x= SIN_60*delta_radius; // front right tower
  278. float delta_tower2_y= -COS_60*delta_radius;
  279. float delta_tower3_x= 0.0; // back middle tower
  280. float delta_tower3_y= delta_radius;
  281. float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
  282. float delta_diagonal_rod_2= sq(delta_diagonal_rod);
  283. float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
  284. #endif
  285. #ifdef SCARA // Build size scaling
  286. float axis_scaling[3]={1,1,1}; // Build size scaling, default to 1
  287. #endif
  288. bool cancel_heatup = false ;
  289. #ifdef FILAMENT_SENSOR
  290. //Variables for Filament Sensor input
  291. float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  292. bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
  293. float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  294. signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  295. int delay_index1=0; //index into ring buffer
  296. int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  297. float delay_dist=0; //delay distance counter
  298. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  299. #endif
  300. //===========================================================================
  301. //=============================Private Variables=============================
  302. //===========================================================================
  303. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  304. static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  305. #ifndef DELTA
  306. static float delta[3] = {0.0, 0.0, 0.0};
  307. #endif
  308. static float offset[3] = {0.0, 0.0, 0.0};
  309. static bool home_all_axis = true;
  310. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  311. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  312. static bool relative_mode = false; //Determines Absolute or Relative Coordinates
  313. static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
  314. static bool fromsd[BUFSIZE];
  315. static int bufindr = 0;
  316. static int bufindw = 0;
  317. static int buflen = 0;
  318. //static int i = 0;
  319. static char serial_char;
  320. static int serial_count = 0;
  321. static boolean comment_mode = false;
  322. static char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
  323. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  324. //static float tt = 0;
  325. //static float bt = 0;
  326. //Inactivity shutdown variables
  327. static unsigned long previous_millis_cmd = 0;
  328. static unsigned long max_inactive_time = 0;
  329. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
  330. unsigned long starttime=0;
  331. unsigned long stoptime=0;
  332. static uint8_t tmp_extruder;
  333. bool Stopped=false;
  334. #if NUM_SERVOS > 0
  335. Servo servos[NUM_SERVOS];
  336. #endif
  337. bool CooldownNoWait = true;
  338. bool target_direction;
  339. //Insert variables if CHDK is defined
  340. #ifdef CHDK
  341. unsigned long chdkHigh = 0;
  342. boolean chdkActive = false;
  343. #endif
  344. //===========================================================================
  345. //=============================Routines======================================
  346. //===========================================================================
  347. void get_arc_coordinates();
  348. bool setTargetedHotend(int code);
  349. void serial_echopair_P(const char *s_P, float v)
  350. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  351. void serial_echopair_P(const char *s_P, double v)
  352. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  353. void serial_echopair_P(const char *s_P, unsigned long v)
  354. { serialprintPGM(s_P); SERIAL_ECHO(v); }
  355. extern "C"{
  356. extern unsigned int __bss_end;
  357. extern unsigned int __heap_start;
  358. extern void *__brkval;
  359. int freeMemory() {
  360. int free_memory;
  361. if((int)__brkval == 0)
  362. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  363. else
  364. free_memory = ((int)&free_memory) - ((int)__brkval);
  365. return free_memory;
  366. }
  367. }
  368. //adds an command to the main command buffer
  369. //thats really done in a non-safe way.
  370. //needs overworking someday
  371. void enquecommand(const char *cmd)
  372. {
  373. if(buflen < BUFSIZE)
  374. {
  375. //this is dangerous if a mixing of serial and this happens
  376. strcpy(&(cmdbuffer[bufindw][0]),cmd);
  377. SERIAL_ECHO_START;
  378. SERIAL_ECHOPGM("enqueing \"");
  379. SERIAL_ECHO(cmdbuffer[bufindw]);
  380. SERIAL_ECHOLNPGM("\"");
  381. bufindw= (bufindw + 1)%BUFSIZE;
  382. buflen += 1;
  383. }
  384. }
  385. void enquecommand_P(const char *cmd)
  386. {
  387. if(buflen < BUFSIZE)
  388. {
  389. //this is dangerous if a mixing of serial and this happens
  390. strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
  391. SERIAL_ECHO_START;
  392. SERIAL_ECHOPGM("enqueing \"");
  393. SERIAL_ECHO(cmdbuffer[bufindw]);
  394. SERIAL_ECHOLNPGM("\"");
  395. bufindw= (bufindw + 1)%BUFSIZE;
  396. buflen += 1;
  397. }
  398. }
  399. void setup_killpin()
  400. {
  401. #if defined(KILL_PIN) && KILL_PIN > -1
  402. pinMode(KILL_PIN,INPUT);
  403. WRITE(KILL_PIN,HIGH);
  404. #endif
  405. }
  406. void setup_photpin()
  407. {
  408. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  409. SET_OUTPUT(PHOTOGRAPH_PIN);
  410. WRITE(PHOTOGRAPH_PIN, LOW);
  411. #endif
  412. }
  413. void setup_powerhold()
  414. {
  415. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  416. SET_OUTPUT(SUICIDE_PIN);
  417. WRITE(SUICIDE_PIN, HIGH);
  418. #endif
  419. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  420. SET_OUTPUT(PS_ON_PIN);
  421. #if defined(PS_DEFAULT_OFF)
  422. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  423. #else
  424. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  425. #endif
  426. #endif
  427. }
  428. void suicide()
  429. {
  430. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  431. SET_OUTPUT(SUICIDE_PIN);
  432. WRITE(SUICIDE_PIN, LOW);
  433. #endif
  434. }
  435. void servo_init()
  436. {
  437. #if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
  438. servos[0].attach(SERVO0_PIN);
  439. #endif
  440. #if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
  441. servos[1].attach(SERVO1_PIN);
  442. #endif
  443. #if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
  444. servos[2].attach(SERVO2_PIN);
  445. #endif
  446. #if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
  447. servos[3].attach(SERVO3_PIN);
  448. #endif
  449. #if (NUM_SERVOS >= 5)
  450. #error "TODO: enter initalisation code for more servos"
  451. #endif
  452. // Set position of Servo Endstops that are defined
  453. #ifdef SERVO_ENDSTOPS
  454. for(int8_t i = 0; i < 3; i++)
  455. {
  456. if(servo_endstops[i] > -1) {
  457. servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
  458. }
  459. }
  460. #endif
  461. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  462. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  463. servos[servo_endstops[Z_AXIS]].detach();
  464. #endif
  465. }
  466. void setup()
  467. {
  468. setup_killpin();
  469. setup_powerhold();
  470. MYSERIAL.begin(BAUDRATE);
  471. SERIAL_PROTOCOLLNPGM("start");
  472. SERIAL_ECHO_START;
  473. // Check startup - does nothing if bootloader sets MCUSR to 0
  474. byte mcu = MCUSR;
  475. if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  476. if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  477. if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  478. if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  479. if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  480. MCUSR=0;
  481. SERIAL_ECHOPGM(MSG_MARLIN);
  482. SERIAL_ECHOLNPGM(VERSION_STRING);
  483. #ifdef STRING_VERSION_CONFIG_H
  484. #ifdef STRING_CONFIG_H_AUTHOR
  485. SERIAL_ECHO_START;
  486. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  487. SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
  488. SERIAL_ECHOPGM(MSG_AUTHOR);
  489. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  490. SERIAL_ECHOPGM("Compiled: ");
  491. SERIAL_ECHOLNPGM(__DATE__);
  492. #endif
  493. #endif
  494. SERIAL_ECHO_START;
  495. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  496. SERIAL_ECHO(freeMemory());
  497. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  498. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  499. for(int8_t i = 0; i < BUFSIZE; i++)
  500. {
  501. fromsd[i] = false;
  502. }
  503. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  504. Config_RetrieveSettings();
  505. tp_init(); // Initialize temperature loop
  506. plan_init(); // Initialize planner;
  507. watchdog_init();
  508. st_init(); // Initialize stepper, this enables interrupts!
  509. setup_photpin();
  510. servo_init();
  511. lcd_init();
  512. _delay_ms(1000); // wait 1sec to display the splash screen
  513. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  514. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  515. #endif
  516. #ifdef DIGIPOT_I2C
  517. digipot_i2c_init();
  518. #endif
  519. #ifdef Z_PROBE_SLED
  520. pinMode(SERVO0_PIN, OUTPUT);
  521. digitalWrite(SERVO0_PIN, LOW); // turn it off
  522. #endif // Z_PROBE_SLED
  523. }
  524. void loop()
  525. {
  526. if(buflen < (BUFSIZE-1))
  527. get_command();
  528. #ifdef SDSUPPORT
  529. card.checkautostart(false);
  530. #endif
  531. if(buflen)
  532. {
  533. #ifdef SDSUPPORT
  534. if(card.saving)
  535. {
  536. if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
  537. {
  538. card.write_command(cmdbuffer[bufindr]);
  539. if(card.logging)
  540. {
  541. process_commands();
  542. }
  543. else
  544. {
  545. SERIAL_PROTOCOLLNPGM(MSG_OK);
  546. }
  547. }
  548. else
  549. {
  550. card.closefile();
  551. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  552. }
  553. }
  554. else
  555. {
  556. process_commands();
  557. }
  558. #else
  559. process_commands();
  560. #endif //SDSUPPORT
  561. buflen = (buflen-1);
  562. bufindr = (bufindr + 1)%BUFSIZE;
  563. }
  564. //check heater every n milliseconds
  565. manage_heater();
  566. manage_inactivity();
  567. checkHitEndstops();
  568. lcd_update();
  569. }
  570. void get_command()
  571. {
  572. while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
  573. serial_char = MYSERIAL.read();
  574. if(serial_char == '\n' ||
  575. serial_char == '\r' ||
  576. (serial_char == ':' && comment_mode == false) ||
  577. serial_count >= (MAX_CMD_SIZE - 1) )
  578. {
  579. if(!serial_count) { //if empty line
  580. comment_mode = false; //for new command
  581. return;
  582. }
  583. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  584. if(!comment_mode){
  585. comment_mode = false; //for new command
  586. fromsd[bufindw] = false;
  587. if(strchr(cmdbuffer[bufindw], 'N') != NULL)
  588. {
  589. strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
  590. gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
  591. if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
  592. SERIAL_ERROR_START;
  593. SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
  594. SERIAL_ERRORLN(gcode_LastN);
  595. //Serial.println(gcode_N);
  596. FlushSerialRequestResend();
  597. serial_count = 0;
  598. return;
  599. }
  600. if(strchr(cmdbuffer[bufindw], '*') != NULL)
  601. {
  602. byte checksum = 0;
  603. byte count = 0;
  604. while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
  605. strchr_pointer = strchr(cmdbuffer[bufindw], '*');
  606. if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
  607. SERIAL_ERROR_START;
  608. SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
  609. SERIAL_ERRORLN(gcode_LastN);
  610. FlushSerialRequestResend();
  611. serial_count = 0;
  612. return;
  613. }
  614. //if no errors, continue parsing
  615. }
  616. else
  617. {
  618. SERIAL_ERROR_START;
  619. SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
  620. SERIAL_ERRORLN(gcode_LastN);
  621. FlushSerialRequestResend();
  622. serial_count = 0;
  623. return;
  624. }
  625. gcode_LastN = gcode_N;
  626. //if no errors, continue parsing
  627. }
  628. else // if we don't receive 'N' but still see '*'
  629. {
  630. if((strchr(cmdbuffer[bufindw], '*') != NULL))
  631. {
  632. SERIAL_ERROR_START;
  633. SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
  634. SERIAL_ERRORLN(gcode_LastN);
  635. serial_count = 0;
  636. return;
  637. }
  638. }
  639. if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
  640. strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
  641. switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
  642. case 0:
  643. case 1:
  644. case 2:
  645. case 3:
  646. if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
  647. #ifdef SDSUPPORT
  648. if(card.saving)
  649. break;
  650. #endif //SDSUPPORT
  651. SERIAL_PROTOCOLLNPGM(MSG_OK);
  652. }
  653. else {
  654. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  655. LCD_MESSAGEPGM(MSG_STOPPED);
  656. }
  657. break;
  658. default:
  659. break;
  660. }
  661. }
  662. //If command was e-stop process now
  663. if(strcmp(cmdbuffer[bufindw], "M112") == 0)
  664. kill();
  665. bufindw = (bufindw + 1)%BUFSIZE;
  666. buflen += 1;
  667. }
  668. serial_count = 0; //clear buffer
  669. }
  670. else
  671. {
  672. if(serial_char == ';') comment_mode = true;
  673. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  674. }
  675. }
  676. #ifdef SDSUPPORT
  677. if(!card.sdprinting || serial_count!=0){
  678. return;
  679. }
  680. //'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
  681. // if it occurs, stop_buffering is triggered and the buffer is ran dry.
  682. // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
  683. static bool stop_buffering=false;
  684. if(buflen==0) stop_buffering=false;
  685. while( !card.eof() && buflen < BUFSIZE && !stop_buffering) {
  686. int16_t n=card.get();
  687. serial_char = (char)n;
  688. if(serial_char == '\n' ||
  689. serial_char == '\r' ||
  690. (serial_char == '#' && comment_mode == false) ||
  691. (serial_char == ':' && comment_mode == false) ||
  692. serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  693. {
  694. if(card.eof()){
  695. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  696. stoptime=millis();
  697. char time[30];
  698. unsigned long t=(stoptime-starttime)/1000;
  699. int hours, minutes;
  700. minutes=(t/60)%60;
  701. hours=t/60/60;
  702. sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
  703. SERIAL_ECHO_START;
  704. SERIAL_ECHOLN(time);
  705. lcd_setstatus(time);
  706. card.printingHasFinished();
  707. card.checkautostart(true);
  708. }
  709. if(serial_char=='#')
  710. stop_buffering=true;
  711. if(!serial_count)
  712. {
  713. comment_mode = false; //for new command
  714. return; //if empty line
  715. }
  716. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  717. // if(!comment_mode){
  718. fromsd[bufindw] = true;
  719. buflen += 1;
  720. bufindw = (bufindw + 1)%BUFSIZE;
  721. // }
  722. comment_mode = false; //for new command
  723. serial_count = 0; //clear buffer
  724. }
  725. else
  726. {
  727. if(serial_char == ';') comment_mode = true;
  728. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  729. }
  730. }
  731. #endif //SDSUPPORT
  732. }
  733. float code_value()
  734. {
  735. return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
  736. }
  737. long code_value_long()
  738. {
  739. return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
  740. }
  741. bool code_seen(char code)
  742. {
  743. strchr_pointer = strchr(cmdbuffer[bufindr], code);
  744. return (strchr_pointer != NULL); //Return True if a character was found
  745. }
  746. #define DEFINE_PGM_READ_ANY(type, reader) \
  747. static inline type pgm_read_any(const type *p) \
  748. { return pgm_read_##reader##_near(p); }
  749. DEFINE_PGM_READ_ANY(float, float);
  750. DEFINE_PGM_READ_ANY(signed char, byte);
  751. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  752. static const PROGMEM type array##_P[3] = \
  753. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  754. static inline type array(int axis) \
  755. { return pgm_read_any(&array##_P[axis]); }
  756. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  757. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  758. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  759. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  760. XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
  761. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  762. #ifdef DUAL_X_CARRIAGE
  763. #if EXTRUDERS == 1 || defined(COREXY) \
  764. || !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
  765. || !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
  766. || !defined(X_MAX_PIN) || X_MAX_PIN < 0
  767. #error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
  768. #endif
  769. #if X_HOME_DIR != -1 || X2_HOME_DIR != 1
  770. #error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
  771. #endif
  772. #define DXC_FULL_CONTROL_MODE 0
  773. #define DXC_AUTO_PARK_MODE 1
  774. #define DXC_DUPLICATION_MODE 2
  775. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  776. static float x_home_pos(int extruder) {
  777. if (extruder == 0)
  778. return base_home_pos(X_AXIS) + add_homing[X_AXIS];
  779. else
  780. // In dual carriage mode the extruder offset provides an override of the
  781. // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  782. // This allow soft recalibration of the second extruder offset position without firmware reflash
  783. // (through the M218 command).
  784. return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
  785. }
  786. static int x_home_dir(int extruder) {
  787. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  788. }
  789. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  790. static bool active_extruder_parked = false; // used in mode 1 & 2
  791. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  792. static unsigned long delayed_move_time = 0; // used in mode 1
  793. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  794. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  795. bool extruder_duplication_enabled = false; // used in mode 2
  796. #endif //DUAL_X_CARRIAGE
  797. static void axis_is_at_home(int axis) {
  798. #ifdef DUAL_X_CARRIAGE
  799. if (axis == X_AXIS) {
  800. if (active_extruder != 0) {
  801. current_position[X_AXIS] = x_home_pos(active_extruder);
  802. min_pos[X_AXIS] = X2_MIN_POS;
  803. max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
  804. return;
  805. }
  806. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  807. current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homing[X_AXIS];
  808. min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homing[X_AXIS];
  809. max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homing[X_AXIS],
  810. max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
  811. return;
  812. }
  813. }
  814. #endif
  815. #ifdef SCARA
  816. float homeposition[3];
  817. char i;
  818. if (axis < 2)
  819. {
  820. for (i=0; i<3; i++)
  821. {
  822. homeposition[i] = base_home_pos(i);
  823. }
  824. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  825. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  826. // Works out real Homeposition angles using inverse kinematics,
  827. // and calculates homing offset using forward kinematics
  828. calculate_delta(homeposition);
  829. // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
  830. // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  831. for (i=0; i<2; i++)
  832. {
  833. delta[i] -= add_homing[i];
  834. }
  835. // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
  836. // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
  837. // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
  838. // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
  839. calculate_SCARA_forward_Transform(delta);
  840. // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
  841. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  842. current_position[axis] = delta[axis];
  843. // SCARA home positions are based on configuration since the actual limits are determined by the
  844. // inverse kinematic transform.
  845. min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  846. max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  847. }
  848. else
  849. {
  850. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  851. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  852. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  853. }
  854. #else
  855. current_position[axis] = base_home_pos(axis) + add_homing[axis];
  856. min_pos[axis] = base_min_pos(axis) + add_homing[axis];
  857. max_pos[axis] = base_max_pos(axis) + add_homing[axis];
  858. #endif
  859. }
  860. #ifdef ENABLE_AUTO_BED_LEVELING
  861. #ifdef AUTO_BED_LEVELING_GRID
  862. static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
  863. {
  864. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  865. planeNormal.debug("planeNormal");
  866. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  867. //bedLevel.debug("bedLevel");
  868. //plan_bed_level_matrix.debug("bed level before");
  869. //vector_3 uncorrected_position = plan_get_position_mm();
  870. //uncorrected_position.debug("position before");
  871. vector_3 corrected_position = plan_get_position();
  872. // corrected_position.debug("position after");
  873. current_position[X_AXIS] = corrected_position.x;
  874. current_position[Y_AXIS] = corrected_position.y;
  875. current_position[Z_AXIS] = corrected_position.z;
  876. // put the bed at 0 so we don't go below it.
  877. current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
  878. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  879. }
  880. #else // not AUTO_BED_LEVELING_GRID
  881. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  882. plan_bed_level_matrix.set_to_identity();
  883. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  884. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  885. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  886. vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
  887. vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
  888. vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
  889. planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
  890. plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  891. vector_3 corrected_position = plan_get_position();
  892. current_position[X_AXIS] = corrected_position.x;
  893. current_position[Y_AXIS] = corrected_position.y;
  894. current_position[Z_AXIS] = corrected_position.z;
  895. // put the bed at 0 so we don't go below it.
  896. current_position[Z_AXIS] = zprobe_zoffset;
  897. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  898. }
  899. #endif // AUTO_BED_LEVELING_GRID
  900. static void run_z_probe() {
  901. plan_bed_level_matrix.set_to_identity();
  902. feedrate = homing_feedrate[Z_AXIS];
  903. // move down until you find the bed
  904. float zPosition = -10;
  905. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  906. st_synchronize();
  907. // we have to let the planner know where we are right now as it is not where we said to go.
  908. zPosition = st_get_position_mm(Z_AXIS);
  909. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
  910. // move up the retract distance
  911. zPosition += home_retract_mm(Z_AXIS);
  912. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  913. st_synchronize();
  914. // move back down slowly to find bed
  915. feedrate = homing_feedrate[Z_AXIS]/4;
  916. zPosition -= home_retract_mm(Z_AXIS) * 2;
  917. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
  918. st_synchronize();
  919. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  920. // make sure the planner knows where we are as it may be a bit different than we last said to move to
  921. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  922. }
  923. static void do_blocking_move_to(float x, float y, float z) {
  924. float oldFeedRate = feedrate;
  925. feedrate = homing_feedrate[Z_AXIS];
  926. current_position[Z_AXIS] = z;
  927. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  928. st_synchronize();
  929. feedrate = XY_TRAVEL_SPEED;
  930. current_position[X_AXIS] = x;
  931. current_position[Y_AXIS] = y;
  932. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
  933. st_synchronize();
  934. feedrate = oldFeedRate;
  935. }
  936. static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
  937. do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
  938. }
  939. static void setup_for_endstop_move() {
  940. saved_feedrate = feedrate;
  941. saved_feedmultiply = feedmultiply;
  942. feedmultiply = 100;
  943. previous_millis_cmd = millis();
  944. enable_endstops(true);
  945. }
  946. static void clean_up_after_endstop_move() {
  947. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  948. enable_endstops(false);
  949. #endif
  950. feedrate = saved_feedrate;
  951. feedmultiply = saved_feedmultiply;
  952. previous_millis_cmd = millis();
  953. }
  954. static void engage_z_probe() {
  955. // Engage Z Servo endstop if enabled
  956. #ifdef SERVO_ENDSTOPS
  957. if (servo_endstops[Z_AXIS] > -1) {
  958. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  959. servos[servo_endstops[Z_AXIS]].attach(0);
  960. #endif
  961. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
  962. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  963. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  964. servos[servo_endstops[Z_AXIS]].detach();
  965. #endif
  966. }
  967. #endif
  968. }
  969. static void retract_z_probe() {
  970. // Retract Z Servo endstop if enabled
  971. #ifdef SERVO_ENDSTOPS
  972. if (servo_endstops[Z_AXIS] > -1) {
  973. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  974. servos[servo_endstops[Z_AXIS]].attach(0);
  975. #endif
  976. servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
  977. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  978. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  979. servos[servo_endstops[Z_AXIS]].detach();
  980. #endif
  981. }
  982. #endif
  983. }
  984. /// Probe bed height at position (x,y), returns the measured z value
  985. static float probe_pt(float x, float y, float z_before) {
  986. // move to right place
  987. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
  988. do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
  989. #ifndef Z_PROBE_SLED
  990. engage_z_probe(); // Engage Z Servo endstop if available
  991. #endif // Z_PROBE_SLED
  992. run_z_probe();
  993. float measured_z = current_position[Z_AXIS];
  994. #ifndef Z_PROBE_SLED
  995. retract_z_probe();
  996. #endif // Z_PROBE_SLED
  997. SERIAL_PROTOCOLPGM(MSG_BED);
  998. SERIAL_PROTOCOLPGM(" x: ");
  999. SERIAL_PROTOCOL(x);
  1000. SERIAL_PROTOCOLPGM(" y: ");
  1001. SERIAL_PROTOCOL(y);
  1002. SERIAL_PROTOCOLPGM(" z: ");
  1003. SERIAL_PROTOCOL(measured_z);
  1004. SERIAL_PROTOCOLPGM("\n");
  1005. return measured_z;
  1006. }
  1007. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  1008. static void homeaxis(int axis) {
  1009. #define HOMEAXIS_DO(LETTER) \
  1010. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  1011. if (axis==X_AXIS ? HOMEAXIS_DO(X) :
  1012. axis==Y_AXIS ? HOMEAXIS_DO(Y) :
  1013. axis==Z_AXIS ? HOMEAXIS_DO(Z) :
  1014. 0) {
  1015. int axis_home_dir = home_dir(axis);
  1016. #ifdef DUAL_X_CARRIAGE
  1017. if (axis == X_AXIS)
  1018. axis_home_dir = x_home_dir(active_extruder);
  1019. #endif
  1020. current_position[axis] = 0;
  1021. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1022. #ifndef Z_PROBE_SLED
  1023. // Engage Servo endstop if enabled
  1024. #ifdef SERVO_ENDSTOPS
  1025. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  1026. if (axis==Z_AXIS) {
  1027. engage_z_probe();
  1028. }
  1029. else
  1030. #endif
  1031. if (servo_endstops[axis] > -1) {
  1032. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
  1033. }
  1034. #endif
  1035. #endif // Z_PROBE_SLED
  1036. destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
  1037. feedrate = homing_feedrate[axis];
  1038. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1039. st_synchronize();
  1040. current_position[axis] = 0;
  1041. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1042. destination[axis] = -home_retract_mm(axis) * axis_home_dir;
  1043. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1044. st_synchronize();
  1045. destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
  1046. #ifdef DELTA
  1047. feedrate = homing_feedrate[axis]/10;
  1048. #else
  1049. feedrate = homing_feedrate[axis]/2 ;
  1050. #endif
  1051. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1052. st_synchronize();
  1053. #ifdef DELTA
  1054. // retrace by the amount specified in endstop_adj
  1055. if (endstop_adj[axis] * axis_home_dir < 0) {
  1056. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1057. destination[axis] = endstop_adj[axis];
  1058. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1059. st_synchronize();
  1060. }
  1061. #endif
  1062. axis_is_at_home(axis);
  1063. destination[axis] = current_position[axis];
  1064. feedrate = 0.0;
  1065. endstops_hit_on_purpose();
  1066. axis_known_position[axis] = true;
  1067. // Retract Servo endstop if enabled
  1068. #ifdef SERVO_ENDSTOPS
  1069. if (servo_endstops[axis] > -1) {
  1070. servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
  1071. }
  1072. #endif
  1073. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  1074. #ifndef Z_PROBE_SLED
  1075. if (axis==Z_AXIS) retract_z_probe();
  1076. #endif
  1077. #endif
  1078. }
  1079. }
  1080. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1081. void refresh_cmd_timeout(void)
  1082. {
  1083. previous_millis_cmd = millis();
  1084. }
  1085. #ifdef FWRETRACT
  1086. void retract(bool retracting, bool swapretract = false) {
  1087. if(retracting && !retracted[active_extruder]) {
  1088. destination[X_AXIS]=current_position[X_AXIS];
  1089. destination[Y_AXIS]=current_position[Y_AXIS];
  1090. destination[Z_AXIS]=current_position[Z_AXIS];
  1091. destination[E_AXIS]=current_position[E_AXIS];
  1092. if (swapretract) {
  1093. current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
  1094. } else {
  1095. current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
  1096. }
  1097. plan_set_e_position(current_position[E_AXIS]);
  1098. float oldFeedrate = feedrate;
  1099. feedrate=retract_feedrate*60;
  1100. retracted[active_extruder]=true;
  1101. prepare_move();
  1102. current_position[Z_AXIS]-=retract_zlift;
  1103. #ifdef DELTA
  1104. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1105. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1106. #else
  1107. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1108. #endif
  1109. prepare_move();
  1110. feedrate = oldFeedrate;
  1111. } else if(!retracting && retracted[active_extruder]) {
  1112. destination[X_AXIS]=current_position[X_AXIS];
  1113. destination[Y_AXIS]=current_position[Y_AXIS];
  1114. destination[Z_AXIS]=current_position[Z_AXIS];
  1115. destination[E_AXIS]=current_position[E_AXIS];
  1116. current_position[Z_AXIS]+=retract_zlift;
  1117. #ifdef DELTA
  1118. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  1119. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1120. #else
  1121. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1122. #endif
  1123. //prepare_move();
  1124. if (swapretract) {
  1125. current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
  1126. } else {
  1127. current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
  1128. }
  1129. plan_set_e_position(current_position[E_AXIS]);
  1130. float oldFeedrate = feedrate;
  1131. feedrate=retract_recover_feedrate*60;
  1132. retracted[active_extruder]=false;
  1133. prepare_move();
  1134. feedrate = oldFeedrate;
  1135. }
  1136. } //retract
  1137. #endif //FWRETRACT
  1138. #ifdef Z_PROBE_SLED
  1139. //
  1140. // Method to dock/undock a sled designed by Charles Bell.
  1141. //
  1142. // dock[in] If true, move to MAX_X and engage the electromagnet
  1143. // offset[in] The additional distance to move to adjust docking location
  1144. //
  1145. static void dock_sled(bool dock, int offset=0) {
  1146. int z_loc;
  1147. if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  1148. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1149. SERIAL_ECHO_START;
  1150. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1151. return;
  1152. }
  1153. if (dock) {
  1154. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1155. current_position[Y_AXIS],
  1156. current_position[Z_AXIS]);
  1157. // turn off magnet
  1158. digitalWrite(SERVO0_PIN, LOW);
  1159. } else {
  1160. if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
  1161. z_loc = Z_RAISE_BEFORE_PROBING;
  1162. else
  1163. z_loc = current_position[Z_AXIS];
  1164. do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
  1165. Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
  1166. // turn on magnet
  1167. digitalWrite(SERVO0_PIN, HIGH);
  1168. }
  1169. }
  1170. #endif
  1171. void process_commands()
  1172. {
  1173. unsigned long codenum; //throw away variable
  1174. char *starpos = NULL;
  1175. #ifdef ENABLE_AUTO_BED_LEVELING
  1176. float x_tmp, y_tmp, z_tmp, real_z;
  1177. #endif
  1178. if(code_seen('G'))
  1179. {
  1180. switch((int)code_value())
  1181. {
  1182. case 0: // G0 -> G1
  1183. case 1: // G1
  1184. if(Stopped == false) {
  1185. get_coordinates(); // For X Y Z E F
  1186. #ifdef FWRETRACT
  1187. if(autoretract_enabled)
  1188. if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  1189. float echange=destination[E_AXIS]-current_position[E_AXIS];
  1190. if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
  1191. current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
  1192. plan_set_e_position(current_position[E_AXIS]); //AND from the planner
  1193. retract(!retracted);
  1194. return;
  1195. }
  1196. }
  1197. #endif //FWRETRACT
  1198. prepare_move();
  1199. //ClearToSend();
  1200. return;
  1201. }
  1202. break;
  1203. #ifndef SCARA //disable arc support
  1204. case 2: // G2 - CW ARC
  1205. if(Stopped == false) {
  1206. get_arc_coordinates();
  1207. prepare_arc_move(true);
  1208. return;
  1209. }
  1210. break;
  1211. case 3: // G3 - CCW ARC
  1212. if(Stopped == false) {
  1213. get_arc_coordinates();
  1214. prepare_arc_move(false);
  1215. return;
  1216. }
  1217. break;
  1218. #endif
  1219. case 4: // G4 dwell
  1220. LCD_MESSAGEPGM(MSG_DWELL);
  1221. codenum = 0;
  1222. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  1223. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  1224. st_synchronize();
  1225. codenum += millis(); // keep track of when we started waiting
  1226. previous_millis_cmd = millis();
  1227. while(millis() < codenum) {
  1228. manage_heater();
  1229. manage_inactivity();
  1230. lcd_update();
  1231. }
  1232. break;
  1233. #ifdef FWRETRACT
  1234. case 10: // G10 retract
  1235. #if EXTRUDERS > 1
  1236. retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
  1237. retract(true,retracted_swap[active_extruder]);
  1238. #else
  1239. retract(true);
  1240. #endif
  1241. break;
  1242. case 11: // G11 retract_recover
  1243. #if EXTRUDERS > 1
  1244. retract(false,retracted_swap[active_extruder]);
  1245. #else
  1246. retract(false);
  1247. #endif
  1248. break;
  1249. #endif //FWRETRACT
  1250. case 28: //G28 Home all Axis one at a time
  1251. #ifdef ENABLE_AUTO_BED_LEVELING
  1252. plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
  1253. #endif //ENABLE_AUTO_BED_LEVELING
  1254. saved_feedrate = feedrate;
  1255. saved_feedmultiply = feedmultiply;
  1256. feedmultiply = 100;
  1257. previous_millis_cmd = millis();
  1258. enable_endstops(true);
  1259. for(int8_t i=0; i < NUM_AXIS; i++) {
  1260. destination[i] = current_position[i];
  1261. }
  1262. feedrate = 0.0;
  1263. #ifdef DELTA
  1264. // A delta can only safely home all axis at the same time
  1265. // all axis have to home at the same time
  1266. // Move all carriages up together until the first endstop is hit.
  1267. current_position[X_AXIS] = 0;
  1268. current_position[Y_AXIS] = 0;
  1269. current_position[Z_AXIS] = 0;
  1270. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1271. destination[X_AXIS] = 3 * Z_MAX_LENGTH;
  1272. destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
  1273. destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
  1274. feedrate = 1.732 * homing_feedrate[X_AXIS];
  1275. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1276. st_synchronize();
  1277. endstops_hit_on_purpose();
  1278. current_position[X_AXIS] = destination[X_AXIS];
  1279. current_position[Y_AXIS] = destination[Y_AXIS];
  1280. current_position[Z_AXIS] = destination[Z_AXIS];
  1281. // take care of back off and rehome now we are all at the top
  1282. HOMEAXIS(X);
  1283. HOMEAXIS(Y);
  1284. HOMEAXIS(Z);
  1285. calculate_delta(current_position);
  1286. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1287. #else // NOT DELTA
  1288. home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
  1289. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  1290. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1291. HOMEAXIS(Z);
  1292. }
  1293. #endif
  1294. #ifdef QUICK_HOME
  1295. if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
  1296. {
  1297. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  1298. #ifndef DUAL_X_CARRIAGE
  1299. int x_axis_home_dir = home_dir(X_AXIS);
  1300. #else
  1301. int x_axis_home_dir = x_home_dir(active_extruder);
  1302. extruder_duplication_enabled = false;
  1303. #endif
  1304. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1305. destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
  1306. feedrate = homing_feedrate[X_AXIS];
  1307. if(homing_feedrate[Y_AXIS]<feedrate)
  1308. feedrate = homing_feedrate[Y_AXIS];
  1309. if (max_length(X_AXIS) > max_length(Y_AXIS)) {
  1310. feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
  1311. } else {
  1312. feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
  1313. }
  1314. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1315. st_synchronize();
  1316. axis_is_at_home(X_AXIS);
  1317. axis_is_at_home(Y_AXIS);
  1318. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1319. destination[X_AXIS] = current_position[X_AXIS];
  1320. destination[Y_AXIS] = current_position[Y_AXIS];
  1321. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  1322. feedrate = 0.0;
  1323. st_synchronize();
  1324. endstops_hit_on_purpose();
  1325. current_position[X_AXIS] = destination[X_AXIS];
  1326. current_position[Y_AXIS] = destination[Y_AXIS];
  1327. #ifndef SCARA
  1328. current_position[Z_AXIS] = destination[Z_AXIS];
  1329. #endif
  1330. }
  1331. #endif
  1332. if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
  1333. {
  1334. #ifdef DUAL_X_CARRIAGE
  1335. int tmp_extruder = active_extruder;
  1336. extruder_duplication_enabled = false;
  1337. active_extruder = !active_extruder;
  1338. HOMEAXIS(X);
  1339. inactive_extruder_x_pos = current_position[X_AXIS];
  1340. active_extruder = tmp_extruder;
  1341. HOMEAXIS(X);
  1342. // reset state used by the different modes
  1343. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  1344. delayed_move_time = 0;
  1345. active_extruder_parked = true;
  1346. #else
  1347. HOMEAXIS(X);
  1348. #endif
  1349. }
  1350. if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
  1351. HOMEAXIS(Y);
  1352. }
  1353. if(code_seen(axis_codes[X_AXIS]))
  1354. {
  1355. if(code_value_long() != 0) {
  1356. #ifdef SCARA
  1357. current_position[X_AXIS]=code_value();
  1358. #else
  1359. current_position[X_AXIS]=code_value()+add_homing[0];
  1360. #endif
  1361. }
  1362. }
  1363. if(code_seen(axis_codes[Y_AXIS])) {
  1364. if(code_value_long() != 0) {
  1365. #ifdef SCARA
  1366. current_position[Y_AXIS]=code_value();
  1367. #else
  1368. current_position[Y_AXIS]=code_value()+add_homing[1];
  1369. #endif
  1370. }
  1371. }
  1372. #if Z_HOME_DIR < 0 // If homing towards BED do Z last
  1373. #ifndef Z_SAFE_HOMING
  1374. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1375. #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
  1376. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1377. feedrate = max_feedrate[Z_AXIS];
  1378. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1379. st_synchronize();
  1380. #endif
  1381. HOMEAXIS(Z);
  1382. }
  1383. #else // Z Safe mode activated.
  1384. if(home_all_axis) {
  1385. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
  1386. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
  1387. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1388. feedrate = XY_TRAVEL_SPEED;
  1389. current_position[Z_AXIS] = 0;
  1390. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1391. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1392. st_synchronize();
  1393. current_position[X_AXIS] = destination[X_AXIS];
  1394. current_position[Y_AXIS] = destination[Y_AXIS];
  1395. HOMEAXIS(Z);
  1396. }
  1397. // Let's see if X and Y are homed and probe is inside bed area.
  1398. if(code_seen(axis_codes[Z_AXIS])) {
  1399. if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
  1400. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
  1401. && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
  1402. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
  1403. && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
  1404. current_position[Z_AXIS] = 0;
  1405. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1406. destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
  1407. feedrate = max_feedrate[Z_AXIS];
  1408. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
  1409. st_synchronize();
  1410. HOMEAXIS(Z);
  1411. } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
  1412. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1413. SERIAL_ECHO_START;
  1414. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1415. } else {
  1416. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  1417. SERIAL_ECHO_START;
  1418. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  1419. }
  1420. }
  1421. #endif
  1422. #endif
  1423. if(code_seen(axis_codes[Z_AXIS])) {
  1424. if(code_value_long() != 0) {
  1425. current_position[Z_AXIS]=code_value()+add_homing[2];
  1426. }
  1427. }
  1428. #ifdef ENABLE_AUTO_BED_LEVELING
  1429. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  1430. current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
  1431. }
  1432. #endif
  1433. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1434. #endif // else DELTA
  1435. #ifdef SCARA
  1436. calculate_delta(current_position);
  1437. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1438. #endif SCARA
  1439. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  1440. enable_endstops(false);
  1441. #endif
  1442. feedrate = saved_feedrate;
  1443. feedmultiply = saved_feedmultiply;
  1444. previous_millis_cmd = millis();
  1445. endstops_hit_on_purpose();
  1446. break;
  1447. #ifdef ENABLE_AUTO_BED_LEVELING
  1448. case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
  1449. {
  1450. #if Z_MIN_PIN == -1
  1451. #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
  1452. #endif
  1453. // Prevent user from running a G29 without first homing in X and Y
  1454. if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
  1455. {
  1456. LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  1457. SERIAL_ECHO_START;
  1458. SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
  1459. break; // abort G29, since we don't know where we are
  1460. }
  1461. #ifdef Z_PROBE_SLED
  1462. dock_sled(false);
  1463. #endif // Z_PROBE_SLED
  1464. st_synchronize();
  1465. // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
  1466. //vector_3 corrected_position = plan_get_position_mm();
  1467. //corrected_position.debug("position before G29");
  1468. plan_bed_level_matrix.set_to_identity();
  1469. vector_3 uncorrected_position = plan_get_position();
  1470. //uncorrected_position.debug("position durring G29");
  1471. current_position[X_AXIS] = uncorrected_position.x;
  1472. current_position[Y_AXIS] = uncorrected_position.y;
  1473. current_position[Z_AXIS] = uncorrected_position.z;
  1474. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1475. setup_for_endstop_move();
  1476. feedrate = homing_feedrate[Z_AXIS];
  1477. #ifdef AUTO_BED_LEVELING_GRID
  1478. // probe at the points of a lattice grid
  1479. int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  1480. int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
  1481. // solve the plane equation ax + by + d = z
  1482. // A is the matrix with rows [x y 1] for all the probed points
  1483. // B is the vector of the Z positions
  1484. // 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
  1485. // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  1486. // "A" matrix of the linear system of equations
  1487. double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
  1488. // "B" vector of Z points
  1489. double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
  1490. int probePointCounter = 0;
  1491. bool zig = true;
  1492. for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
  1493. {
  1494. int xProbe, xInc;
  1495. if (zig)
  1496. {
  1497. xProbe = LEFT_PROBE_BED_POSITION;
  1498. //xEnd = RIGHT_PROBE_BED_POSITION;
  1499. xInc = xGridSpacing;
  1500. zig = false;
  1501. } else // zag
  1502. {
  1503. xProbe = RIGHT_PROBE_BED_POSITION;
  1504. //xEnd = LEFT_PROBE_BED_POSITION;
  1505. xInc = -xGridSpacing;
  1506. zig = true;
  1507. }
  1508. for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
  1509. {
  1510. float z_before;
  1511. if (probePointCounter == 0)
  1512. {
  1513. // raise before probing
  1514. z_before = Z_RAISE_BEFORE_PROBING;
  1515. } else
  1516. {
  1517. // raise extruder
  1518. z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
  1519. }
  1520. float measured_z = probe_pt(xProbe, yProbe, z_before);
  1521. eqnBVector[probePointCounter] = measured_z;
  1522. eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
  1523. eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
  1524. eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
  1525. probePointCounter++;
  1526. xProbe += xInc;
  1527. }
  1528. }
  1529. clean_up_after_endstop_move();
  1530. // solve lsq problem
  1531. double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
  1532. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  1533. SERIAL_PROTOCOL(plane_equation_coefficients[0]);
  1534. SERIAL_PROTOCOLPGM(" b: ");
  1535. SERIAL_PROTOCOL(plane_equation_coefficients[1]);
  1536. SERIAL_PROTOCOLPGM(" d: ");
  1537. SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
  1538. set_bed_level_equation_lsq(plane_equation_coefficients);
  1539. free(plane_equation_coefficients);
  1540. #else // AUTO_BED_LEVELING_GRID not defined
  1541. // Probe at 3 arbitrary points
  1542. // probe 1
  1543. float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
  1544. // probe 2
  1545. float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  1546. // probe 3
  1547. float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
  1548. clean_up_after_endstop_move();
  1549. set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  1550. #endif // AUTO_BED_LEVELING_GRID
  1551. st_synchronize();
  1552. // The following code correct the Z height difference from z-probe position and hotend tip position.
  1553. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
  1554. // When the bed is uneven, this height must be corrected.
  1555. 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)
  1556. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
  1557. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  1558. z_tmp = current_position[Z_AXIS];
  1559. apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
  1560. current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
  1561. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1562. #ifdef Z_PROBE_SLED
  1563. dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
  1564. #endif // Z_PROBE_SLED
  1565. }
  1566. break;
  1567. #ifndef Z_PROBE_SLED
  1568. case 30: // G30 Single Z Probe
  1569. {
  1570. engage_z_probe(); // Engage Z Servo endstop if available
  1571. st_synchronize();
  1572. // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
  1573. setup_for_endstop_move();
  1574. feedrate = homing_feedrate[Z_AXIS];
  1575. run_z_probe();
  1576. SERIAL_PROTOCOLPGM(MSG_BED);
  1577. SERIAL_PROTOCOLPGM(" X: ");
  1578. SERIAL_PROTOCOL(current_position[X_AXIS]);
  1579. SERIAL_PROTOCOLPGM(" Y: ");
  1580. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  1581. SERIAL_PROTOCOLPGM(" Z: ");
  1582. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  1583. SERIAL_PROTOCOLPGM("\n");
  1584. clean_up_after_endstop_move();
  1585. retract_z_probe(); // Retract Z Servo endstop if available
  1586. }
  1587. break;
  1588. #else
  1589. case 31: // dock the sled
  1590. dock_sled(true);
  1591. break;
  1592. case 32: // undock the sled
  1593. dock_sled(false);
  1594. break;
  1595. #endif // Z_PROBE_SLED
  1596. #endif // ENABLE_AUTO_BED_LEVELING
  1597. case 90: // G90
  1598. relative_mode = false;
  1599. break;
  1600. case 91: // G91
  1601. relative_mode = true;
  1602. break;
  1603. case 92: // G92
  1604. if(!code_seen(axis_codes[E_AXIS]))
  1605. st_synchronize();
  1606. for(int8_t i=0; i < NUM_AXIS; i++) {
  1607. if(code_seen(axis_codes[i])) {
  1608. if(i == E_AXIS) {
  1609. current_position[i] = code_value();
  1610. plan_set_e_position(current_position[E_AXIS]);
  1611. }
  1612. else {
  1613. #ifdef SCARA
  1614. if (i == X_AXIS || i == Y_AXIS) {
  1615. current_position[i] = code_value();
  1616. }
  1617. else {
  1618. current_position[i] = code_value()+add_homing[i];
  1619. }
  1620. #else
  1621. current_position[i] = code_value()+add_homing[i];
  1622. #endif
  1623. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1624. }
  1625. }
  1626. }
  1627. break;
  1628. }
  1629. }
  1630. else if(code_seen('M'))
  1631. {
  1632. switch( (int)code_value() )
  1633. {
  1634. #ifdef ULTIPANEL
  1635. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  1636. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  1637. {
  1638. char *src = strchr_pointer + 2;
  1639. codenum = 0;
  1640. bool hasP = false, hasS = false;
  1641. if (code_seen('P')) {
  1642. codenum = code_value(); // milliseconds to wait
  1643. hasP = codenum > 0;
  1644. }
  1645. if (code_seen('S')) {
  1646. codenum = code_value() * 1000; // seconds to wait
  1647. hasS = codenum > 0;
  1648. }
  1649. starpos = strchr(src, '*');
  1650. if (starpos != NULL) *(starpos) = '\0';
  1651. while (*src == ' ') ++src;
  1652. if (!hasP && !hasS && *src != '\0') {
  1653. lcd_setstatus(src);
  1654. } else {
  1655. LCD_MESSAGEPGM(MSG_USERWAIT);
  1656. }
  1657. lcd_ignore_click();
  1658. st_synchronize();
  1659. previous_millis_cmd = millis();
  1660. if (codenum > 0){
  1661. codenum += millis(); // keep track of when we started waiting
  1662. while(millis() < codenum && !lcd_clicked()){
  1663. manage_heater();
  1664. manage_inactivity();
  1665. lcd_update();
  1666. }
  1667. lcd_ignore_click(false);
  1668. }else{
  1669. while(!lcd_clicked()){
  1670. manage_heater();
  1671. manage_inactivity();
  1672. lcd_update();
  1673. }
  1674. }
  1675. if (IS_SD_PRINTING)
  1676. LCD_MESSAGEPGM(MSG_RESUMING);
  1677. else
  1678. LCD_MESSAGEPGM(WELCOME_MSG);
  1679. }
  1680. break;
  1681. #endif
  1682. case 17:
  1683. LCD_MESSAGEPGM(MSG_NO_MOVE);
  1684. enable_x();
  1685. enable_y();
  1686. enable_z();
  1687. enable_e0();
  1688. enable_e1();
  1689. enable_e2();
  1690. break;
  1691. #ifdef SDSUPPORT
  1692. case 20: // M20 - list SD card
  1693. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  1694. card.ls();
  1695. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  1696. break;
  1697. case 21: // M21 - init SD card
  1698. card.initsd();
  1699. break;
  1700. case 22: //M22 - release SD card
  1701. card.release();
  1702. break;
  1703. case 23: //M23 - Select file
  1704. starpos = (strchr(strchr_pointer + 4,'*'));
  1705. if(starpos!=NULL)
  1706. *(starpos)='\0';
  1707. card.openFile(strchr_pointer + 4,true);
  1708. break;
  1709. case 24: //M24 - Start SD print
  1710. card.startFileprint();
  1711. starttime=millis();
  1712. break;
  1713. case 25: //M25 - Pause SD print
  1714. card.pauseSDPrint();
  1715. break;
  1716. case 26: //M26 - Set SD index
  1717. if(card.cardOK && code_seen('S')) {
  1718. card.setIndex(code_value_long());
  1719. }
  1720. break;
  1721. case 27: //M27 - Get SD status
  1722. card.getStatus();
  1723. break;
  1724. case 28: //M28 - Start SD write
  1725. starpos = (strchr(strchr_pointer + 4,'*'));
  1726. if(starpos != NULL){
  1727. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1728. strchr_pointer = strchr(npos,' ') + 1;
  1729. *(starpos) = '\0';
  1730. }
  1731. card.openFile(strchr_pointer+4,false);
  1732. break;
  1733. case 29: //M29 - Stop SD write
  1734. //processed in write to file routine above
  1735. //card,saving = false;
  1736. break;
  1737. case 30: //M30 <filename> Delete File
  1738. if (card.cardOK){
  1739. card.closefile();
  1740. starpos = (strchr(strchr_pointer + 4,'*'));
  1741. if(starpos != NULL){
  1742. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1743. strchr_pointer = strchr(npos,' ') + 1;
  1744. *(starpos) = '\0';
  1745. }
  1746. card.removeFile(strchr_pointer + 4);
  1747. }
  1748. break;
  1749. case 32: //M32 - Select file and start SD print
  1750. {
  1751. if(card.sdprinting) {
  1752. st_synchronize();
  1753. }
  1754. starpos = (strchr(strchr_pointer + 4,'*'));
  1755. char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
  1756. if(namestartpos==NULL)
  1757. {
  1758. namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
  1759. }
  1760. else
  1761. namestartpos++; //to skip the '!'
  1762. if(starpos!=NULL)
  1763. *(starpos)='\0';
  1764. bool call_procedure=(code_seen('P'));
  1765. if(strchr_pointer>namestartpos)
  1766. call_procedure=false; //false alert, 'P' found within filename
  1767. if( card.cardOK )
  1768. {
  1769. card.openFile(namestartpos,true,!call_procedure);
  1770. if(code_seen('S'))
  1771. if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
  1772. card.setIndex(code_value_long());
  1773. card.startFileprint();
  1774. if(!call_procedure)
  1775. starttime=millis(); //procedure calls count as normal print time.
  1776. }
  1777. } break;
  1778. case 928: //M928 - Start SD write
  1779. starpos = (strchr(strchr_pointer + 5,'*'));
  1780. if(starpos != NULL){
  1781. char* npos = strchr(cmdbuffer[bufindr], 'N');
  1782. strchr_pointer = strchr(npos,' ') + 1;
  1783. *(starpos) = '\0';
  1784. }
  1785. card.openLogFile(strchr_pointer+5);
  1786. break;
  1787. #endif //SDSUPPORT
  1788. case 31: //M31 take time since the start of the SD print or an M109 command
  1789. {
  1790. stoptime=millis();
  1791. char time[30];
  1792. unsigned long t=(stoptime-starttime)/1000;
  1793. int sec,min;
  1794. min=t/60;
  1795. sec=t%60;
  1796. sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  1797. SERIAL_ECHO_START;
  1798. SERIAL_ECHOLN(time);
  1799. lcd_setstatus(time);
  1800. autotempShutdown();
  1801. }
  1802. break;
  1803. case 42: //M42 -Change pin status via gcode
  1804. if (code_seen('S'))
  1805. {
  1806. int pin_status = code_value();
  1807. int pin_number = LED_PIN;
  1808. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  1809. pin_number = code_value();
  1810. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  1811. {
  1812. if (sensitive_pins[i] == pin_number)
  1813. {
  1814. pin_number = -1;
  1815. break;
  1816. }
  1817. }
  1818. #if defined(FAN_PIN) && FAN_PIN > -1
  1819. if (pin_number == FAN_PIN)
  1820. fanSpeed = pin_status;
  1821. #endif
  1822. if (pin_number > -1)
  1823. {
  1824. pinMode(pin_number, OUTPUT);
  1825. digitalWrite(pin_number, pin_status);
  1826. analogWrite(pin_number, pin_status);
  1827. }
  1828. }
  1829. break;
  1830. // M48 Z-Probe repeatability measurement function.
  1831. //
  1832. // Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
  1833. //
  1834. // This function assumes the bed has been homed. Specificaly, that a G28 command
  1835. // as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
  1836. // Any information generated by a prior G29 Bed leveling command will be lost and need to be
  1837. // regenerated.
  1838. //
  1839. // The number of samples will default to 10 if not specified. You can use upper or lower case
  1840. // letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
  1841. // N for its communication protocol and will get horribly confused if you send it a capital N.
  1842. //
  1843. #ifdef ENABLE_AUTO_BED_LEVELING
  1844. #ifdef Z_PROBE_REPEATABILITY_TEST
  1845. case 48: // M48 Z-Probe repeatability
  1846. {
  1847. #if Z_MIN_PIN == -1
  1848. #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
  1849. #endif
  1850. double sum=0.0;
  1851. double mean=0.0;
  1852. double sigma=0.0;
  1853. double sample_set[50];
  1854. int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
  1855. double X_current, Y_current, Z_current;
  1856. double X_probe_location, Y_probe_location, Z_start_location, ext_position;
  1857. if (code_seen('V') || code_seen('v')) {
  1858. verbose_level = code_value();
  1859. if (verbose_level<0 || verbose_level>4 ) {
  1860. SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
  1861. goto Sigma_Exit;
  1862. }
  1863. }
  1864. if (verbose_level > 0) {
  1865. SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
  1866. SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
  1867. }
  1868. if (code_seen('n')) {
  1869. n_samples = code_value();
  1870. if (n_samples<4 || n_samples>50 ) {
  1871. SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
  1872. goto Sigma_Exit;
  1873. }
  1874. }
  1875. X_current = X_probe_location = st_get_position_mm(X_AXIS);
  1876. Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
  1877. Z_current = st_get_position_mm(Z_AXIS);
  1878. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  1879. ext_position = st_get_position_mm(E_AXIS);
  1880. if (code_seen('E') || code_seen('e') )
  1881. engage_probe_for_each_reading++;
  1882. if (code_seen('X') || code_seen('x') ) {
  1883. X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
  1884. if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
  1885. SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
  1886. goto Sigma_Exit;
  1887. }
  1888. }
  1889. if (code_seen('Y') || code_seen('y') ) {
  1890. Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
  1891. if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
  1892. SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
  1893. goto Sigma_Exit;
  1894. }
  1895. }
  1896. if (code_seen('L') || code_seen('l') ) {
  1897. n_legs = code_value();
  1898. if ( n_legs==1 )
  1899. n_legs = 2;
  1900. if ( n_legs<0 || n_legs>15 ) {
  1901. SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
  1902. goto Sigma_Exit;
  1903. }
  1904. }
  1905. //
  1906. // Do all the preliminary setup work. First raise the probe.
  1907. //
  1908. st_synchronize();
  1909. plan_bed_level_matrix.set_to_identity();
  1910. plan_buffer_line( X_current, Y_current, Z_start_location,
  1911. ext_position,
  1912. homing_feedrate[Z_AXIS]/60,
  1913. active_extruder);
  1914. st_synchronize();
  1915. //
  1916. // Now get everything to the specified probe point So we can safely do a probe to
  1917. // get us close to the bed. If the Z-Axis is far from the bed, we don't want to
  1918. // use that as a starting point for each probe.
  1919. //
  1920. if (verbose_level > 2)
  1921. SERIAL_PROTOCOL("Positioning probe for the test.\n");
  1922. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  1923. ext_position,
  1924. homing_feedrate[X_AXIS]/60,
  1925. active_extruder);
  1926. st_synchronize();
  1927. current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
  1928. current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
  1929. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1930. current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
  1931. //
  1932. // OK, do the inital probe to get us close to the bed.
  1933. // Then retrace the right amount and use that in subsequent probes
  1934. //
  1935. engage_z_probe();
  1936. setup_for_endstop_move();
  1937. run_z_probe();
  1938. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1939. Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
  1940. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  1941. ext_position,
  1942. homing_feedrate[X_AXIS]/60,
  1943. active_extruder);
  1944. st_synchronize();
  1945. current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
  1946. if (engage_probe_for_each_reading)
  1947. retract_z_probe();
  1948. for( n=0; n<n_samples; n++) {
  1949. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
  1950. if ( n_legs) {
  1951. double radius=0.0, theta=0.0, x_sweep, y_sweep;
  1952. int rotational_direction, l;
  1953. rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
  1954. radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
  1955. theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
  1956. //SERIAL_ECHOPAIR("starting radius: ",radius);
  1957. //SERIAL_ECHOPAIR(" theta: ",theta);
  1958. //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
  1959. //SERIAL_PROTOCOLLNPGM("");
  1960. for( l=0; l<n_legs-1; l++) {
  1961. if (rotational_direction==1)
  1962. theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  1963. else
  1964. theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
  1965. radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
  1966. if ( radius<0.0 )
  1967. radius = -radius;
  1968. X_current = X_probe_location + cos(theta) * radius;
  1969. Y_current = Y_probe_location + sin(theta) * radius;
  1970. if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
  1971. X_current = X_MIN_POS;
  1972. if ( X_current>X_MAX_POS)
  1973. X_current = X_MAX_POS;
  1974. if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
  1975. Y_current = Y_MIN_POS;
  1976. if ( Y_current>Y_MAX_POS)
  1977. Y_current = Y_MAX_POS;
  1978. if (verbose_level>3 ) {
  1979. SERIAL_ECHOPAIR("x: ", X_current);
  1980. SERIAL_ECHOPAIR("y: ", Y_current);
  1981. SERIAL_PROTOCOLLNPGM("");
  1982. }
  1983. do_blocking_move_to( X_current, Y_current, Z_current );
  1984. }
  1985. do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
  1986. }
  1987. if (engage_probe_for_each_reading) {
  1988. engage_z_probe();
  1989. delay(1000);
  1990. }
  1991. setup_for_endstop_move();
  1992. run_z_probe();
  1993. sample_set[n] = current_position[Z_AXIS];
  1994. //
  1995. // Get the current mean for the data points we have so far
  1996. //
  1997. sum=0.0;
  1998. for( j=0; j<=n; j++) {
  1999. sum = sum + sample_set[j];
  2000. }
  2001. mean = sum / (double (n+1));
  2002. //
  2003. // Now, use that mean to calculate the standard deviation for the
  2004. // data points we have so far
  2005. //
  2006. sum=0.0;
  2007. for( j=0; j<=n; j++) {
  2008. sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
  2009. }
  2010. sigma = sqrt( sum / (double (n+1)) );
  2011. if (verbose_level > 1) {
  2012. SERIAL_PROTOCOL(n+1);
  2013. SERIAL_PROTOCOL(" of ");
  2014. SERIAL_PROTOCOL(n_samples);
  2015. SERIAL_PROTOCOLPGM(" z: ");
  2016. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  2017. }
  2018. if (verbose_level > 2) {
  2019. SERIAL_PROTOCOL(" mean: ");
  2020. SERIAL_PROTOCOL_F(mean,6);
  2021. SERIAL_PROTOCOL(" sigma: ");
  2022. SERIAL_PROTOCOL_F(sigma,6);
  2023. }
  2024. if (verbose_level > 0)
  2025. SERIAL_PROTOCOLPGM("\n");
  2026. plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
  2027. current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
  2028. st_synchronize();
  2029. if (engage_probe_for_each_reading) {
  2030. retract_z_probe();
  2031. delay(1000);
  2032. }
  2033. }
  2034. retract_z_probe();
  2035. delay(1000);
  2036. clean_up_after_endstop_move();
  2037. // enable_endstops(true);
  2038. if (verbose_level > 0) {
  2039. SERIAL_PROTOCOLPGM("Mean: ");
  2040. SERIAL_PROTOCOL_F(mean, 6);
  2041. SERIAL_PROTOCOLPGM("\n");
  2042. }
  2043. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  2044. SERIAL_PROTOCOL_F(sigma, 6);
  2045. SERIAL_PROTOCOLPGM("\n\n");
  2046. Sigma_Exit:
  2047. break;
  2048. }
  2049. #endif // Z_PROBE_REPEATABILITY_TEST
  2050. #endif // ENABLE_AUTO_BED_LEVELING
  2051. case 104: // M104
  2052. if(setTargetedHotend(104)){
  2053. break;
  2054. }
  2055. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  2056. #ifdef DUAL_X_CARRIAGE
  2057. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2058. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2059. #endif
  2060. setWatch();
  2061. break;
  2062. case 112: // M112 -Emergency Stop
  2063. kill();
  2064. break;
  2065. case 140: // M140 set bed temp
  2066. if (code_seen('S')) setTargetBed(code_value());
  2067. break;
  2068. case 105 : // M105
  2069. if(setTargetedHotend(105)){
  2070. break;
  2071. }
  2072. #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
  2073. SERIAL_PROTOCOLPGM("ok T:");
  2074. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2075. SERIAL_PROTOCOLPGM(" /");
  2076. SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
  2077. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2078. SERIAL_PROTOCOLPGM(" B:");
  2079. SERIAL_PROTOCOL_F(degBed(),1);
  2080. SERIAL_PROTOCOLPGM(" /");
  2081. SERIAL_PROTOCOL_F(degTargetBed(),1);
  2082. #endif //TEMP_BED_PIN
  2083. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2084. SERIAL_PROTOCOLPGM(" T");
  2085. SERIAL_PROTOCOL(cur_extruder);
  2086. SERIAL_PROTOCOLPGM(":");
  2087. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2088. SERIAL_PROTOCOLPGM(" /");
  2089. SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
  2090. }
  2091. #else
  2092. SERIAL_ERROR_START;
  2093. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  2094. #endif
  2095. SERIAL_PROTOCOLPGM(" @:");
  2096. #ifdef EXTRUDER_WATTS
  2097. SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
  2098. SERIAL_PROTOCOLPGM("W");
  2099. #else
  2100. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  2101. #endif
  2102. SERIAL_PROTOCOLPGM(" B@:");
  2103. #ifdef BED_WATTS
  2104. SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
  2105. SERIAL_PROTOCOLPGM("W");
  2106. #else
  2107. SERIAL_PROTOCOL(getHeaterPower(-1));
  2108. #endif
  2109. #ifdef SHOW_TEMP_ADC_VALUES
  2110. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2111. SERIAL_PROTOCOLPGM(" ADC B:");
  2112. SERIAL_PROTOCOL_F(degBed(),1);
  2113. SERIAL_PROTOCOLPGM("C->");
  2114. SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
  2115. #endif
  2116. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  2117. SERIAL_PROTOCOLPGM(" T");
  2118. SERIAL_PROTOCOL(cur_extruder);
  2119. SERIAL_PROTOCOLPGM(":");
  2120. SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
  2121. SERIAL_PROTOCOLPGM("C->");
  2122. SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
  2123. }
  2124. #endif
  2125. SERIAL_PROTOCOLLN("");
  2126. return;
  2127. break;
  2128. case 109:
  2129. {// M109 - Wait for extruder heater to reach target.
  2130. if(setTargetedHotend(109)){
  2131. break;
  2132. }
  2133. LCD_MESSAGEPGM(MSG_HEATING);
  2134. #ifdef AUTOTEMP
  2135. autotemp_enabled=false;
  2136. #endif
  2137. if (code_seen('S')) {
  2138. setTargetHotend(code_value(), tmp_extruder);
  2139. #ifdef DUAL_X_CARRIAGE
  2140. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2141. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2142. #endif
  2143. CooldownNoWait = true;
  2144. } else if (code_seen('R')) {
  2145. setTargetHotend(code_value(), tmp_extruder);
  2146. #ifdef DUAL_X_CARRIAGE
  2147. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
  2148. setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
  2149. #endif
  2150. CooldownNoWait = false;
  2151. }
  2152. #ifdef AUTOTEMP
  2153. if (code_seen('S')) autotemp_min=code_value();
  2154. if (code_seen('B')) autotemp_max=code_value();
  2155. if (code_seen('F'))
  2156. {
  2157. autotemp_factor=code_value();
  2158. autotemp_enabled=true;
  2159. }
  2160. #endif
  2161. setWatch();
  2162. codenum = millis();
  2163. /* See if we are heating up or cooling down */
  2164. target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  2165. cancel_heatup = false;
  2166. #ifdef TEMP_RESIDENCY_TIME
  2167. long residencyStart;
  2168. residencyStart = -1;
  2169. /* continue to loop until we have reached the target temp
  2170. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  2171. while((!cancel_heatup)&&((residencyStart == -1) ||
  2172. (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
  2173. #else
  2174. while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
  2175. #endif //TEMP_RESIDENCY_TIME
  2176. if( (millis() - codenum) > 1000UL )
  2177. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  2178. SERIAL_PROTOCOLPGM("T:");
  2179. SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
  2180. SERIAL_PROTOCOLPGM(" E:");
  2181. SERIAL_PROTOCOL((int)tmp_extruder);
  2182. #ifdef TEMP_RESIDENCY_TIME
  2183. SERIAL_PROTOCOLPGM(" W:");
  2184. if(residencyStart > -1)
  2185. {
  2186. codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
  2187. SERIAL_PROTOCOLLN( codenum );
  2188. }
  2189. else
  2190. {
  2191. SERIAL_PROTOCOLLN( "?" );
  2192. }
  2193. #else
  2194. SERIAL_PROTOCOLLN("");
  2195. #endif
  2196. codenum = millis();
  2197. }
  2198. manage_heater();
  2199. manage_inactivity();
  2200. lcd_update();
  2201. #ifdef TEMP_RESIDENCY_TIME
  2202. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  2203. or when current temp falls outside the hysteresis after target temp was reached */
  2204. if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
  2205. (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
  2206. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
  2207. {
  2208. residencyStart = millis();
  2209. }
  2210. #endif //TEMP_RESIDENCY_TIME
  2211. }
  2212. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  2213. starttime=millis();
  2214. previous_millis_cmd = millis();
  2215. }
  2216. break;
  2217. case 190: // M190 - Wait for bed heater to reach target.
  2218. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  2219. LCD_MESSAGEPGM(MSG_BED_HEATING);
  2220. if (code_seen('S')) {
  2221. setTargetBed(code_value());
  2222. CooldownNoWait = true;
  2223. } else if (code_seen('R')) {
  2224. setTargetBed(code_value());
  2225. CooldownNoWait = false;
  2226. }
  2227. codenum = millis();
  2228. cancel_heatup = false;
  2229. target_direction = isHeatingBed(); // true if heating, false if cooling
  2230. while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
  2231. {
  2232. if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  2233. {
  2234. float tt=degHotend(active_extruder);
  2235. SERIAL_PROTOCOLPGM("T:");
  2236. SERIAL_PROTOCOL(tt);
  2237. SERIAL_PROTOCOLPGM(" E:");
  2238. SERIAL_PROTOCOL((int)active_extruder);
  2239. SERIAL_PROTOCOLPGM(" B:");
  2240. SERIAL_PROTOCOL_F(degBed(),1);
  2241. SERIAL_PROTOCOLLN("");
  2242. codenum = millis();
  2243. }
  2244. manage_heater();
  2245. manage_inactivity();
  2246. lcd_update();
  2247. }
  2248. LCD_MESSAGEPGM(MSG_BED_DONE);
  2249. previous_millis_cmd = millis();
  2250. #endif
  2251. break;
  2252. #if defined(FAN_PIN) && FAN_PIN > -1
  2253. case 106: //M106 Fan On
  2254. if (code_seen('S')){
  2255. fanSpeed=constrain(code_value(),0,255);
  2256. }
  2257. else {
  2258. fanSpeed=255;
  2259. }
  2260. break;
  2261. case 107: //M107 Fan Off
  2262. fanSpeed = 0;
  2263. break;
  2264. #endif //FAN_PIN
  2265. #ifdef BARICUDA
  2266. // PWM for HEATER_1_PIN
  2267. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  2268. case 126: //M126 valve open
  2269. if (code_seen('S')){
  2270. ValvePressure=constrain(code_value(),0,255);
  2271. }
  2272. else {
  2273. ValvePressure=255;
  2274. }
  2275. break;
  2276. case 127: //M127 valve closed
  2277. ValvePressure = 0;
  2278. break;
  2279. #endif //HEATER_1_PIN
  2280. // PWM for HEATER_2_PIN
  2281. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  2282. case 128: //M128 valve open
  2283. if (code_seen('S')){
  2284. EtoPPressure=constrain(code_value(),0,255);
  2285. }
  2286. else {
  2287. EtoPPressure=255;
  2288. }
  2289. break;
  2290. case 129: //M129 valve closed
  2291. EtoPPressure = 0;
  2292. break;
  2293. #endif //HEATER_2_PIN
  2294. #endif
  2295. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  2296. case 80: // M80 - Turn on Power Supply
  2297. SET_OUTPUT(PS_ON_PIN); //GND
  2298. WRITE(PS_ON_PIN, PS_ON_AWAKE);
  2299. // If you have a switch on suicide pin, this is useful
  2300. // if you want to start another print with suicide feature after
  2301. // a print without suicide...
  2302. #if defined SUICIDE_PIN && SUICIDE_PIN > -1
  2303. SET_OUTPUT(SUICIDE_PIN);
  2304. WRITE(SUICIDE_PIN, HIGH);
  2305. #endif
  2306. #ifdef ULTIPANEL
  2307. powersupply = true;
  2308. LCD_MESSAGEPGM(WELCOME_MSG);
  2309. lcd_update();
  2310. #endif
  2311. break;
  2312. #endif
  2313. case 81: // M81 - Turn off Power Supply
  2314. disable_heater();
  2315. st_synchronize();
  2316. disable_e0();
  2317. disable_e1();
  2318. disable_e2();
  2319. finishAndDisableSteppers();
  2320. fanSpeed = 0;
  2321. delay(1000); // Wait a little before to switch off
  2322. #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
  2323. st_synchronize();
  2324. suicide();
  2325. #elif defined(PS_ON_PIN) && PS_ON_PIN > -1
  2326. SET_OUTPUT(PS_ON_PIN);
  2327. WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  2328. #endif
  2329. #ifdef ULTIPANEL
  2330. powersupply = false;
  2331. LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
  2332. lcd_update();
  2333. #endif
  2334. break;
  2335. case 82:
  2336. axis_relative_modes[3] = false;
  2337. break;
  2338. case 83:
  2339. axis_relative_modes[3] = true;
  2340. break;
  2341. case 18: //compatibility
  2342. case 84: // M84
  2343. if(code_seen('S')){
  2344. stepper_inactive_time = code_value() * 1000;
  2345. }
  2346. else
  2347. {
  2348. 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])));
  2349. if(all_axis)
  2350. {
  2351. st_synchronize();
  2352. disable_e0();
  2353. disable_e1();
  2354. disable_e2();
  2355. finishAndDisableSteppers();
  2356. }
  2357. else
  2358. {
  2359. st_synchronize();
  2360. if(code_seen('X')) disable_x();
  2361. if(code_seen('Y')) disable_y();
  2362. if(code_seen('Z')) disable_z();
  2363. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  2364. if(code_seen('E')) {
  2365. disable_e0();
  2366. disable_e1();
  2367. disable_e2();
  2368. }
  2369. #endif
  2370. }
  2371. }
  2372. break;
  2373. case 85: // M85
  2374. if(code_seen('S')) {
  2375. max_inactive_time = code_value() * 1000;
  2376. }
  2377. break;
  2378. case 92: // M92
  2379. for(int8_t i=0; i < NUM_AXIS; i++)
  2380. {
  2381. if(code_seen(axis_codes[i]))
  2382. {
  2383. if(i == 3) { // E
  2384. float value = code_value();
  2385. if(value < 20.0) {
  2386. float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
  2387. max_e_jerk *= factor;
  2388. max_feedrate[i] *= factor;
  2389. axis_steps_per_sqr_second[i] *= factor;
  2390. }
  2391. axis_steps_per_unit[i] = value;
  2392. }
  2393. else {
  2394. axis_steps_per_unit[i] = code_value();
  2395. }
  2396. }
  2397. }
  2398. break;
  2399. case 115: // M115
  2400. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  2401. break;
  2402. case 117: // M117 display message
  2403. starpos = (strchr(strchr_pointer + 5,'*'));
  2404. if(starpos!=NULL)
  2405. *(starpos)='\0';
  2406. lcd_setstatus(strchr_pointer + 5);
  2407. break;
  2408. case 114: // M114
  2409. SERIAL_PROTOCOLPGM("X:");
  2410. SERIAL_PROTOCOL(current_position[X_AXIS]);
  2411. SERIAL_PROTOCOLPGM(" Y:");
  2412. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  2413. SERIAL_PROTOCOLPGM(" Z:");
  2414. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  2415. SERIAL_PROTOCOLPGM(" E:");
  2416. SERIAL_PROTOCOL(current_position[E_AXIS]);
  2417. SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  2418. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  2419. SERIAL_PROTOCOLPGM(" Y:");
  2420. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  2421. SERIAL_PROTOCOLPGM(" Z:");
  2422. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  2423. SERIAL_PROTOCOLLN("");
  2424. #ifdef SCARA
  2425. SERIAL_PROTOCOLPGM("SCARA Theta:");
  2426. SERIAL_PROTOCOL(delta[X_AXIS]);
  2427. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2428. SERIAL_PROTOCOL(delta[Y_AXIS]);
  2429. SERIAL_PROTOCOLLN("");
  2430. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  2431. SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[0]);
  2432. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  2433. SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[1]);
  2434. SERIAL_PROTOCOLLN("");
  2435. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  2436. SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
  2437. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  2438. SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
  2439. SERIAL_PROTOCOLLN("");
  2440. SERIAL_PROTOCOLLN("");
  2441. #endif
  2442. break;
  2443. case 120: // M120
  2444. enable_endstops(false) ;
  2445. break;
  2446. case 121: // M121
  2447. enable_endstops(true) ;
  2448. break;
  2449. case 119: // M119
  2450. SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  2451. #if defined(X_MIN_PIN) && X_MIN_PIN > -1
  2452. SERIAL_PROTOCOLPGM(MSG_X_MIN);
  2453. SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2454. #endif
  2455. #if defined(X_MAX_PIN) && X_MAX_PIN > -1
  2456. SERIAL_PROTOCOLPGM(MSG_X_MAX);
  2457. SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2458. #endif
  2459. #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
  2460. SERIAL_PROTOCOLPGM(MSG_Y_MIN);
  2461. SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2462. #endif
  2463. #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
  2464. SERIAL_PROTOCOLPGM(MSG_Y_MAX);
  2465. SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2466. #endif
  2467. #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
  2468. SERIAL_PROTOCOLPGM(MSG_Z_MIN);
  2469. SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2470. #endif
  2471. #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
  2472. SERIAL_PROTOCOLPGM(MSG_Z_MAX);
  2473. SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  2474. #endif
  2475. break;
  2476. //TODO: update for all axis, use for loop
  2477. #ifdef BLINKM
  2478. case 150: // M150
  2479. {
  2480. byte red;
  2481. byte grn;
  2482. byte blu;
  2483. if(code_seen('R')) red = code_value();
  2484. if(code_seen('U')) grn = code_value();
  2485. if(code_seen('B')) blu = code_value();
  2486. SendColors(red,grn,blu);
  2487. }
  2488. break;
  2489. #endif //BLINKM
  2490. case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
  2491. {
  2492. float area = .0;
  2493. float radius = .0;
  2494. if(code_seen('D')) {
  2495. radius = (float)code_value() * .5;
  2496. if(radius == 0) {
  2497. area = 1;
  2498. } else {
  2499. area = M_PI * pow(radius, 2);
  2500. }
  2501. } else {
  2502. //reserved for setting filament diameter via UFID or filament measuring device
  2503. break;
  2504. }
  2505. tmp_extruder = active_extruder;
  2506. if(code_seen('T')) {
  2507. tmp_extruder = code_value();
  2508. if(tmp_extruder >= EXTRUDERS) {
  2509. SERIAL_ECHO_START;
  2510. SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
  2511. break;
  2512. }
  2513. }
  2514. volumetric_multiplier[tmp_extruder] = 1 / area;
  2515. }
  2516. break;
  2517. case 201: // M201
  2518. for(int8_t i=0; i < NUM_AXIS; i++)
  2519. {
  2520. if(code_seen(axis_codes[i]))
  2521. {
  2522. max_acceleration_units_per_sq_second[i] = code_value();
  2523. }
  2524. }
  2525. // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
  2526. reset_acceleration_rates();
  2527. break;
  2528. #if 0 // Not used for Sprinter/grbl gen6
  2529. case 202: // M202
  2530. for(int8_t i=0; i < NUM_AXIS; i++) {
  2531. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  2532. }
  2533. break;
  2534. #endif
  2535. case 203: // M203 max feedrate mm/sec
  2536. for(int8_t i=0; i < NUM_AXIS; i++) {
  2537. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  2538. }
  2539. break;
  2540. case 204: // M204 acclereration S normal moves T filmanent only moves
  2541. {
  2542. if(code_seen('S')) acceleration = code_value() ;
  2543. if(code_seen('T')) retract_acceleration = code_value() ;
  2544. }
  2545. break;
  2546. 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
  2547. {
  2548. if(code_seen('S')) minimumfeedrate = code_value();
  2549. if(code_seen('T')) mintravelfeedrate = code_value();
  2550. if(code_seen('B')) minsegmenttime = code_value() ;
  2551. if(code_seen('X')) max_xy_jerk = code_value() ;
  2552. if(code_seen('Z')) max_z_jerk = code_value() ;
  2553. if(code_seen('E')) max_e_jerk = code_value() ;
  2554. }
  2555. break;
  2556. case 206: // M206 additional homing offset
  2557. for(int8_t i=0; i < 3; i++)
  2558. {
  2559. if(code_seen(axis_codes[i])) add_homing[i] = code_value();
  2560. }
  2561. #ifdef SCARA
  2562. if(code_seen('T')) // Theta
  2563. {
  2564. add_homing[0] = code_value() ;
  2565. }
  2566. if(code_seen('P')) // Psi
  2567. {
  2568. add_homing[1] = code_value() ;
  2569. }
  2570. #endif
  2571. break;
  2572. #ifdef DELTA
  2573. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  2574. if(code_seen('L')) {
  2575. delta_diagonal_rod= code_value();
  2576. }
  2577. if(code_seen('R')) {
  2578. delta_radius= code_value();
  2579. }
  2580. if(code_seen('S')) {
  2581. delta_segments_per_second= code_value();
  2582. }
  2583. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  2584. break;
  2585. case 666: // M666 set delta endstop adjustemnt
  2586. for(int8_t i=0; i < 3; i++)
  2587. {
  2588. if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
  2589. }
  2590. break;
  2591. #endif
  2592. #ifdef FWRETRACT
  2593. case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
  2594. {
  2595. if(code_seen('S'))
  2596. {
  2597. retract_length = code_value() ;
  2598. }
  2599. if(code_seen('F'))
  2600. {
  2601. retract_feedrate = code_value()/60 ;
  2602. }
  2603. if(code_seen('Z'))
  2604. {
  2605. retract_zlift = code_value() ;
  2606. }
  2607. }break;
  2608. case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
  2609. {
  2610. if(code_seen('S'))
  2611. {
  2612. retract_recover_length = code_value() ;
  2613. }
  2614. if(code_seen('F'))
  2615. {
  2616. retract_recover_feedrate = code_value()/60 ;
  2617. }
  2618. }break;
  2619. 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.
  2620. {
  2621. if(code_seen('S'))
  2622. {
  2623. int t= code_value() ;
  2624. switch(t)
  2625. {
  2626. case 0:
  2627. {
  2628. autoretract_enabled=false;
  2629. retracted[0]=false;
  2630. #if EXTRUDERS > 1
  2631. retracted[1]=false;
  2632. #endif
  2633. #if EXTRUDERS > 2
  2634. retracted[2]=false;
  2635. #endif
  2636. }break;
  2637. case 1:
  2638. {
  2639. autoretract_enabled=true;
  2640. retracted[0]=false;
  2641. #if EXTRUDERS > 1
  2642. retracted[1]=false;
  2643. #endif
  2644. #if EXTRUDERS > 2
  2645. retracted[2]=false;
  2646. #endif
  2647. }break;
  2648. default:
  2649. SERIAL_ECHO_START;
  2650. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  2651. SERIAL_ECHO(cmdbuffer[bufindr]);
  2652. SERIAL_ECHOLNPGM("\"");
  2653. }
  2654. }
  2655. }break;
  2656. #endif // FWRETRACT
  2657. #if EXTRUDERS > 1
  2658. case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
  2659. {
  2660. if(setTargetedHotend(218)){
  2661. break;
  2662. }
  2663. if(code_seen('X'))
  2664. {
  2665. extruder_offset[X_AXIS][tmp_extruder] = code_value();
  2666. }
  2667. if(code_seen('Y'))
  2668. {
  2669. extruder_offset[Y_AXIS][tmp_extruder] = code_value();
  2670. }
  2671. #ifdef DUAL_X_CARRIAGE
  2672. if(code_seen('Z'))
  2673. {
  2674. extruder_offset[Z_AXIS][tmp_extruder] = code_value();
  2675. }
  2676. #endif
  2677. SERIAL_ECHO_START;
  2678. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  2679. for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
  2680. {
  2681. SERIAL_ECHO(" ");
  2682. SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
  2683. SERIAL_ECHO(",");
  2684. SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
  2685. #ifdef DUAL_X_CARRIAGE
  2686. SERIAL_ECHO(",");
  2687. SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
  2688. #endif
  2689. }
  2690. SERIAL_ECHOLN("");
  2691. }break;
  2692. #endif
  2693. case 220: // M220 S<factor in percent>- set speed factor override percentage
  2694. {
  2695. if(code_seen('S'))
  2696. {
  2697. feedmultiply = code_value() ;
  2698. }
  2699. }
  2700. break;
  2701. case 221: // M221 S<factor in percent>- set extrude factor override percentage
  2702. {
  2703. if(code_seen('S'))
  2704. {
  2705. int tmp_code = code_value();
  2706. if (code_seen('T'))
  2707. {
  2708. if(setTargetedHotend(221)){
  2709. break;
  2710. }
  2711. extruder_multiply[tmp_extruder] = tmp_code;
  2712. }
  2713. else
  2714. {
  2715. extrudemultiply = tmp_code ;
  2716. }
  2717. }
  2718. }
  2719. break;
  2720. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  2721. {
  2722. if(code_seen('P')){
  2723. int pin_number = code_value(); // pin number
  2724. int pin_state = -1; // required pin state - default is inverted
  2725. if(code_seen('S')) pin_state = code_value(); // required pin state
  2726. if(pin_state >= -1 && pin_state <= 1){
  2727. for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
  2728. {
  2729. if (sensitive_pins[i] == pin_number)
  2730. {
  2731. pin_number = -1;
  2732. break;
  2733. }
  2734. }
  2735. if (pin_number > -1)
  2736. {
  2737. st_synchronize();
  2738. pinMode(pin_number, INPUT);
  2739. int target;
  2740. switch(pin_state){
  2741. case 1:
  2742. target = HIGH;
  2743. break;
  2744. case 0:
  2745. target = LOW;
  2746. break;
  2747. case -1:
  2748. target = !digitalRead(pin_number);
  2749. break;
  2750. }
  2751. while(digitalRead(pin_number) != target){
  2752. manage_heater();
  2753. manage_inactivity();
  2754. lcd_update();
  2755. }
  2756. }
  2757. }
  2758. }
  2759. }
  2760. break;
  2761. #if NUM_SERVOS > 0
  2762. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  2763. {
  2764. int servo_index = -1;
  2765. int servo_position = 0;
  2766. if (code_seen('P'))
  2767. servo_index = code_value();
  2768. if (code_seen('S')) {
  2769. servo_position = code_value();
  2770. if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
  2771. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  2772. servos[servo_index].attach(0);
  2773. #endif
  2774. servos[servo_index].write(servo_position);
  2775. #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
  2776. delay(PROBE_SERVO_DEACTIVATION_DELAY);
  2777. servos[servo_index].detach();
  2778. #endif
  2779. }
  2780. else {
  2781. SERIAL_ECHO_START;
  2782. SERIAL_ECHO("Servo ");
  2783. SERIAL_ECHO(servo_index);
  2784. SERIAL_ECHOLN(" out of range");
  2785. }
  2786. }
  2787. else if (servo_index >= 0) {
  2788. SERIAL_PROTOCOL(MSG_OK);
  2789. SERIAL_PROTOCOL(" Servo ");
  2790. SERIAL_PROTOCOL(servo_index);
  2791. SERIAL_PROTOCOL(": ");
  2792. SERIAL_PROTOCOL(servos[servo_index].read());
  2793. SERIAL_PROTOCOLLN("");
  2794. }
  2795. }
  2796. break;
  2797. #endif // NUM_SERVOS > 0
  2798. #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
  2799. case 300: // M300
  2800. {
  2801. int beepS = code_seen('S') ? code_value() : 110;
  2802. int beepP = code_seen('P') ? code_value() : 1000;
  2803. if (beepS > 0)
  2804. {
  2805. #if BEEPER > 0
  2806. tone(BEEPER, beepS);
  2807. delay(beepP);
  2808. noTone(BEEPER);
  2809. #elif defined(ULTRALCD)
  2810. lcd_buzz(beepS, beepP);
  2811. #elif defined(LCD_USE_I2C_BUZZER)
  2812. lcd_buzz(beepP, beepS);
  2813. #endif
  2814. }
  2815. else
  2816. {
  2817. delay(beepP);
  2818. }
  2819. }
  2820. break;
  2821. #endif // M300
  2822. #ifdef PIDTEMP
  2823. case 301: // M301
  2824. {
  2825. if(code_seen('P')) Kp = code_value();
  2826. if(code_seen('I')) Ki = scalePID_i(code_value());
  2827. if(code_seen('D')) Kd = scalePID_d(code_value());
  2828. #ifdef PID_ADD_EXTRUSION_RATE
  2829. if(code_seen('C')) Kc = code_value();
  2830. #endif
  2831. updatePID();
  2832. SERIAL_PROTOCOL(MSG_OK);
  2833. SERIAL_PROTOCOL(" p:");
  2834. SERIAL_PROTOCOL(Kp);
  2835. SERIAL_PROTOCOL(" i:");
  2836. SERIAL_PROTOCOL(unscalePID_i(Ki));
  2837. SERIAL_PROTOCOL(" d:");
  2838. SERIAL_PROTOCOL(unscalePID_d(Kd));
  2839. #ifdef PID_ADD_EXTRUSION_RATE
  2840. SERIAL_PROTOCOL(" c:");
  2841. //Kc does not have scaling applied above, or in resetting defaults
  2842. SERIAL_PROTOCOL(Kc);
  2843. #endif
  2844. SERIAL_PROTOCOLLN("");
  2845. }
  2846. break;
  2847. #endif //PIDTEMP
  2848. #ifdef PIDTEMPBED
  2849. case 304: // M304
  2850. {
  2851. if(code_seen('P')) bedKp = code_value();
  2852. if(code_seen('I')) bedKi = scalePID_i(code_value());
  2853. if(code_seen('D')) bedKd = scalePID_d(code_value());
  2854. updatePID();
  2855. SERIAL_PROTOCOL(MSG_OK);
  2856. SERIAL_PROTOCOL(" p:");
  2857. SERIAL_PROTOCOL(bedKp);
  2858. SERIAL_PROTOCOL(" i:");
  2859. SERIAL_PROTOCOL(unscalePID_i(bedKi));
  2860. SERIAL_PROTOCOL(" d:");
  2861. SERIAL_PROTOCOL(unscalePID_d(bedKd));
  2862. SERIAL_PROTOCOLLN("");
  2863. }
  2864. break;
  2865. #endif //PIDTEMP
  2866. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  2867. {
  2868. #ifdef CHDK
  2869. SET_OUTPUT(CHDK);
  2870. WRITE(CHDK, HIGH);
  2871. chdkHigh = millis();
  2872. chdkActive = true;
  2873. #else
  2874. #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
  2875. const uint8_t NUM_PULSES=16;
  2876. const float PULSE_LENGTH=0.01524;
  2877. for(int i=0; i < NUM_PULSES; i++) {
  2878. WRITE(PHOTOGRAPH_PIN, HIGH);
  2879. _delay_ms(PULSE_LENGTH);
  2880. WRITE(PHOTOGRAPH_PIN, LOW);
  2881. _delay_ms(PULSE_LENGTH);
  2882. }
  2883. delay(7.33);
  2884. for(int i=0; i < NUM_PULSES; i++) {
  2885. WRITE(PHOTOGRAPH_PIN, HIGH);
  2886. _delay_ms(PULSE_LENGTH);
  2887. WRITE(PHOTOGRAPH_PIN, LOW);
  2888. _delay_ms(PULSE_LENGTH);
  2889. }
  2890. #endif
  2891. #endif //chdk end if
  2892. }
  2893. break;
  2894. #ifdef DOGLCD
  2895. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  2896. {
  2897. if (code_seen('C')) {
  2898. lcd_setcontrast( ((int)code_value())&63 );
  2899. }
  2900. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  2901. SERIAL_PROTOCOL(lcd_contrast);
  2902. SERIAL_PROTOCOLLN("");
  2903. }
  2904. break;
  2905. #endif
  2906. #ifdef PREVENT_DANGEROUS_EXTRUDE
  2907. case 302: // allow cold extrudes, or set the minimum extrude temperature
  2908. {
  2909. float temp = .0;
  2910. if (code_seen('S')) temp=code_value();
  2911. set_extrude_min_temp(temp);
  2912. }
  2913. break;
  2914. #endif
  2915. case 303: // M303 PID autotune
  2916. {
  2917. float temp = 150.0;
  2918. int e=0;
  2919. int c=5;
  2920. if (code_seen('E')) e=code_value();
  2921. if (e<0)
  2922. temp=70;
  2923. if (code_seen('S')) temp=code_value();
  2924. if (code_seen('C')) c=code_value();
  2925. PID_autotune(temp, e, c);
  2926. }
  2927. break;
  2928. #ifdef SCARA
  2929. case 360: // M360 SCARA Theta pos1
  2930. SERIAL_ECHOLN(" Cal: Theta 0 ");
  2931. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2932. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2933. if(Stopped == false) {
  2934. //get_coordinates(); // For X Y Z E F
  2935. delta[0] = 0;
  2936. delta[1] = 120;
  2937. calculate_SCARA_forward_Transform(delta);
  2938. destination[0] = delta[0]/axis_scaling[X_AXIS];
  2939. destination[1] = delta[1]/axis_scaling[Y_AXIS];
  2940. prepare_move();
  2941. //ClearToSend();
  2942. return;
  2943. }
  2944. break;
  2945. case 361: // SCARA Theta pos2
  2946. SERIAL_ECHOLN(" Cal: Theta 90 ");
  2947. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2948. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2949. if(Stopped == false) {
  2950. //get_coordinates(); // For X Y Z E F
  2951. delta[0] = 90;
  2952. delta[1] = 130;
  2953. calculate_SCARA_forward_Transform(delta);
  2954. destination[0] = delta[0]/axis_scaling[X_AXIS];
  2955. destination[1] = delta[1]/axis_scaling[Y_AXIS];
  2956. prepare_move();
  2957. //ClearToSend();
  2958. return;
  2959. }
  2960. break;
  2961. case 362: // SCARA Psi pos1
  2962. SERIAL_ECHOLN(" Cal: Psi 0 ");
  2963. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2964. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2965. if(Stopped == false) {
  2966. //get_coordinates(); // For X Y Z E F
  2967. delta[0] = 60;
  2968. delta[1] = 180;
  2969. calculate_SCARA_forward_Transform(delta);
  2970. destination[0] = delta[0]/axis_scaling[X_AXIS];
  2971. destination[1] = delta[1]/axis_scaling[Y_AXIS];
  2972. prepare_move();
  2973. //ClearToSend();
  2974. return;
  2975. }
  2976. break;
  2977. case 363: // SCARA Psi pos2
  2978. SERIAL_ECHOLN(" Cal: Psi 90 ");
  2979. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2980. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2981. if(Stopped == false) {
  2982. //get_coordinates(); // For X Y Z E F
  2983. delta[0] = 50;
  2984. delta[1] = 90;
  2985. calculate_SCARA_forward_Transform(delta);
  2986. destination[0] = delta[0]/axis_scaling[X_AXIS];
  2987. destination[1] = delta[1]/axis_scaling[Y_AXIS];
  2988. prepare_move();
  2989. //ClearToSend();
  2990. return;
  2991. }
  2992. break;
  2993. case 364: // SCARA Psi pos3 (90 deg to Theta)
  2994. SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
  2995. // SoftEndsEnabled = false; // Ignore soft endstops during calibration
  2996. //SERIAL_ECHOLN(" Soft endstops disabled ");
  2997. if(Stopped == false) {
  2998. //get_coordinates(); // For X Y Z E F
  2999. delta[0] = 45;
  3000. delta[1] = 135;
  3001. calculate_SCARA_forward_Transform(delta);
  3002. destination[0] = delta[0]/axis_scaling[X_AXIS];
  3003. destination[1] = delta[1]/axis_scaling[Y_AXIS];
  3004. prepare_move();
  3005. //ClearToSend();
  3006. return;
  3007. }
  3008. break;
  3009. case 365: // M364 Set SCARA scaling for X Y Z
  3010. for(int8_t i=0; i < 3; i++)
  3011. {
  3012. if(code_seen(axis_codes[i]))
  3013. {
  3014. axis_scaling[i] = code_value();
  3015. }
  3016. }
  3017. break;
  3018. #endif
  3019. case 400: // M400 finish all moves
  3020. {
  3021. st_synchronize();
  3022. }
  3023. break;
  3024. #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
  3025. case 401:
  3026. {
  3027. engage_z_probe(); // Engage Z Servo endstop if available
  3028. }
  3029. break;
  3030. case 402:
  3031. {
  3032. retract_z_probe(); // Retract Z Servo endstop if enabled
  3033. }
  3034. break;
  3035. #endif
  3036. #ifdef FILAMENT_SENSOR
  3037. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  3038. {
  3039. #if (FILWIDTH_PIN > -1)
  3040. if(code_seen('N')) filament_width_nominal=code_value();
  3041. else{
  3042. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  3043. SERIAL_PROTOCOLLN(filament_width_nominal);
  3044. }
  3045. #endif
  3046. }
  3047. break;
  3048. case 405: //M405 Turn on filament sensor for control
  3049. {
  3050. if(code_seen('D')) meas_delay_cm=code_value();
  3051. if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
  3052. meas_delay_cm = MAX_MEASUREMENT_DELAY;
  3053. if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
  3054. {
  3055. int temp_ratio = widthFil_to_size_ratio();
  3056. for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
  3057. measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
  3058. }
  3059. delay_index1=0;
  3060. delay_index2=0;
  3061. }
  3062. filament_sensor = true ;
  3063. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3064. //SERIAL_PROTOCOL(filament_width_meas);
  3065. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  3066. //SERIAL_PROTOCOL(extrudemultiply);
  3067. }
  3068. break;
  3069. case 406: //M406 Turn off filament sensor for control
  3070. {
  3071. filament_sensor = false ;
  3072. }
  3073. break;
  3074. case 407: //M407 Display measured filament diameter
  3075. {
  3076. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  3077. SERIAL_PROTOCOLLN(filament_width_meas);
  3078. }
  3079. break;
  3080. #endif
  3081. case 500: // M500 Store settings in EEPROM
  3082. {
  3083. Config_StoreSettings();
  3084. }
  3085. break;
  3086. case 501: // M501 Read settings from EEPROM
  3087. {
  3088. Config_RetrieveSettings();
  3089. }
  3090. break;
  3091. case 502: // M502 Revert to default settings
  3092. {
  3093. Config_ResetDefault();
  3094. }
  3095. break;
  3096. case 503: // M503 print settings currently in memory
  3097. {
  3098. Config_PrintSettings();
  3099. }
  3100. break;
  3101. #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  3102. case 540:
  3103. {
  3104. if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
  3105. }
  3106. break;
  3107. #endif
  3108. #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3109. case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
  3110. {
  3111. float value;
  3112. if (code_seen('Z'))
  3113. {
  3114. value = code_value();
  3115. if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
  3116. {
  3117. zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
  3118. SERIAL_ECHO_START;
  3119. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
  3120. SERIAL_PROTOCOLLN("");
  3121. }
  3122. else
  3123. {
  3124. SERIAL_ECHO_START;
  3125. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  3126. SERIAL_ECHOPGM(MSG_Z_MIN);
  3127. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  3128. SERIAL_ECHOPGM(MSG_Z_MAX);
  3129. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  3130. SERIAL_PROTOCOLLN("");
  3131. }
  3132. }
  3133. else
  3134. {
  3135. SERIAL_ECHO_START;
  3136. SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
  3137. SERIAL_ECHO(-zprobe_zoffset);
  3138. SERIAL_PROTOCOLLN("");
  3139. }
  3140. break;
  3141. }
  3142. #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
  3143. #ifdef FILAMENTCHANGEENABLE
  3144. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  3145. {
  3146. float target[4];
  3147. float lastpos[4];
  3148. target[X_AXIS]=current_position[X_AXIS];
  3149. target[Y_AXIS]=current_position[Y_AXIS];
  3150. target[Z_AXIS]=current_position[Z_AXIS];
  3151. target[E_AXIS]=current_position[E_AXIS];
  3152. lastpos[X_AXIS]=current_position[X_AXIS];
  3153. lastpos[Y_AXIS]=current_position[Y_AXIS];
  3154. lastpos[Z_AXIS]=current_position[Z_AXIS];
  3155. lastpos[E_AXIS]=current_position[E_AXIS];
  3156. //retract by E
  3157. if(code_seen('E'))
  3158. {
  3159. target[E_AXIS]+= code_value();
  3160. }
  3161. else
  3162. {
  3163. #ifdef FILAMENTCHANGE_FIRSTRETRACT
  3164. target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
  3165. #endif
  3166. }
  3167. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3168. //lift Z
  3169. if(code_seen('Z'))
  3170. {
  3171. target[Z_AXIS]+= code_value();
  3172. }
  3173. else
  3174. {
  3175. #ifdef FILAMENTCHANGE_ZADD
  3176. target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
  3177. #endif
  3178. }
  3179. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3180. //move xy
  3181. if(code_seen('X'))
  3182. {
  3183. target[X_AXIS]+= code_value();
  3184. }
  3185. else
  3186. {
  3187. #ifdef FILAMENTCHANGE_XPOS
  3188. target[X_AXIS]= FILAMENTCHANGE_XPOS ;
  3189. #endif
  3190. }
  3191. if(code_seen('Y'))
  3192. {
  3193. target[Y_AXIS]= code_value();
  3194. }
  3195. else
  3196. {
  3197. #ifdef FILAMENTCHANGE_YPOS
  3198. target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
  3199. #endif
  3200. }
  3201. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3202. if(code_seen('L'))
  3203. {
  3204. target[E_AXIS]+= code_value();
  3205. }
  3206. else
  3207. {
  3208. #ifdef FILAMENTCHANGE_FINALRETRACT
  3209. target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
  3210. #endif
  3211. }
  3212. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
  3213. //finish moves
  3214. st_synchronize();
  3215. //disable extruder steppers so filament can be removed
  3216. disable_e0();
  3217. disable_e1();
  3218. disable_e2();
  3219. delay(100);
  3220. LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
  3221. uint8_t cnt=0;
  3222. while(!lcd_clicked()){
  3223. cnt++;
  3224. manage_heater();
  3225. manage_inactivity();
  3226. lcd_update();
  3227. if(cnt==0)
  3228. {
  3229. #if BEEPER > 0
  3230. SET_OUTPUT(BEEPER);
  3231. WRITE(BEEPER,HIGH);
  3232. delay(3);
  3233. WRITE(BEEPER,LOW);
  3234. delay(3);
  3235. #else
  3236. #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
  3237. lcd_buzz(1000/6,100);
  3238. #else
  3239. lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
  3240. #endif
  3241. #endif
  3242. }
  3243. }
  3244. //return to normal
  3245. if(code_seen('L'))
  3246. {
  3247. target[E_AXIS]+= -code_value();
  3248. }
  3249. else
  3250. {
  3251. #ifdef FILAMENTCHANGE_FINALRETRACT
  3252. target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
  3253. #endif
  3254. }
  3255. current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
  3256. plan_set_e_position(current_position[E_AXIS]);
  3257. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
  3258. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
  3259. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
  3260. plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
  3261. }
  3262. break;
  3263. #endif //FILAMENTCHANGEENABLE
  3264. #ifdef DUAL_X_CARRIAGE
  3265. case 605: // Set dual x-carriage movement mode:
  3266. // M605 S0: Full control mode. The slicer has full control over x-carriage movement
  3267. // M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  3268. // M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  3269. // millimeters x-offset and an optional differential hotend temperature of
  3270. // mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  3271. // the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  3272. //
  3273. // Note: the X axis should be homed after changing dual x-carriage mode.
  3274. {
  3275. st_synchronize();
  3276. if (code_seen('S'))
  3277. dual_x_carriage_mode = code_value();
  3278. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
  3279. {
  3280. if (code_seen('X'))
  3281. duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));
  3282. if (code_seen('R'))
  3283. duplicate_extruder_temp_offset = code_value();
  3284. SERIAL_ECHO_START;
  3285. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  3286. SERIAL_ECHO(" ");
  3287. SERIAL_ECHO(extruder_offset[X_AXIS][0]);
  3288. SERIAL_ECHO(",");
  3289. SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
  3290. SERIAL_ECHO(" ");
  3291. SERIAL_ECHO(duplicate_extruder_x_offset);
  3292. SERIAL_ECHO(",");
  3293. SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
  3294. }
  3295. else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
  3296. {
  3297. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  3298. }
  3299. active_extruder_parked = false;
  3300. extruder_duplication_enabled = false;
  3301. delayed_move_time = 0;
  3302. }
  3303. break;
  3304. #endif //DUAL_X_CARRIAGE
  3305. case 907: // M907 Set digital trimpot motor current using axis codes.
  3306. {
  3307. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  3308. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
  3309. if(code_seen('B')) digipot_current(4,code_value());
  3310. if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
  3311. #endif
  3312. #ifdef MOTOR_CURRENT_PWM_XY_PIN
  3313. if(code_seen('X')) digipot_current(0, code_value());
  3314. #endif
  3315. #ifdef MOTOR_CURRENT_PWM_Z_PIN
  3316. if(code_seen('Z')) digipot_current(1, code_value());
  3317. #endif
  3318. #ifdef MOTOR_CURRENT_PWM_E_PIN
  3319. if(code_seen('E')) digipot_current(2, code_value());
  3320. #endif
  3321. #ifdef DIGIPOT_I2C
  3322. // this one uses actual amps in floating point
  3323. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
  3324. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  3325. for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
  3326. #endif
  3327. }
  3328. break;
  3329. case 908: // M908 Control digital trimpot directly.
  3330. {
  3331. #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
  3332. uint8_t channel,current;
  3333. if(code_seen('P')) channel=code_value();
  3334. if(code_seen('S')) current=code_value();
  3335. digitalPotWrite(channel, current);
  3336. #endif
  3337. }
  3338. break;
  3339. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  3340. {
  3341. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3342. if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
  3343. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
  3344. if(code_seen('B')) microstep_mode(4,code_value());
  3345. microstep_readings();
  3346. #endif
  3347. }
  3348. break;
  3349. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  3350. {
  3351. #if defined(X_MS1_PIN) && X_MS1_PIN > -1
  3352. if(code_seen('S')) switch((int)code_value())
  3353. {
  3354. case 1:
  3355. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
  3356. if(code_seen('B')) microstep_ms(4,code_value(),-1);
  3357. break;
  3358. case 2:
  3359. for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
  3360. if(code_seen('B')) microstep_ms(4,-1,code_value());
  3361. break;
  3362. }
  3363. microstep_readings();
  3364. #endif
  3365. }
  3366. break;
  3367. case 999: // M999: Restart after being stopped
  3368. Stopped = false;
  3369. lcd_reset_alert_level();
  3370. gcode_LastN = Stopped_gcode_LastN;
  3371. FlushSerialRequestResend();
  3372. break;
  3373. }
  3374. }
  3375. else if(code_seen('T'))
  3376. {
  3377. tmp_extruder = code_value();
  3378. if(tmp_extruder >= EXTRUDERS) {
  3379. SERIAL_ECHO_START;
  3380. SERIAL_ECHO("T");
  3381. SERIAL_ECHO(tmp_extruder);
  3382. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  3383. }
  3384. else {
  3385. boolean make_move = false;
  3386. if(code_seen('F')) {
  3387. make_move = true;
  3388. next_feedrate = code_value();
  3389. if(next_feedrate > 0.0) {
  3390. feedrate = next_feedrate;
  3391. }
  3392. }
  3393. #if EXTRUDERS > 1
  3394. if(tmp_extruder != active_extruder) {
  3395. // Save current position to return to after applying extruder offset
  3396. memcpy(destination, current_position, sizeof(destination));
  3397. #ifdef DUAL_X_CARRIAGE
  3398. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
  3399. (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
  3400. {
  3401. // Park old head: 1) raise 2) move to park position 3) lower
  3402. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3403. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3404. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
  3405. current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
  3406. plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
  3407. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3408. st_synchronize();
  3409. }
  3410. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  3411. current_position[Y_AXIS] = current_position[Y_AXIS] -
  3412. extruder_offset[Y_AXIS][active_extruder] +
  3413. extruder_offset[Y_AXIS][tmp_extruder];
  3414. current_position[Z_AXIS] = current_position[Z_AXIS] -
  3415. extruder_offset[Z_AXIS][active_extruder] +
  3416. extruder_offset[Z_AXIS][tmp_extruder];
  3417. active_extruder = tmp_extruder;
  3418. // This function resets the max/min values - the current position may be overwritten below.
  3419. axis_is_at_home(X_AXIS);
  3420. if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
  3421. {
  3422. current_position[X_AXIS] = inactive_extruder_x_pos;
  3423. inactive_extruder_x_pos = destination[X_AXIS];
  3424. }
  3425. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
  3426. {
  3427. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  3428. if (active_extruder == 0 || active_extruder_parked)
  3429. current_position[X_AXIS] = inactive_extruder_x_pos;
  3430. else
  3431. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  3432. inactive_extruder_x_pos = destination[X_AXIS];
  3433. extruder_duplication_enabled = false;
  3434. }
  3435. else
  3436. {
  3437. // record raised toolhead position for use by unpark
  3438. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  3439. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  3440. active_extruder_parked = true;
  3441. delayed_move_time = 0;
  3442. }
  3443. #else
  3444. // Offset extruder (only by XY)
  3445. int i;
  3446. for(i = 0; i < 2; i++) {
  3447. current_position[i] = current_position[i] -
  3448. extruder_offset[i][active_extruder] +
  3449. extruder_offset[i][tmp_extruder];
  3450. }
  3451. // Set the new active extruder and position
  3452. active_extruder = tmp_extruder;
  3453. #endif //else DUAL_X_CARRIAGE
  3454. #ifdef DELTA
  3455. calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
  3456. //sent position to plan_set_position();
  3457. plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
  3458. #else
  3459. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3460. #endif
  3461. // Move to the old position if 'F' was in the parameters
  3462. if(make_move && Stopped == false) {
  3463. prepare_move();
  3464. }
  3465. }
  3466. #endif
  3467. SERIAL_ECHO_START;
  3468. SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
  3469. SERIAL_PROTOCOLLN((int)active_extruder);
  3470. }
  3471. }
  3472. else
  3473. {
  3474. SERIAL_ECHO_START;
  3475. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  3476. SERIAL_ECHO(cmdbuffer[bufindr]);
  3477. SERIAL_ECHOLNPGM("\"");
  3478. }
  3479. ClearToSend();
  3480. }
  3481. void FlushSerialRequestResend()
  3482. {
  3483. //char cmdbuffer[bufindr][100]="Resend:";
  3484. MYSERIAL.flush();
  3485. SERIAL_PROTOCOLPGM(MSG_RESEND);
  3486. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  3487. ClearToSend();
  3488. }
  3489. void ClearToSend()
  3490. {
  3491. previous_millis_cmd = millis();
  3492. #ifdef SDSUPPORT
  3493. if(fromsd[bufindr])
  3494. return;
  3495. #endif //SDSUPPORT
  3496. SERIAL_PROTOCOLLNPGM(MSG_OK);
  3497. }
  3498. void get_coordinates()
  3499. {
  3500. bool seen[4]={false,false,false,false};
  3501. for(int8_t i=0; i < NUM_AXIS; i++) {
  3502. if(code_seen(axis_codes[i]))
  3503. {
  3504. destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  3505. seen[i]=true;
  3506. }
  3507. else destination[i] = current_position[i]; //Are these else lines really needed?
  3508. }
  3509. if(code_seen('F')) {
  3510. next_feedrate = code_value();
  3511. if(next_feedrate > 0.0) feedrate = next_feedrate;
  3512. }
  3513. }
  3514. void get_arc_coordinates()
  3515. {
  3516. #ifdef SF_ARC_FIX
  3517. bool relative_mode_backup = relative_mode;
  3518. relative_mode = true;
  3519. #endif
  3520. get_coordinates();
  3521. #ifdef SF_ARC_FIX
  3522. relative_mode=relative_mode_backup;
  3523. #endif
  3524. if(code_seen('I')) {
  3525. offset[0] = code_value();
  3526. }
  3527. else {
  3528. offset[0] = 0.0;
  3529. }
  3530. if(code_seen('J')) {
  3531. offset[1] = code_value();
  3532. }
  3533. else {
  3534. offset[1] = 0.0;
  3535. }
  3536. }
  3537. void clamp_to_software_endstops(float target[3])
  3538. {
  3539. if (min_software_endstops) {
  3540. if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
  3541. if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
  3542. if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
  3543. }
  3544. if (max_software_endstops) {
  3545. if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
  3546. if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
  3547. if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
  3548. }
  3549. }
  3550. #ifdef DELTA
  3551. void recalc_delta_settings(float radius, float diagonal_rod)
  3552. {
  3553. delta_tower1_x= -SIN_60*radius; // front left tower
  3554. delta_tower1_y= -COS_60*radius;
  3555. delta_tower2_x= SIN_60*radius; // front right tower
  3556. delta_tower2_y= -COS_60*radius;
  3557. delta_tower3_x= 0.0; // back middle tower
  3558. delta_tower3_y= radius;
  3559. delta_diagonal_rod_2= sq(diagonal_rod);
  3560. }
  3561. void calculate_delta(float cartesian[3])
  3562. {
  3563. delta[X_AXIS] = sqrt(delta_diagonal_rod_2
  3564. - sq(delta_tower1_x-cartesian[X_AXIS])
  3565. - sq(delta_tower1_y-cartesian[Y_AXIS])
  3566. ) + cartesian[Z_AXIS];
  3567. delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
  3568. - sq(delta_tower2_x-cartesian[X_AXIS])
  3569. - sq(delta_tower2_y-cartesian[Y_AXIS])
  3570. ) + cartesian[Z_AXIS];
  3571. delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
  3572. - sq(delta_tower3_x-cartesian[X_AXIS])
  3573. - sq(delta_tower3_y-cartesian[Y_AXIS])
  3574. ) + cartesian[Z_AXIS];
  3575. /*
  3576. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  3577. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  3578. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  3579. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  3580. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  3581. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3582. */
  3583. }
  3584. #endif
  3585. void prepare_move()
  3586. {
  3587. clamp_to_software_endstops(destination);
  3588. previous_millis_cmd = millis();
  3589. #ifdef SCARA //for now same as delta-code
  3590. float difference[NUM_AXIS];
  3591. for (int8_t i=0; i < NUM_AXIS; i++) {
  3592. difference[i] = destination[i] - current_position[i];
  3593. }
  3594. float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
  3595. sq(difference[Y_AXIS]) +
  3596. sq(difference[Z_AXIS]));
  3597. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  3598. if (cartesian_mm < 0.000001) { return; }
  3599. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  3600. int steps = max(1, int(scara_segments_per_second * seconds));
  3601. //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  3602. //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  3603. //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  3604. for (int s = 1; s <= steps; s++) {
  3605. float fraction = float(s) / float(steps);
  3606. for(int8_t i=0; i < NUM_AXIS; i++) {
  3607. destination[i] = current_position[i] + difference[i] * fraction;
  3608. }
  3609. calculate_delta(destination);
  3610. //SERIAL_ECHOPGM("destination[0]="); SERIAL_ECHOLN(destination[0]);
  3611. //SERIAL_ECHOPGM("destination[1]="); SERIAL_ECHOLN(destination[1]);
  3612. //SERIAL_ECHOPGM("destination[2]="); SERIAL_ECHOLN(destination[2]);
  3613. //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
  3614. //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  3615. //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3616. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  3617. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  3618. active_extruder);
  3619. }
  3620. #endif // SCARA
  3621. #ifdef DELTA
  3622. float difference[NUM_AXIS];
  3623. for (int8_t i=0; i < NUM_AXIS; i++) {
  3624. difference[i] = destination[i] - current_position[i];
  3625. }
  3626. float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
  3627. sq(difference[Y_AXIS]) +
  3628. sq(difference[Z_AXIS]));
  3629. if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
  3630. if (cartesian_mm < 0.000001) { return; }
  3631. float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
  3632. int steps = max(1, int(delta_segments_per_second * seconds));
  3633. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  3634. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  3635. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  3636. for (int s = 1; s <= steps; s++) {
  3637. float fraction = float(s) / float(steps);
  3638. for(int8_t i=0; i < NUM_AXIS; i++) {
  3639. destination[i] = current_position[i] + difference[i] * fraction;
  3640. }
  3641. calculate_delta(destination);
  3642. plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
  3643. destination[E_AXIS], feedrate*feedmultiply/60/100.0,
  3644. active_extruder);
  3645. }
  3646. #endif // DELTA
  3647. #ifdef DUAL_X_CARRIAGE
  3648. if (active_extruder_parked)
  3649. {
  3650. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
  3651. {
  3652. // move duplicate extruder into correct duplication position.
  3653. plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3654. plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
  3655. current_position[E_AXIS], max_feedrate[X_AXIS], 1);
  3656. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  3657. st_synchronize();
  3658. extruder_duplication_enabled = true;
  3659. active_extruder_parked = false;
  3660. }
  3661. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
  3662. {
  3663. if (current_position[E_AXIS] == destination[E_AXIS])
  3664. {
  3665. // this is a travel move - skit it but keep track of current position (so that it can later
  3666. // be used as start of first non-travel move)
  3667. if (delayed_move_time != 0xFFFFFFFFUL)
  3668. {
  3669. memcpy(current_position, destination, sizeof(current_position));
  3670. if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
  3671. raised_parked_position[Z_AXIS] = destination[Z_AXIS];
  3672. delayed_move_time = millis();
  3673. return;
  3674. }
  3675. }
  3676. delayed_move_time = 0;
  3677. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  3678. 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);
  3679. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
  3680. current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
  3681. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  3682. current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
  3683. active_extruder_parked = false;
  3684. }
  3685. }
  3686. #endif //DUAL_X_CARRIAGE
  3687. #if ! (defined DELTA || defined SCARA)
  3688. // Do not use feedmultiply for E or Z only moves
  3689. if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
  3690. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
  3691. }
  3692. else {
  3693. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  3694. }
  3695. #endif // !(DELTA || SCARA)
  3696. for(int8_t i=0; i < NUM_AXIS; i++) {
  3697. current_position[i] = destination[i];
  3698. }
  3699. }
  3700. void prepare_arc_move(char isclockwise) {
  3701. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  3702. // Trace the arc
  3703. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  3704. // As far as the parser is concerned, the position is now == target. In reality the
  3705. // motion control system might still be processing the action and the real tool position
  3706. // in any intermediate location.
  3707. for(int8_t i=0; i < NUM_AXIS; i++) {
  3708. current_position[i] = destination[i];
  3709. }
  3710. previous_millis_cmd = millis();
  3711. }
  3712. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  3713. #if defined(FAN_PIN)
  3714. #if CONTROLLERFAN_PIN == FAN_PIN
  3715. #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
  3716. #endif
  3717. #endif
  3718. unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
  3719. unsigned long lastMotorCheck = 0;
  3720. void controllerFan()
  3721. {
  3722. if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
  3723. {
  3724. lastMotorCheck = millis();
  3725. if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
  3726. #if EXTRUDERS > 2
  3727. || !READ(E2_ENABLE_PIN)
  3728. #endif
  3729. #if EXTRUDER > 1
  3730. #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
  3731. || !READ(X2_ENABLE_PIN)
  3732. #endif
  3733. || !READ(E1_ENABLE_PIN)
  3734. #endif
  3735. || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
  3736. {
  3737. lastMotor = millis(); //... set time to NOW so the fan will turn on
  3738. }
  3739. if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
  3740. {
  3741. digitalWrite(CONTROLLERFAN_PIN, 0);
  3742. analogWrite(CONTROLLERFAN_PIN, 0);
  3743. }
  3744. else
  3745. {
  3746. // allows digital or PWM fan output to be used (see M42 handling)
  3747. digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  3748. analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
  3749. }
  3750. }
  3751. }
  3752. #endif
  3753. #ifdef SCARA
  3754. void calculate_SCARA_forward_Transform(float f_scara[3])
  3755. {
  3756. // Perform forward kinematics, and place results in delta[3]
  3757. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  3758. float x_sin, x_cos, y_sin, y_cos;
  3759. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  3760. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  3761. x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  3762. x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
  3763. y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  3764. y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
  3765. // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  3766. // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  3767. // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  3768. // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  3769. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  3770. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  3771. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  3772. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  3773. }
  3774. void calculate_delta(float cartesian[3]){
  3775. //reverse kinematics.
  3776. // Perform reversed kinematics, and place results in delta[3]
  3777. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  3778. float SCARA_pos[2];
  3779. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  3780. SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  3781. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  3782. #if (Linkage_1 == Linkage_2)
  3783. SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
  3784. #else
  3785. SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
  3786. #endif
  3787. SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
  3788. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  3789. SCARA_K2 = Linkage_2 * SCARA_S2;
  3790. SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
  3791. SCARA_psi = atan2(SCARA_S2,SCARA_C2);
  3792. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  3793. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  3794. delta[Z_AXIS] = cartesian[Z_AXIS];
  3795. /*
  3796. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  3797. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  3798. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  3799. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  3800. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  3801. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  3802. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  3803. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  3804. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  3805. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  3806. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  3807. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  3808. SERIAL_ECHOLN(" ");*/
  3809. }
  3810. #endif
  3811. #ifdef TEMP_STAT_LEDS
  3812. static bool blue_led = false;
  3813. static bool red_led = false;
  3814. static uint32_t stat_update = 0;
  3815. void handle_status_leds(void) {
  3816. float max_temp = 0.0;
  3817. if(millis() > stat_update) {
  3818. stat_update += 500; // Update every 0.5s
  3819. for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
  3820. max_temp = max(max_temp, degHotend(cur_extruder));
  3821. max_temp = max(max_temp, degTargetHotend(cur_extruder));
  3822. }
  3823. #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
  3824. max_temp = max(max_temp, degTargetBed());
  3825. max_temp = max(max_temp, degBed());
  3826. #endif
  3827. if((max_temp > 55.0) && (red_led == false)) {
  3828. digitalWrite(STAT_LED_RED, 1);
  3829. digitalWrite(STAT_LED_BLUE, 0);
  3830. red_led = true;
  3831. blue_led = false;
  3832. }
  3833. if((max_temp < 54.0) && (blue_led == false)) {
  3834. digitalWrite(STAT_LED_RED, 0);
  3835. digitalWrite(STAT_LED_BLUE, 1);
  3836. red_led = false;
  3837. blue_led = true;
  3838. }
  3839. }
  3840. }
  3841. #endif
  3842. void manage_inactivity()
  3843. {
  3844. if(buflen < (BUFSIZE-1))
  3845. get_command();
  3846. if( (millis() - previous_millis_cmd) > max_inactive_time )
  3847. if(max_inactive_time)
  3848. kill();
  3849. if(stepper_inactive_time) {
  3850. if( (millis() - previous_millis_cmd) > stepper_inactive_time )
  3851. {
  3852. if(blocks_queued() == false) {
  3853. disable_x();
  3854. disable_y();
  3855. disable_z();
  3856. disable_e0();
  3857. disable_e1();
  3858. disable_e2();
  3859. }
  3860. }
  3861. }
  3862. #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
  3863. if (chdkActive && (millis() - chdkHigh > CHDK_DELAY))
  3864. {
  3865. chdkActive = false;
  3866. WRITE(CHDK, LOW);
  3867. }
  3868. #endif
  3869. #if defined(KILL_PIN) && KILL_PIN > -1
  3870. if( 0 == READ(KILL_PIN) )
  3871. kill();
  3872. #endif
  3873. #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
  3874. controllerFan(); //Check if fan should be turned on to cool stepper drivers down
  3875. #endif
  3876. #ifdef EXTRUDER_RUNOUT_PREVENT
  3877. if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  3878. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  3879. {
  3880. bool oldstatus=READ(E0_ENABLE_PIN);
  3881. enable_e0();
  3882. float oldepos=current_position[E_AXIS];
  3883. float oldedes=destination[E_AXIS];
  3884. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  3885. destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  3886. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  3887. current_position[E_AXIS]=oldepos;
  3888. destination[E_AXIS]=oldedes;
  3889. plan_set_e_position(oldepos);
  3890. previous_millis_cmd=millis();
  3891. st_synchronize();
  3892. WRITE(E0_ENABLE_PIN,oldstatus);
  3893. }
  3894. #endif
  3895. #if defined(DUAL_X_CARRIAGE)
  3896. // handle delayed move timeout
  3897. if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
  3898. {
  3899. // travel moves have been received so enact them
  3900. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  3901. memcpy(destination,current_position,sizeof(destination));
  3902. prepare_move();
  3903. }
  3904. #endif
  3905. #ifdef TEMP_STAT_LEDS
  3906. handle_status_leds();
  3907. #endif
  3908. check_axes_activity();
  3909. }
  3910. void kill()
  3911. {
  3912. cli(); // Stop interrupts
  3913. disable_heater();
  3914. disable_x();
  3915. disable_y();
  3916. disable_z();
  3917. disable_e0();
  3918. disable_e1();
  3919. disable_e2();
  3920. #if defined(PS_ON_PIN) && PS_ON_PIN > -1
  3921. pinMode(PS_ON_PIN,INPUT);
  3922. #endif
  3923. SERIAL_ERROR_START;
  3924. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  3925. LCD_ALERTMESSAGEPGM(MSG_KILLED);
  3926. suicide();
  3927. while(1) { /* Intentionally left empty */ } // Wait for reset
  3928. }
  3929. void Stop()
  3930. {
  3931. disable_heater();
  3932. if(Stopped == false) {
  3933. Stopped = true;
  3934. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  3935. SERIAL_ERROR_START;
  3936. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  3937. LCD_MESSAGEPGM(MSG_STOPPED);
  3938. }
  3939. }
  3940. bool IsStopped() { return Stopped; };
  3941. #ifdef FAST_PWM_FAN
  3942. void setPwmFrequency(uint8_t pin, int val)
  3943. {
  3944. val &= 0x07;
  3945. switch(digitalPinToTimer(pin))
  3946. {
  3947. #if defined(TCCR0A)
  3948. case TIMER0A:
  3949. case TIMER0B:
  3950. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  3951. // TCCR0B |= val;
  3952. break;
  3953. #endif
  3954. #if defined(TCCR1A)
  3955. case TIMER1A:
  3956. case TIMER1B:
  3957. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  3958. // TCCR1B |= val;
  3959. break;
  3960. #endif
  3961. #if defined(TCCR2)
  3962. case TIMER2:
  3963. case TIMER2:
  3964. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  3965. TCCR2 |= val;
  3966. break;
  3967. #endif
  3968. #if defined(TCCR2A)
  3969. case TIMER2A:
  3970. case TIMER2B:
  3971. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  3972. TCCR2B |= val;
  3973. break;
  3974. #endif
  3975. #if defined(TCCR3A)
  3976. case TIMER3A:
  3977. case TIMER3B:
  3978. case TIMER3C:
  3979. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  3980. TCCR3B |= val;
  3981. break;
  3982. #endif
  3983. #if defined(TCCR4A)
  3984. case TIMER4A:
  3985. case TIMER4B:
  3986. case TIMER4C:
  3987. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  3988. TCCR4B |= val;
  3989. break;
  3990. #endif
  3991. #if defined(TCCR5A)
  3992. case TIMER5A:
  3993. case TIMER5B:
  3994. case TIMER5C:
  3995. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  3996. TCCR5B |= val;
  3997. break;
  3998. #endif
  3999. }
  4000. }
  4001. #endif //FAST_PWM_FAN
  4002. bool setTargetedHotend(int code){
  4003. tmp_extruder = active_extruder;
  4004. if(code_seen('T')) {
  4005. tmp_extruder = code_value();
  4006. if(tmp_extruder >= EXTRUDERS) {
  4007. SERIAL_ECHO_START;
  4008. switch(code){
  4009. case 104:
  4010. SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
  4011. break;
  4012. case 105:
  4013. SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
  4014. break;
  4015. case 109:
  4016. SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
  4017. break;
  4018. case 218:
  4019. SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
  4020. break;
  4021. case 221:
  4022. SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
  4023. break;
  4024. }
  4025. SERIAL_ECHOLN(tmp_extruder);
  4026. return true;
  4027. }
  4028. }
  4029. return false;
  4030. }