My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Du kannst nicht mehr als 25 Themen auswählen Themen müssen mit entweder einem Buchstaben oder einer Ziffer beginnen. Sie können Bindestriche („-“) enthalten und bis zu 35 Zeichen lang sein.

Marlin_main.cpp 452KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. */
  29. /**
  30. * -----------------
  31. * G-Codes in Marlin
  32. * -----------------
  33. *
  34. * Helpful G-code references:
  35. * - http://linuxcnc.org/handbook/gcode/g-code.html
  36. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  37. *
  38. * Help to document Marlin's G-codes online:
  39. * - http://reprap.org/wiki/G-code
  40. * - https://github.com/MarlinFirmware/MarlinDocumentation
  41. *
  42. * -----------------
  43. *
  44. * "G" Codes
  45. *
  46. * G0 -> G1
  47. * G1 - Coordinated Movement X Y Z E
  48. * G2 - CW ARC
  49. * G3 - CCW ARC
  50. * G4 - Dwell S<seconds> or P<milliseconds>
  51. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  52. * G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
  53. * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
  54. * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
  55. * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
  56. * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
  57. * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
  58. * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
  59. * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
  60. * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
  61. * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
  62. * G28 - Home one or more axes
  63. * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
  64. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  65. * G31 - Dock sled (Z_PROBE_SLED only)
  66. * G32 - Undock sled (Z_PROBE_SLED only)
  67. * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  68. * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  69. * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL)
  70. * G90 - Use Absolute Coordinates
  71. * G91 - Use Relative Coordinates
  72. * G92 - Set current position to coordinates given
  73. *
  74. * "M" Codes
  75. *
  76. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  77. * M1 -> M0
  78. * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
  79. * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
  80. * M5 - Turn laser/spindle off
  81. * M17 - Enable/Power all stepper motors
  82. * M18 - Disable all stepper motors; same as M84
  83. * M20 - List SD card. (Requires SDSUPPORT)
  84. * M21 - Init SD card. (Requires SDSUPPORT)
  85. * M22 - Release SD card. (Requires SDSUPPORT)
  86. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  87. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  88. * M25 - Pause SD print. (Requires SDSUPPORT)
  89. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  90. * M27 - Report SD print status. (Requires SDSUPPORT)
  91. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  92. * M29 - Stop SD write. (Requires SDSUPPORT)
  93. * M30 - Delete file from SD: "M30 /path/file.gco"
  94. * M31 - Report time since last M109 or SD card start to serial.
  95. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  96. * Use P to run other files as sub-programs: "M32 P !filename#"
  97. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  98. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  99. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  100. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  101. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  102. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  103. * M75 - Start the print job timer.
  104. * M76 - Pause the print job timer.
  105. * M77 - Stop the print job timer.
  106. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  107. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
  108. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
  109. * M82 - Set E codes absolute (default).
  110. * M83 - Set E codes relative while in Absolute (G90) mode.
  111. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  112. * duration after which steppers should turn off. S0 disables the timeout.
  113. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  114. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  115. * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
  116. * M104 - Set extruder target temp.
  117. * M105 - Report current temperatures.
  118. * M106 - Set print fan speed.
  119. * M107 - Print fan off.
  120. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  121. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  122. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  123. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  124. * M110 - Set the current line number. (Used by host printing)
  125. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  126. * M112 - Emergency stop.
  127. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  128. * M114 - Report current position.
  129. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  130. * M117 - Display a message on the controller screen. (Requires an LCD)
  131. * M118 - Display a message in the host console.
  132. * M119 - Report endstops status.
  133. * M120 - Enable endstops detection.
  134. * M121 - Disable endstops detection.
  135. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  136. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  137. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  138. * M128 - EtoP Open. (Requires BARICUDA)
  139. * M129 - EtoP Closed. (Requires BARICUDA)
  140. * M140 - Set bed target temp. S<temp>
  141. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  142. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  143. * M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, or PCA9632).
  144. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  145. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  146. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  147. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  148. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  149. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  150. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  151. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  152. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  153. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  154. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  155. * M205 - Set advanced settings. Current units apply:
  156. S<print> T<travel> minimum speeds
  157. B<minimum segment time>
  158. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  159. * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  160. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  161. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  162. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  163. Every normal extrude-only move will be classified as retract depending on the direction.
  164. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  165. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  166. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  167. * M221 - Set Flow Percentage: "M221 S<percent>"
  168. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  169. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  170. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  171. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  172. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  173. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  174. * M290 - Babystepping (Requires BABYSTEPPING)
  175. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  176. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  177. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  178. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  179. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  180. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  181. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  182. * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
  183. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  184. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  185. * M400 - Finish all moves.
  186. * M401 - Lower Z probe. (Requires a probe)
  187. * M402 - Raise Z probe. (Requires a probe)
  188. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  189. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  190. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  191. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  192. * M410 - Quickstop. Abort all planned moves.
  193. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  194. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
  195. * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  196. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  197. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  198. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  199. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  200. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  201. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  202. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
  203. * M666 - Set delta endstop adjustment. (Requires DELTA)
  204. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  205. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  206. * M860 - Report the position of position encoder modules.
  207. * M861 - Report the status of position encoder modules.
  208. * M862 - Perform an axis continuity test for position encoder modules.
  209. * M863 - Perform steps-per-mm calibration for position encoder modules.
  210. * M864 - Change position encoder module I2C address.
  211. * M865 - Check position encoder module firmware version.
  212. * M866 - Report or reset position encoder module error count.
  213. * M867 - Enable/disable or toggle error correction for position encoder modules.
  214. * M868 - Report or set position encoder module error correction threshold.
  215. * M869 - Report position encoder module error.
  216. * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
  217. * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
  218. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  219. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  220. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  221. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  222. * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
  223. * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
  224. * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
  225. * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
  226. *
  227. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  228. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  229. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  230. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  231. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  232. *
  233. * ************ Custom codes - This can change to suit future G-code regulations
  234. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  235. * M999 - Restart after being stopped by error
  236. *
  237. * "T" Codes
  238. *
  239. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  240. *
  241. */
  242. #include "Marlin.h"
  243. #include "ultralcd.h"
  244. #include "planner.h"
  245. #include "stepper.h"
  246. #include "endstops.h"
  247. #include "temperature.h"
  248. #include "cardreader.h"
  249. #include "configuration_store.h"
  250. #include "language.h"
  251. #include "pins_arduino.h"
  252. #include "math.h"
  253. #include "nozzle.h"
  254. #include "duration_t.h"
  255. #include "types.h"
  256. #include "gcode.h"
  257. #if HAS_ABL
  258. #include "vector_3.h"
  259. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  260. #include "least_squares_fit.h"
  261. #endif
  262. #elif ENABLED(MESH_BED_LEVELING)
  263. #include "mesh_bed_leveling.h"
  264. #endif
  265. #if ENABLED(BEZIER_CURVE_SUPPORT)
  266. #include "planner_bezier.h"
  267. #endif
  268. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  269. #include "buzzer.h"
  270. #endif
  271. #if ENABLED(USE_WATCHDOG)
  272. #include "watchdog.h"
  273. #endif
  274. #if ENABLED(MAX7219_DEBUG)
  275. #include "Max7219_Debug_LEDs.h"
  276. #endif
  277. #if ENABLED(NEOPIXEL_LED)
  278. #include <Adafruit_NeoPixel.h>
  279. #endif
  280. #if ENABLED(BLINKM)
  281. #include "blinkm.h"
  282. #include "Wire.h"
  283. #endif
  284. #if ENABLED(PCA9632)
  285. #include "pca9632.h"
  286. #endif
  287. #if HAS_SERVOS
  288. #include "servo.h"
  289. #endif
  290. #if HAS_DIGIPOTSS
  291. #include <SPI.h>
  292. #endif
  293. #if ENABLED(DAC_STEPPER_CURRENT)
  294. #include "stepper_dac.h"
  295. #endif
  296. #if ENABLED(EXPERIMENTAL_I2CBUS)
  297. #include "twibus.h"
  298. #endif
  299. #if ENABLED(I2C_POSITION_ENCODERS)
  300. #include "I2CPositionEncoder.h"
  301. #endif
  302. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  303. #include "endstop_interrupts.h"
  304. #endif
  305. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  306. void gcode_M100();
  307. void M100_dump_routine(const char * const title, const char *start, const char *end);
  308. #endif
  309. #if ENABLED(SDSUPPORT)
  310. CardReader card;
  311. #endif
  312. #if ENABLED(EXPERIMENTAL_I2CBUS)
  313. TWIBus i2c;
  314. #endif
  315. #if ENABLED(G38_PROBE_TARGET)
  316. bool G38_move = false,
  317. G38_endstop_hit = false;
  318. #endif
  319. #if ENABLED(AUTO_BED_LEVELING_UBL)
  320. #include "ubl.h"
  321. extern bool defer_return_to_status;
  322. unified_bed_leveling ubl;
  323. #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
  324. && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
  325. && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
  326. && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
  327. || isnan(ubl.z_values[0][0]))
  328. #endif
  329. #if ENABLED(NEOPIXEL_LED)
  330. #if NEOPIXEL_TYPE == NEO_RGB || NEOPIXEL_TYPE == NEO_RBG || NEOPIXEL_TYPE == NEO_GRB || NEOPIXEL_TYPE == NEO_GBR || NEOPIXEL_TYPE == NEO_BRG || NEOPIXEL_TYPE == NEO_BGR
  331. #define NEO_WHITE 255, 255, 255
  332. #else
  333. #define NEO_WHITE 0, 0, 0, 255
  334. #endif
  335. #endif
  336. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632)
  337. #define LED_WHITE 255, 255, 255
  338. #elif ENABLED(RGBW_LED)
  339. #define LED_WHITE 0, 0, 0, 255
  340. #endif
  341. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  342. int8_t active_coordinate_system = -1; // machine space
  343. float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
  344. #endif
  345. bool Running = true;
  346. uint8_t marlin_debug_flags = DEBUG_NONE;
  347. /**
  348. * Cartesian Current Position
  349. * Used to track the native machine position as moves are queued.
  350. * Used by 'buffer_line_to_current_position' to do a move after changing it.
  351. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  352. */
  353. float current_position[XYZE] = { 0.0 };
  354. /**
  355. * Cartesian Destination
  356. * The destination for a move, filled in by G-code movement commands,
  357. * and expected by functions like 'prepare_move_to_destination'.
  358. * Set with 'gcode_get_destination' or 'set_destination_from_current'.
  359. */
  360. float destination[XYZE] = { 0.0 };
  361. /**
  362. * axis_homed
  363. * Flags that each linear axis was homed.
  364. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  365. *
  366. * axis_known_position
  367. * Flags that the position is known in each linear axis. Set when homed.
  368. * Cleared whenever a stepper powers off, potentially losing its position.
  369. */
  370. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  371. /**
  372. * GCode line number handling. Hosts may opt to include line numbers when
  373. * sending commands to Marlin, and lines will be checked for sequentiality.
  374. * M110 N<int> sets the current line number.
  375. */
  376. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  377. /**
  378. * GCode Command Queue
  379. * A simple ring buffer of BUFSIZE command strings.
  380. *
  381. * Commands are copied into this buffer by the command injectors
  382. * (immediate, serial, sd card) and they are processed sequentially by
  383. * the main loop. The process_next_command function parses the next
  384. * command and hands off execution to individual handler functions.
  385. */
  386. uint8_t commands_in_queue = 0; // Count of commands in the queue
  387. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  388. cmd_queue_index_w = 0; // Ring buffer write position
  389. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  390. char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
  391. #else // This can be collapsed back to the way it was soon.
  392. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  393. #endif
  394. /**
  395. * Next Injected Command pointer. NULL if no commands are being injected.
  396. * Used by Marlin internally to ensure that commands initiated from within
  397. * are enqueued ahead of any pending serial or sd card commands.
  398. */
  399. static const char *injected_commands_P = NULL;
  400. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  401. TempUnit input_temp_units = TEMPUNIT_C;
  402. #endif
  403. /**
  404. * Feed rates are often configured with mm/m
  405. * but the planner and stepper like mm/s units.
  406. */
  407. static const float homing_feedrate_mm_s[] PROGMEM = {
  408. #if ENABLED(DELTA)
  409. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  410. #else
  411. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  412. #endif
  413. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  414. };
  415. FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
  416. float feedrate_mm_s = MMM_TO_MMS(1500.0);
  417. static float saved_feedrate_mm_s;
  418. int16_t feedrate_percentage = 100, saved_feedrate_percentage,
  419. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  420. // Initialized by settings.load()
  421. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  422. volumetric_enabled;
  423. float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
  424. #if HAS_WORKSPACE_OFFSET
  425. #if HAS_POSITION_SHIFT
  426. // The distance that XYZ has been offset by G92. Reset by G28.
  427. float position_shift[XYZ] = { 0 };
  428. #endif
  429. #if HAS_HOME_OFFSET
  430. // This offset is added to the configured home position.
  431. // Set by M206, M428, or menu item. Saved to EEPROM.
  432. float home_offset[XYZ] = { 0 };
  433. #endif
  434. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  435. // The above two are combined to save on computes
  436. float workspace_offset[XYZ] = { 0 };
  437. #endif
  438. #endif
  439. // Software Endstops are based on the configured limits.
  440. float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
  441. soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
  442. #if HAS_SOFTWARE_ENDSTOPS
  443. bool soft_endstops_enabled = true;
  444. #if IS_KINEMATIC
  445. float soft_endstop_radius, soft_endstop_radius_2;
  446. #endif
  447. #endif
  448. #if FAN_COUNT > 0
  449. int16_t fanSpeeds[FAN_COUNT] = { 0 };
  450. #if ENABLED(EXTRA_FAN_SPEED)
  451. int16_t old_fanSpeeds[FAN_COUNT],
  452. new_fanSpeeds[FAN_COUNT];
  453. #endif
  454. #if ENABLED(PROBING_FANS_OFF)
  455. bool fans_paused = false;
  456. int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
  457. #endif
  458. #endif
  459. // The active extruder (tool). Set with T<extruder> command.
  460. uint8_t active_extruder = 0;
  461. // Relative Mode. Enable with G91, disable with G90.
  462. static bool relative_mode = false;
  463. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  464. volatile bool wait_for_heatup = true;
  465. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  466. #if HAS_RESUME_CONTINUE
  467. volatile bool wait_for_user = false;
  468. #endif
  469. const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
  470. // Number of characters read in the current line of serial input
  471. static int serial_count = 0;
  472. // Inactivity shutdown
  473. millis_t previous_cmd_ms = 0;
  474. static millis_t max_inactive_time = 0;
  475. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  476. // Print Job Timer
  477. #if ENABLED(PRINTCOUNTER)
  478. PrintCounter print_job_timer = PrintCounter();
  479. #else
  480. Stopwatch print_job_timer = Stopwatch();
  481. #endif
  482. // Buzzer - I2C on the LCD or a BEEPER_PIN
  483. #if ENABLED(LCD_USE_I2C_BUZZER)
  484. #define BUZZ(d,f) lcd_buzz(d, f)
  485. #elif PIN_EXISTS(BEEPER)
  486. Buzzer buzzer;
  487. #define BUZZ(d,f) buzzer.tone(d, f)
  488. #else
  489. #define BUZZ(d,f) NOOP
  490. #endif
  491. static uint8_t target_extruder;
  492. #if HAS_BED_PROBE
  493. float zprobe_zoffset; // Initialized by settings.load()
  494. #endif
  495. #if HAS_ABL
  496. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  497. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  498. #elif defined(XY_PROBE_SPEED)
  499. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  500. #else
  501. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  502. #endif
  503. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  504. #if ENABLED(DELTA)
  505. #define ADJUST_DELTA(V) \
  506. if (planner.leveling_active) { \
  507. const float zadj = bilinear_z_offset(V); \
  508. delta[A_AXIS] += zadj; \
  509. delta[B_AXIS] += zadj; \
  510. delta[C_AXIS] += zadj; \
  511. }
  512. #else
  513. #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
  514. #endif
  515. #elif IS_KINEMATIC
  516. #define ADJUST_DELTA(V) NOOP
  517. #endif
  518. #if ENABLED(X_DUAL_ENDSTOPS)
  519. float x_endstop_adj; // Initialized by settings.load()
  520. #endif
  521. #if ENABLED(Y_DUAL_ENDSTOPS)
  522. float y_endstop_adj; // Initialized by settings.load()
  523. #endif
  524. #if ENABLED(Z_DUAL_ENDSTOPS)
  525. float z_endstop_adj; // Initialized by settings.load()
  526. #endif
  527. // Extruder offsets
  528. #if HOTENDS > 1
  529. float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
  530. #endif
  531. #if HAS_Z_SERVO_ENDSTOP
  532. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  533. #endif
  534. #if ENABLED(BARICUDA)
  535. uint8_t baricuda_valve_pressure = 0,
  536. baricuda_e_to_p_pressure = 0;
  537. #endif
  538. #if ENABLED(FWRETRACT) // Initialized by settings.load()...
  539. bool autoretract_enabled, // M209 S - Autoretract switch
  540. retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
  541. float retract_length, // M207 S - G10 Retract length
  542. retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
  543. retract_zlift, // M207 Z - G10 Retract hop size
  544. retract_recover_length, // M208 S - G11 Recover length
  545. retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
  546. swap_retract_length, // M207 W - G10 Swap Retract length
  547. swap_retract_recover_length, // M208 W - G11 Swap Recover length
  548. swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
  549. #if EXTRUDERS > 1
  550. bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
  551. #else
  552. constexpr bool retracted_swap[1] = { false };
  553. #endif
  554. #endif // FWRETRACT
  555. #if HAS_POWER_SWITCH
  556. bool powersupply_on =
  557. #if ENABLED(PS_DEFAULT_OFF)
  558. false
  559. #else
  560. true
  561. #endif
  562. ;
  563. #endif
  564. #if ENABLED(DELTA)
  565. float delta[ABC];
  566. // Initialized by settings.load()
  567. float delta_endstop_adj[ABC] = { 0 },
  568. delta_radius,
  569. delta_tower_angle_trim[ABC],
  570. delta_tower[ABC][2],
  571. delta_diagonal_rod,
  572. delta_calibration_radius,
  573. delta_diagonal_rod_2_tower[ABC],
  574. delta_segments_per_second,
  575. delta_clip_start_height = Z_MAX_POS;
  576. float delta_safe_distance_from_top();
  577. #endif
  578. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  579. int bilinear_grid_spacing[2], bilinear_start[2];
  580. float bilinear_grid_factor[2],
  581. z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  582. #endif
  583. #if IS_SCARA
  584. // Float constants for SCARA calculations
  585. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  586. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  587. L2_2 = sq(float(L2));
  588. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  589. delta[ABC];
  590. #endif
  591. float cartes[XYZ] = { 0 };
  592. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  593. bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off.
  594. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
  595. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  596. uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM, // Distance delay setting
  597. measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  598. int8_t filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  599. #endif
  600. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  601. static bool filament_ran_out = false;
  602. #endif
  603. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  604. AdvancedPauseMenuResponse advanced_pause_menu_response;
  605. #endif
  606. #if ENABLED(MIXING_EXTRUDER)
  607. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  608. #if MIXING_VIRTUAL_TOOLS > 1
  609. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  610. #endif
  611. #endif
  612. static bool send_ok[BUFSIZE];
  613. #if HAS_SERVOS
  614. Servo servo[NUM_SERVOS];
  615. #define MOVE_SERVO(I, P) servo[I].move(P)
  616. #if HAS_Z_SERVO_ENDSTOP
  617. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  618. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  619. #endif
  620. #endif
  621. #ifdef CHDK
  622. millis_t chdkHigh = 0;
  623. bool chdkActive = false;
  624. #endif
  625. #ifdef AUTOMATIC_CURRENT_CONTROL
  626. bool auto_current_control = 0;
  627. #endif
  628. #if ENABLED(PID_EXTRUSION_SCALING)
  629. int lpq_len = 20;
  630. #endif
  631. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  632. MarlinBusyState busy_state = NOT_BUSY;
  633. static millis_t next_busy_signal_ms = 0;
  634. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  635. #else
  636. #define host_keepalive() NOOP
  637. #endif
  638. #if ENABLED(I2C_POSITION_ENCODERS)
  639. I2CPositionEncodersMgr I2CPEM;
  640. uint8_t blockBufferIndexRef = 0;
  641. millis_t lastUpdateMillis;
  642. #endif
  643. #if ENABLED(CNC_WORKSPACE_PLANES)
  644. static WorkspacePlane workspace_plane = PLANE_XY;
  645. #endif
  646. FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
  647. FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
  648. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  649. static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  650. static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
  651. typedef void __void_##CONFIG##__
  652. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  653. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  654. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  655. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  656. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  657. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  658. /**
  659. * ***************************************************************************
  660. * ******************************** FUNCTIONS ********************************
  661. * ***************************************************************************
  662. */
  663. void stop();
  664. void get_available_commands();
  665. void process_next_command();
  666. void process_parsed_command();
  667. void prepare_move_to_destination();
  668. void get_cartesian_from_steppers();
  669. void set_current_from_steppers_for_axis(const AxisEnum axis);
  670. #if ENABLED(ARC_SUPPORT)
  671. void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
  672. #endif
  673. #if ENABLED(BEZIER_CURVE_SUPPORT)
  674. void plan_cubic_move(const float offset[4]);
  675. #endif
  676. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  677. void report_current_position();
  678. void report_current_position_detail();
  679. #if ENABLED(DEBUG_LEVELING_FEATURE)
  680. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  681. serialprintPGM(prefix);
  682. SERIAL_CHAR('(');
  683. SERIAL_ECHO(x);
  684. SERIAL_ECHOPAIR(", ", y);
  685. SERIAL_ECHOPAIR(", ", z);
  686. SERIAL_CHAR(')');
  687. if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
  688. }
  689. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  690. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  691. }
  692. #if HAS_ABL
  693. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  694. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  695. }
  696. #endif
  697. #define DEBUG_POS(SUFFIX,VAR) do { \
  698. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
  699. #endif
  700. /**
  701. * sync_plan_position
  702. *
  703. * Set the planner/stepper positions directly from current_position with
  704. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  705. */
  706. void sync_plan_position() {
  707. #if ENABLED(DEBUG_LEVELING_FEATURE)
  708. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  709. #endif
  710. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  711. }
  712. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  713. #if IS_KINEMATIC
  714. inline void sync_plan_position_kinematic() {
  715. #if ENABLED(DEBUG_LEVELING_FEATURE)
  716. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  717. #endif
  718. planner.set_position_mm_kinematic(current_position);
  719. }
  720. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  721. #else
  722. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  723. #endif
  724. #if ENABLED(SDSUPPORT)
  725. #include "SdFatUtil.h"
  726. int freeMemory() { return SdFatUtil::FreeRam(); }
  727. #else
  728. extern "C" {
  729. extern char __bss_end;
  730. extern char __heap_start;
  731. extern void* __brkval;
  732. int freeMemory() {
  733. int free_memory;
  734. if ((int)__brkval == 0)
  735. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  736. else
  737. free_memory = ((int)&free_memory) - ((int)__brkval);
  738. return free_memory;
  739. }
  740. }
  741. #endif // !SDSUPPORT
  742. #if ENABLED(DIGIPOT_I2C)
  743. extern void digipot_i2c_set_current(uint8_t channel, float current);
  744. extern void digipot_i2c_init();
  745. #endif
  746. /**
  747. * Inject the next "immediate" command, when possible, onto the front of the queue.
  748. * Return true if any immediate commands remain to inject.
  749. */
  750. static bool drain_injected_commands_P() {
  751. if (injected_commands_P != NULL) {
  752. size_t i = 0;
  753. char c, cmd[30];
  754. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  755. cmd[sizeof(cmd) - 1] = '\0';
  756. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  757. cmd[i] = '\0';
  758. if (enqueue_and_echo_command(cmd)) // success?
  759. injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
  760. }
  761. return (injected_commands_P != NULL); // return whether any more remain
  762. }
  763. /**
  764. * Record one or many commands to run from program memory.
  765. * Aborts the current queue, if any.
  766. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  767. */
  768. void enqueue_and_echo_commands_P(const char * const pgcode) {
  769. injected_commands_P = pgcode;
  770. drain_injected_commands_P(); // first command executed asap (when possible)
  771. }
  772. /**
  773. * Clear the Marlin command queue
  774. */
  775. void clear_command_queue() {
  776. cmd_queue_index_r = cmd_queue_index_w;
  777. commands_in_queue = 0;
  778. }
  779. /**
  780. * Once a new command is in the ring buffer, call this to commit it
  781. */
  782. inline void _commit_command(bool say_ok) {
  783. send_ok[cmd_queue_index_w] = say_ok;
  784. if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
  785. commands_in_queue++;
  786. }
  787. /**
  788. * Copy a command from RAM into the main command buffer.
  789. * Return true if the command was successfully added.
  790. * Return false for a full buffer, or if the 'command' is a comment.
  791. */
  792. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  793. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  794. strcpy(command_queue[cmd_queue_index_w], cmd);
  795. _commit_command(say_ok);
  796. return true;
  797. }
  798. /**
  799. * Enqueue with Serial Echo
  800. */
  801. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  802. if (_enqueuecommand(cmd, say_ok)) {
  803. SERIAL_ECHO_START();
  804. SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
  805. SERIAL_CHAR('"');
  806. SERIAL_EOL();
  807. return true;
  808. }
  809. return false;
  810. }
  811. void setup_killpin() {
  812. #if HAS_KILL
  813. SET_INPUT_PULLUP(KILL_PIN);
  814. #endif
  815. }
  816. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  817. void setup_filrunoutpin() {
  818. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  819. SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
  820. #else
  821. SET_INPUT(FIL_RUNOUT_PIN);
  822. #endif
  823. }
  824. #endif
  825. void setup_powerhold() {
  826. #if HAS_SUICIDE
  827. OUT_WRITE(SUICIDE_PIN, HIGH);
  828. #endif
  829. #if HAS_POWER_SWITCH
  830. #if ENABLED(PS_DEFAULT_OFF)
  831. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  832. #else
  833. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  834. #endif
  835. #endif
  836. }
  837. void suicide() {
  838. #if HAS_SUICIDE
  839. OUT_WRITE(SUICIDE_PIN, LOW);
  840. #endif
  841. }
  842. void servo_init() {
  843. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  844. servo[0].attach(SERVO0_PIN);
  845. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  846. #endif
  847. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  848. servo[1].attach(SERVO1_PIN);
  849. servo[1].detach();
  850. #endif
  851. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  852. servo[2].attach(SERVO2_PIN);
  853. servo[2].detach();
  854. #endif
  855. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  856. servo[3].attach(SERVO3_PIN);
  857. servo[3].detach();
  858. #endif
  859. #if HAS_Z_SERVO_ENDSTOP
  860. /**
  861. * Set position of Z Servo Endstop
  862. *
  863. * The servo might be deployed and positioned too low to stow
  864. * when starting up the machine or rebooting the board.
  865. * There's no way to know where the nozzle is positioned until
  866. * homing has been done - no homing with z-probe without init!
  867. *
  868. */
  869. STOW_Z_SERVO();
  870. #endif
  871. }
  872. /**
  873. * Stepper Reset (RigidBoard, et.al.)
  874. */
  875. #if HAS_STEPPER_RESET
  876. void disableStepperDrivers() {
  877. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  878. }
  879. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  880. #endif
  881. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  882. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  883. i2c.receive(bytes);
  884. }
  885. void i2c_on_request() { // just send dummy data for now
  886. i2c.reply("Hello World!\n");
  887. }
  888. #endif
  889. #if HAS_COLOR_LEDS
  890. #if ENABLED(NEOPIXEL_LED)
  891. Adafruit_NeoPixel pixels(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800);
  892. void set_neopixel_color(const uint32_t color) {
  893. for (uint16_t i = 0; i < pixels.numPixels(); ++i)
  894. pixels.setPixelColor(i, color);
  895. pixels.show();
  896. }
  897. void setup_neopixel() {
  898. pixels.setBrightness(NEOPIXEL_BRIGHTNESS); // 0 - 255 range
  899. pixels.begin();
  900. pixels.show(); // initialize to all off
  901. #if ENABLED(NEOPIXEL_STARTUP_TEST)
  902. safe_delay(1000);
  903. set_neopixel_color(pixels.Color(255, 0, 0, 0)); // red
  904. safe_delay(1000);
  905. set_neopixel_color(pixels.Color(0, 255, 0, 0)); // green
  906. safe_delay(1000);
  907. set_neopixel_color(pixels.Color(0, 0, 255, 0)); // blue
  908. safe_delay(1000);
  909. #endif
  910. set_neopixel_color(pixels.Color(NEO_WHITE)); // white
  911. }
  912. #endif // NEOPIXEL_LED
  913. void set_led_color(
  914. const uint8_t r, const uint8_t g, const uint8_t b
  915. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  916. , const uint8_t w = 0
  917. #if ENABLED(NEOPIXEL_LED)
  918. , const uint8_t p = NEOPIXEL_BRIGHTNESS
  919. , bool isSequence = false
  920. #endif
  921. #endif
  922. ) {
  923. #if ENABLED(NEOPIXEL_LED)
  924. const uint32_t color = pixels.Color(r, g, b, w);
  925. static uint16_t nextLed = 0;
  926. pixels.setBrightness(p);
  927. if (!isSequence)
  928. set_neopixel_color(color);
  929. else {
  930. pixels.setPixelColor(nextLed, color);
  931. pixels.show();
  932. if (++nextLed >= pixels.numPixels()) nextLed = 0;
  933. return;
  934. }
  935. #endif
  936. #if ENABLED(BLINKM)
  937. // This variant uses i2c to send the RGB components to the device.
  938. SendColors(r, g, b);
  939. #endif
  940. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  941. // This variant uses 3 separate pins for the RGB components.
  942. // If the pins can do PWM then their intensity will be set.
  943. WRITE(RGB_LED_R_PIN, r ? HIGH : LOW);
  944. WRITE(RGB_LED_G_PIN, g ? HIGH : LOW);
  945. WRITE(RGB_LED_B_PIN, b ? HIGH : LOW);
  946. analogWrite(RGB_LED_R_PIN, r);
  947. analogWrite(RGB_LED_G_PIN, g);
  948. analogWrite(RGB_LED_B_PIN, b);
  949. #if ENABLED(RGBW_LED)
  950. WRITE(RGB_LED_W_PIN, w ? HIGH : LOW);
  951. analogWrite(RGB_LED_W_PIN, w);
  952. #endif
  953. #endif
  954. #if ENABLED(PCA9632)
  955. // Update I2C LED driver
  956. PCA9632_SetColor(r, g, b);
  957. #endif
  958. }
  959. #endif // HAS_COLOR_LEDS
  960. void gcode_line_error(const char* err, bool doFlush = true) {
  961. SERIAL_ERROR_START();
  962. serialprintPGM(err);
  963. SERIAL_ERRORLN(gcode_LastN);
  964. //Serial.println(gcode_N);
  965. if (doFlush) FlushSerialRequestResend();
  966. serial_count = 0;
  967. }
  968. /**
  969. * Get all commands waiting on the serial port and queue them.
  970. * Exit when the buffer is full or when no more characters are
  971. * left on the serial port.
  972. */
  973. inline void get_serial_commands() {
  974. static char serial_line_buffer[MAX_CMD_SIZE];
  975. static bool serial_comment_mode = false;
  976. // If the command buffer is empty for too long,
  977. // send "wait" to indicate Marlin is still waiting.
  978. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  979. static millis_t last_command_time = 0;
  980. const millis_t ms = millis();
  981. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  982. SERIAL_ECHOLNPGM(MSG_WAIT);
  983. last_command_time = ms;
  984. }
  985. #endif
  986. /**
  987. * Loop while serial characters are incoming and the queue is not full
  988. */
  989. int c;
  990. while (commands_in_queue < BUFSIZE && (c = MYSERIAL.read()) >= 0) {
  991. char serial_char = c;
  992. /**
  993. * If the character ends the line
  994. */
  995. if (serial_char == '\n' || serial_char == '\r') {
  996. serial_comment_mode = false; // end of line == end of comment
  997. if (!serial_count) continue; // Skip empty lines
  998. serial_line_buffer[serial_count] = 0; // Terminate string
  999. serial_count = 0; // Reset buffer
  1000. char* command = serial_line_buffer;
  1001. while (*command == ' ') command++; // Skip leading spaces
  1002. char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  1003. if (npos) {
  1004. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  1005. if (M110) {
  1006. char* n2pos = strchr(command + 4, 'N');
  1007. if (n2pos) npos = n2pos;
  1008. }
  1009. gcode_N = strtol(npos + 1, NULL, 10);
  1010. if (gcode_N != gcode_LastN + 1 && !M110) {
  1011. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  1012. return;
  1013. }
  1014. char *apos = strrchr(command, '*');
  1015. if (apos) {
  1016. uint8_t checksum = 0, count = uint8_t(apos - command);
  1017. while (count) checksum ^= command[--count];
  1018. if (strtol(apos + 1, NULL, 10) != checksum) {
  1019. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  1020. return;
  1021. }
  1022. }
  1023. else {
  1024. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  1025. return;
  1026. }
  1027. gcode_LastN = gcode_N;
  1028. }
  1029. // Movement commands alert when stopped
  1030. if (IsStopped()) {
  1031. char* gpos = strchr(command, 'G');
  1032. if (gpos) {
  1033. const int codenum = strtol(gpos + 1, NULL, 10);
  1034. switch (codenum) {
  1035. case 0:
  1036. case 1:
  1037. case 2:
  1038. case 3:
  1039. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  1040. LCD_MESSAGEPGM(MSG_STOPPED);
  1041. break;
  1042. }
  1043. }
  1044. }
  1045. #if DISABLED(EMERGENCY_PARSER)
  1046. // If command was e-stop process now
  1047. if (strcmp(command, "M108") == 0) {
  1048. wait_for_heatup = false;
  1049. #if ENABLED(ULTIPANEL)
  1050. wait_for_user = false;
  1051. #endif
  1052. }
  1053. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  1054. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  1055. #endif
  1056. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  1057. last_command_time = ms;
  1058. #endif
  1059. // Add the command to the queue
  1060. _enqueuecommand(serial_line_buffer, true);
  1061. }
  1062. else if (serial_count >= MAX_CMD_SIZE - 1) {
  1063. // Keep fetching, but ignore normal characters beyond the max length
  1064. // The command will be injected when EOL is reached
  1065. }
  1066. else if (serial_char == '\\') { // Handle escapes
  1067. if ((c = MYSERIAL.read()) >= 0) {
  1068. // if we have one more character, copy it over
  1069. serial_char = c;
  1070. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1071. }
  1072. // otherwise do nothing
  1073. }
  1074. else { // it's not a newline, carriage return or escape char
  1075. if (serial_char == ';') serial_comment_mode = true;
  1076. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1077. }
  1078. } // queue has space, serial has data
  1079. }
  1080. #if ENABLED(SDSUPPORT)
  1081. /**
  1082. * Get commands from the SD Card until the command buffer is full
  1083. * or until the end of the file is reached. The special character '#'
  1084. * can also interrupt buffering.
  1085. */
  1086. inline void get_sdcard_commands() {
  1087. static bool stop_buffering = false,
  1088. sd_comment_mode = false;
  1089. if (!card.sdprinting) return;
  1090. /**
  1091. * '#' stops reading from SD to the buffer prematurely, so procedural
  1092. * macro calls are possible. If it occurs, stop_buffering is triggered
  1093. * and the buffer is run dry; this character _can_ occur in serial com
  1094. * due to checksums, however, no checksums are used in SD printing.
  1095. */
  1096. if (commands_in_queue == 0) stop_buffering = false;
  1097. uint16_t sd_count = 0;
  1098. bool card_eof = card.eof();
  1099. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1100. const int16_t n = card.get();
  1101. char sd_char = (char)n;
  1102. card_eof = card.eof();
  1103. if (card_eof || n == -1
  1104. || sd_char == '\n' || sd_char == '\r'
  1105. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1106. ) {
  1107. if (card_eof) {
  1108. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1109. card.printingHasFinished();
  1110. #if ENABLED(PRINTER_EVENT_LEDS)
  1111. LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
  1112. set_led_color(0, 255, 0); // Green
  1113. #if HAS_RESUME_CONTINUE
  1114. enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
  1115. #else
  1116. safe_delay(1000);
  1117. #endif
  1118. set_led_color(0, 0, 0); // OFF
  1119. #endif
  1120. card.checkautostart(true);
  1121. }
  1122. else if (n == -1) {
  1123. SERIAL_ERROR_START();
  1124. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1125. }
  1126. if (sd_char == '#') stop_buffering = true;
  1127. sd_comment_mode = false; // for new command
  1128. if (!sd_count) continue; // skip empty lines (and comment lines)
  1129. command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
  1130. sd_count = 0; // clear sd line buffer
  1131. _commit_command(false);
  1132. }
  1133. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1134. /**
  1135. * Keep fetching, but ignore normal characters beyond the max length
  1136. * The command will be injected when EOL is reached
  1137. */
  1138. }
  1139. else {
  1140. if (sd_char == ';') sd_comment_mode = true;
  1141. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1142. }
  1143. }
  1144. }
  1145. #endif // SDSUPPORT
  1146. /**
  1147. * Add to the circular command queue the next command from:
  1148. * - The command-injection queue (injected_commands_P)
  1149. * - The active serial input (usually USB)
  1150. * - The SD card file being actively printed
  1151. */
  1152. void get_available_commands() {
  1153. // if any immediate commands remain, don't get other commands yet
  1154. if (drain_injected_commands_P()) return;
  1155. get_serial_commands();
  1156. #if ENABLED(SDSUPPORT)
  1157. get_sdcard_commands();
  1158. #endif
  1159. }
  1160. /**
  1161. * Set target_extruder from the T parameter or the active_extruder
  1162. *
  1163. * Returns TRUE if the target is invalid
  1164. */
  1165. bool get_target_extruder_from_command(const uint16_t code) {
  1166. if (parser.seenval('T')) {
  1167. const int8_t e = parser.value_byte();
  1168. if (e >= EXTRUDERS) {
  1169. SERIAL_ECHO_START();
  1170. SERIAL_CHAR('M');
  1171. SERIAL_ECHO(code);
  1172. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
  1173. return true;
  1174. }
  1175. target_extruder = e;
  1176. }
  1177. else
  1178. target_extruder = active_extruder;
  1179. return false;
  1180. }
  1181. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1182. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1183. #endif
  1184. #if ENABLED(DUAL_X_CARRIAGE)
  1185. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1186. static float x_home_pos(const int extruder) {
  1187. if (extruder == 0)
  1188. return base_home_pos(X_AXIS);
  1189. else
  1190. /**
  1191. * In dual carriage mode the extruder offset provides an override of the
  1192. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1193. * This allows soft recalibration of the second extruder home position
  1194. * without firmware reflash (through the M218 command).
  1195. */
  1196. return hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1197. }
  1198. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1199. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1200. static bool active_extruder_parked = false; // used in mode 1 & 2
  1201. static float raised_parked_position[XYZE]; // used in mode 1
  1202. static millis_t delayed_move_time = 0; // used in mode 1
  1203. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1204. static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
  1205. #endif // DUAL_X_CARRIAGE
  1206. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
  1207. /**
  1208. * Software endstops can be used to monitor the open end of
  1209. * an axis that has a hardware endstop on the other end. Or
  1210. * they can prevent axes from moving past endstops and grinding.
  1211. *
  1212. * To keep doing their job as the coordinate system changes,
  1213. * the software endstop positions must be refreshed to remain
  1214. * at the same positions relative to the machine.
  1215. */
  1216. void update_software_endstops(const AxisEnum axis) {
  1217. const float offs = 0.0
  1218. #if HAS_HOME_OFFSET
  1219. + home_offset[axis]
  1220. #endif
  1221. #if HAS_POSITION_SHIFT
  1222. + position_shift[axis]
  1223. #endif
  1224. ;
  1225. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  1226. workspace_offset[axis] = offs;
  1227. #endif
  1228. #if ENABLED(DUAL_X_CARRIAGE)
  1229. if (axis == X_AXIS) {
  1230. // In Dual X mode hotend_offset[X] is T1's home position
  1231. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1232. if (active_extruder != 0) {
  1233. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1234. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1235. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1236. }
  1237. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1238. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1239. // but not so far to the right that T1 would move past the end
  1240. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1241. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1242. }
  1243. else {
  1244. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1245. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1246. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1247. }
  1248. }
  1249. #endif
  1250. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1251. if (DEBUGGING(LEVELING)) {
  1252. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1253. #if HAS_HOME_OFFSET
  1254. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1255. #endif
  1256. #if HAS_POSITION_SHIFT
  1257. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1258. #endif
  1259. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1260. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1261. }
  1262. #endif
  1263. #if ENABLED(DELTA)
  1264. switch(axis) {
  1265. case X_AXIS:
  1266. case Y_AXIS:
  1267. // Get a minimum radius for clamping
  1268. soft_endstop_radius = MIN3(FABS(max(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
  1269. soft_endstop_radius_2 = sq(soft_endstop_radius);
  1270. break;
  1271. case Z_AXIS:
  1272. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1273. default: break;
  1274. }
  1275. #endif
  1276. }
  1277. #endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
  1278. #if HAS_M206_COMMAND
  1279. /**
  1280. * Change the home offset for an axis, update the current
  1281. * position and the software endstops to retain the same
  1282. * relative distance to the new home.
  1283. *
  1284. * Since this changes the current_position, code should
  1285. * call sync_plan_position soon after this.
  1286. */
  1287. static void set_home_offset(const AxisEnum axis, const float v) {
  1288. home_offset[axis] = v;
  1289. update_software_endstops(axis);
  1290. }
  1291. #endif // HAS_M206_COMMAND
  1292. /**
  1293. * Set an axis' current position to its home position (after homing).
  1294. *
  1295. * For Core and Cartesian robots this applies one-to-one when an
  1296. * individual axis has been homed.
  1297. *
  1298. * DELTA should wait until all homing is done before setting the XYZ
  1299. * current_position to home, because homing is a single operation.
  1300. * In the case where the axis positions are already known and previously
  1301. * homed, DELTA could home to X or Y individually by moving either one
  1302. * to the center. However, homing Z always homes XY and Z.
  1303. *
  1304. * SCARA should wait until all XY homing is done before setting the XY
  1305. * current_position to home, because neither X nor Y is at home until
  1306. * both are at home. Z can however be homed individually.
  1307. *
  1308. * Callers must sync the planner position after calling this!
  1309. */
  1310. static void set_axis_is_at_home(const AxisEnum axis) {
  1311. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1312. if (DEBUGGING(LEVELING)) {
  1313. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1314. SERIAL_CHAR(')');
  1315. SERIAL_EOL();
  1316. }
  1317. #endif
  1318. axis_known_position[axis] = axis_homed[axis] = true;
  1319. #if HAS_POSITION_SHIFT
  1320. position_shift[axis] = 0;
  1321. update_software_endstops(axis);
  1322. #endif
  1323. #if ENABLED(DUAL_X_CARRIAGE)
  1324. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1325. current_position[X_AXIS] = x_home_pos(active_extruder);
  1326. return;
  1327. }
  1328. #endif
  1329. #if ENABLED(MORGAN_SCARA)
  1330. /**
  1331. * Morgan SCARA homes XY at the same time
  1332. */
  1333. if (axis == X_AXIS || axis == Y_AXIS) {
  1334. float homeposition[XYZ] = {
  1335. base_home_pos(X_AXIS),
  1336. base_home_pos(Y_AXIS),
  1337. base_home_pos(Z_AXIS)
  1338. };
  1339. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1340. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1341. /**
  1342. * Get Home position SCARA arm angles using inverse kinematics,
  1343. * and calculate homing offset using forward kinematics
  1344. */
  1345. inverse_kinematics(homeposition);
  1346. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1347. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1348. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1349. current_position[axis] = cartes[axis];
  1350. /**
  1351. * SCARA home positions are based on configuration since the actual
  1352. * limits are determined by the inverse kinematic transform.
  1353. */
  1354. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1355. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1356. }
  1357. else
  1358. #endif
  1359. {
  1360. current_position[axis] = base_home_pos(axis);
  1361. }
  1362. /**
  1363. * Z Probe Z Homing? Account for the probe's Z offset.
  1364. */
  1365. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1366. if (axis == Z_AXIS) {
  1367. #if HOMING_Z_WITH_PROBE
  1368. current_position[Z_AXIS] -= zprobe_zoffset;
  1369. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1370. if (DEBUGGING(LEVELING)) {
  1371. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1372. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1373. }
  1374. #endif
  1375. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1376. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1377. #endif
  1378. }
  1379. #endif
  1380. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1381. if (DEBUGGING(LEVELING)) {
  1382. #if HAS_HOME_OFFSET
  1383. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1384. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1385. #endif
  1386. DEBUG_POS("", current_position);
  1387. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1388. SERIAL_CHAR(')');
  1389. SERIAL_EOL();
  1390. }
  1391. #endif
  1392. #if ENABLED(I2C_POSITION_ENCODERS)
  1393. I2CPEM.homed(axis);
  1394. #endif
  1395. }
  1396. /**
  1397. * Some planner shorthand inline functions
  1398. */
  1399. inline float get_homing_bump_feedrate(const AxisEnum axis) {
  1400. static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
  1401. uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
  1402. if (hbd < 1) {
  1403. hbd = 10;
  1404. SERIAL_ECHO_START();
  1405. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1406. }
  1407. return homing_feedrate(axis) / hbd;
  1408. }
  1409. /**
  1410. * Move the planner to the current position from wherever it last moved
  1411. * (or from wherever it has been told it is located).
  1412. */
  1413. inline void buffer_line_to_current_position() {
  1414. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1415. }
  1416. /**
  1417. * Move the planner to the position stored in the destination array, which is
  1418. * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
  1419. */
  1420. inline void buffer_line_to_destination(const float fr_mm_s) {
  1421. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1422. }
  1423. inline void set_current_from_destination() { COPY(current_position, destination); }
  1424. inline void set_destination_from_current() { COPY(destination, current_position); }
  1425. #if IS_KINEMATIC
  1426. /**
  1427. * Calculate delta, start a line, and set current_position to destination
  1428. */
  1429. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1430. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1431. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1432. #endif
  1433. refresh_cmd_timeout();
  1434. #if UBL_DELTA
  1435. // ubl segmented line will do z-only moves in single segment
  1436. ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
  1437. #else
  1438. if ( current_position[X_AXIS] == destination[X_AXIS]
  1439. && current_position[Y_AXIS] == destination[Y_AXIS]
  1440. && current_position[Z_AXIS] == destination[Z_AXIS]
  1441. && current_position[E_AXIS] == destination[E_AXIS]
  1442. ) return;
  1443. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1444. #endif
  1445. set_current_from_destination();
  1446. }
  1447. #endif // IS_KINEMATIC
  1448. /**
  1449. * Plan a move to (X, Y, Z) and set the current_position
  1450. * The final current_position may not be the one that was requested
  1451. */
  1452. void do_blocking_move_to(const float &rx, const float &ry, const float &rz, const float &fr_mm_s/*=0.0*/) {
  1453. const float old_feedrate_mm_s = feedrate_mm_s;
  1454. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1455. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, LOGICAL_X_POSITION(rx), LOGICAL_Y_POSITION(ry), LOGICAL_Z_POSITION(rz));
  1456. #endif
  1457. #if ENABLED(DELTA)
  1458. if (!position_is_reachable(rx, ry)) return;
  1459. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1460. set_destination_from_current(); // sync destination at the start
  1461. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1462. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
  1463. #endif
  1464. // when in the danger zone
  1465. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1466. if (rz > delta_clip_start_height) { // staying in the danger zone
  1467. destination[X_AXIS] = rx; // move directly (uninterpolated)
  1468. destination[Y_AXIS] = ry;
  1469. destination[Z_AXIS] = rz;
  1470. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1471. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1472. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1473. #endif
  1474. return;
  1475. }
  1476. else {
  1477. destination[Z_AXIS] = delta_clip_start_height;
  1478. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1479. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1480. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1481. #endif
  1482. }
  1483. }
  1484. if (rz > current_position[Z_AXIS]) { // raising?
  1485. destination[Z_AXIS] = rz;
  1486. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1487. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1488. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1489. #endif
  1490. }
  1491. destination[X_AXIS] = rx;
  1492. destination[Y_AXIS] = ry;
  1493. prepare_move_to_destination(); // set_current_from_destination
  1494. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1495. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1496. #endif
  1497. if (rz < current_position[Z_AXIS]) { // lowering?
  1498. destination[Z_AXIS] = rz;
  1499. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1500. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1501. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1502. #endif
  1503. }
  1504. #elif IS_SCARA
  1505. if (!position_is_reachable(rx, ry)) return;
  1506. set_destination_from_current();
  1507. // If Z needs to raise, do it before moving XY
  1508. if (destination[Z_AXIS] < rz) {
  1509. destination[Z_AXIS] = rz;
  1510. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1511. }
  1512. destination[X_AXIS] = rx;
  1513. destination[Y_AXIS] = ry;
  1514. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1515. // If Z needs to lower, do it after moving XY
  1516. if (destination[Z_AXIS] > rz) {
  1517. destination[Z_AXIS] = rz;
  1518. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1519. }
  1520. #else
  1521. // If Z needs to raise, do it before moving XY
  1522. if (current_position[Z_AXIS] < rz) {
  1523. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1524. current_position[Z_AXIS] = rz;
  1525. buffer_line_to_current_position();
  1526. }
  1527. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1528. current_position[X_AXIS] = rx;
  1529. current_position[Y_AXIS] = ry;
  1530. buffer_line_to_current_position();
  1531. // If Z needs to lower, do it after moving XY
  1532. if (current_position[Z_AXIS] > rz) {
  1533. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1534. current_position[Z_AXIS] = rz;
  1535. buffer_line_to_current_position();
  1536. }
  1537. #endif
  1538. stepper.synchronize();
  1539. feedrate_mm_s = old_feedrate_mm_s;
  1540. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1541. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1542. #endif
  1543. }
  1544. void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
  1545. do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1546. }
  1547. void do_blocking_move_to_z(const float &rz, const float &fr_mm_s/*=0.0*/) {
  1548. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], rz, fr_mm_s);
  1549. }
  1550. void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s/*=0.0*/) {
  1551. do_blocking_move_to(rx, ry, current_position[Z_AXIS], fr_mm_s);
  1552. }
  1553. //
  1554. // Prepare to do endstop or probe moves
  1555. // with custom feedrates.
  1556. //
  1557. // - Save current feedrates
  1558. // - Reset the rate multiplier
  1559. // - Reset the command timeout
  1560. // - Enable the endstops (for endstop moves)
  1561. //
  1562. static void setup_for_endstop_or_probe_move() {
  1563. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1564. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1565. #endif
  1566. saved_feedrate_mm_s = feedrate_mm_s;
  1567. saved_feedrate_percentage = feedrate_percentage;
  1568. feedrate_percentage = 100;
  1569. refresh_cmd_timeout();
  1570. }
  1571. static void clean_up_after_endstop_or_probe_move() {
  1572. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1573. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1574. #endif
  1575. feedrate_mm_s = saved_feedrate_mm_s;
  1576. feedrate_percentage = saved_feedrate_percentage;
  1577. refresh_cmd_timeout();
  1578. }
  1579. #if HAS_BED_PROBE
  1580. /**
  1581. * Raise Z to a minimum height to make room for a probe to move
  1582. */
  1583. inline void do_probe_raise(const float z_raise) {
  1584. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1585. if (DEBUGGING(LEVELING)) {
  1586. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1587. SERIAL_CHAR(')');
  1588. SERIAL_EOL();
  1589. }
  1590. #endif
  1591. float z_dest = z_raise;
  1592. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1593. if (z_dest > current_position[Z_AXIS])
  1594. do_blocking_move_to_z(z_dest);
  1595. }
  1596. #endif // HAS_BED_PROBE
  1597. #if HAS_AXIS_UNHOMED_ERR
  1598. bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
  1599. #if ENABLED(HOME_AFTER_DEACTIVATE)
  1600. const bool xx = x && !axis_known_position[X_AXIS],
  1601. yy = y && !axis_known_position[Y_AXIS],
  1602. zz = z && !axis_known_position[Z_AXIS];
  1603. #else
  1604. const bool xx = x && !axis_homed[X_AXIS],
  1605. yy = y && !axis_homed[Y_AXIS],
  1606. zz = z && !axis_homed[Z_AXIS];
  1607. #endif
  1608. if (xx || yy || zz) {
  1609. SERIAL_ECHO_START();
  1610. SERIAL_ECHOPGM(MSG_HOME " ");
  1611. if (xx) SERIAL_ECHOPGM(MSG_X);
  1612. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1613. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1614. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1615. #if ENABLED(ULTRA_LCD)
  1616. lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
  1617. #endif
  1618. return true;
  1619. }
  1620. return false;
  1621. }
  1622. #endif // HAS_AXIS_UNHOMED_ERR
  1623. #if ENABLED(Z_PROBE_SLED)
  1624. #ifndef SLED_DOCKING_OFFSET
  1625. #define SLED_DOCKING_OFFSET 0
  1626. #endif
  1627. /**
  1628. * Method to dock/undock a sled designed by Charles Bell.
  1629. *
  1630. * stow[in] If false, move to MAX_X and engage the solenoid
  1631. * If true, move to MAX_X and release the solenoid
  1632. */
  1633. static void dock_sled(bool stow) {
  1634. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1635. if (DEBUGGING(LEVELING)) {
  1636. SERIAL_ECHOPAIR("dock_sled(", stow);
  1637. SERIAL_CHAR(')');
  1638. SERIAL_EOL();
  1639. }
  1640. #endif
  1641. // Dock sled a bit closer to ensure proper capturing
  1642. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1643. #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
  1644. WRITE(SOL1_PIN, !stow); // switch solenoid
  1645. #endif
  1646. }
  1647. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1648. FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &fr_mm_s) {
  1649. do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
  1650. }
  1651. void run_deploy_moves_script() {
  1652. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
  1653. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1654. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1655. #endif
  1656. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1657. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1658. #endif
  1659. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1660. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1661. #endif
  1662. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1663. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1664. #endif
  1665. const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
  1666. do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1667. #endif
  1668. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
  1669. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1670. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1671. #endif
  1672. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1673. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1674. #endif
  1675. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1676. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1677. #endif
  1678. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1679. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1680. #endif
  1681. const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
  1682. do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1683. #endif
  1684. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
  1685. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1686. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1687. #endif
  1688. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1689. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1690. #endif
  1691. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1692. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1693. #endif
  1694. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1695. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1696. #endif
  1697. const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
  1698. do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1699. #endif
  1700. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
  1701. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1702. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1703. #endif
  1704. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1705. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1706. #endif
  1707. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1708. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1709. #endif
  1710. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1711. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1712. #endif
  1713. const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
  1714. do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1715. #endif
  1716. #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
  1717. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1718. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1719. #endif
  1720. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1721. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1722. #endif
  1723. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1724. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1725. #endif
  1726. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1727. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1728. #endif
  1729. const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
  1730. do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1731. #endif
  1732. }
  1733. void run_stow_moves_script() {
  1734. #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
  1735. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1736. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1737. #endif
  1738. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1739. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1740. #endif
  1741. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1742. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1743. #endif
  1744. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1745. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1746. #endif
  1747. const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
  1748. do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1749. #endif
  1750. #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
  1751. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1752. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1753. #endif
  1754. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1755. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1756. #endif
  1757. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1758. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1759. #endif
  1760. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1761. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1762. #endif
  1763. const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
  1764. do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1765. #endif
  1766. #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
  1767. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1768. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1769. #endif
  1770. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1771. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1772. #endif
  1773. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1774. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1775. #endif
  1776. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1777. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1778. #endif
  1779. const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
  1780. do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1781. #endif
  1782. #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
  1783. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1784. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1785. #endif
  1786. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1787. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1788. #endif
  1789. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1790. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1791. #endif
  1792. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1793. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1794. #endif
  1795. const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
  1796. do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1797. #endif
  1798. #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
  1799. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1800. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1801. #endif
  1802. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1803. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1804. #endif
  1805. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1806. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1807. #endif
  1808. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1809. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1810. #endif
  1811. const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
  1812. do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1813. #endif
  1814. }
  1815. #endif // Z_PROBE_ALLEN_KEY
  1816. #if ENABLED(PROBING_FANS_OFF)
  1817. void fans_pause(const bool p) {
  1818. if (p != fans_paused) {
  1819. fans_paused = p;
  1820. if (p)
  1821. for (uint8_t x = 0; x < FAN_COUNT; x++) {
  1822. paused_fanSpeeds[x] = fanSpeeds[x];
  1823. fanSpeeds[x] = 0;
  1824. }
  1825. else
  1826. for (uint8_t x = 0; x < FAN_COUNT; x++)
  1827. fanSpeeds[x] = paused_fanSpeeds[x];
  1828. }
  1829. }
  1830. #endif // PROBING_FANS_OFF
  1831. #if HAS_BED_PROBE
  1832. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1833. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1834. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1835. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1836. #else
  1837. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1838. #endif
  1839. #endif
  1840. #if QUIET_PROBING
  1841. void probing_pause(const bool p) {
  1842. #if ENABLED(PROBING_HEATERS_OFF)
  1843. thermalManager.pause(p);
  1844. #endif
  1845. #if ENABLED(PROBING_FANS_OFF)
  1846. fans_pause(p);
  1847. #endif
  1848. if (p) safe_delay(
  1849. #if DELAY_BEFORE_PROBING > 25
  1850. DELAY_BEFORE_PROBING
  1851. #else
  1852. 25
  1853. #endif
  1854. );
  1855. }
  1856. #endif // QUIET_PROBING
  1857. #if ENABLED(BLTOUCH)
  1858. void bltouch_command(int angle) {
  1859. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
  1860. safe_delay(BLTOUCH_DELAY);
  1861. }
  1862. bool set_bltouch_deployed(const bool deploy) {
  1863. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1864. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1865. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1866. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1867. safe_delay(1500); // Wait for internal self-test to complete.
  1868. // (Measured completion time was 0.65 seconds
  1869. // after reset, deploy, and stow sequence)
  1870. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1871. SERIAL_ERROR_START();
  1872. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1873. stop(); // punt!
  1874. return true;
  1875. }
  1876. }
  1877. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1878. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1879. if (DEBUGGING(LEVELING)) {
  1880. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1881. SERIAL_CHAR(')');
  1882. SERIAL_EOL();
  1883. }
  1884. #endif
  1885. return false;
  1886. }
  1887. #endif // BLTOUCH
  1888. // returns false for ok and true for failure
  1889. bool set_probe_deployed(bool deploy) {
  1890. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1891. if (DEBUGGING(LEVELING)) {
  1892. DEBUG_POS("set_probe_deployed", current_position);
  1893. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1894. }
  1895. #endif
  1896. if (endstops.z_probe_enabled == deploy) return false;
  1897. // Make room for probe
  1898. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1899. #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
  1900. #if ENABLED(Z_PROBE_SLED)
  1901. #define _AUE_ARGS true, false, false
  1902. #else
  1903. #define _AUE_ARGS
  1904. #endif
  1905. if (axis_unhomed_error(_AUE_ARGS)) {
  1906. SERIAL_ERROR_START();
  1907. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1908. stop();
  1909. return true;
  1910. }
  1911. #endif
  1912. const float oldXpos = current_position[X_AXIS],
  1913. oldYpos = current_position[Y_AXIS];
  1914. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1915. // If endstop is already false, the Z probe is deployed
  1916. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1917. // Would a goto be less ugly?
  1918. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1919. // for a triggered when stowed manual probe.
  1920. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1921. // otherwise an Allen-Key probe can't be stowed.
  1922. #endif
  1923. #if ENABLED(SOLENOID_PROBE)
  1924. #if HAS_SOLENOID_1
  1925. WRITE(SOL1_PIN, deploy);
  1926. #endif
  1927. #elif ENABLED(Z_PROBE_SLED)
  1928. dock_sled(!deploy);
  1929. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1930. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
  1931. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1932. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1933. #endif
  1934. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1935. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1936. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1937. if (IsRunning()) {
  1938. SERIAL_ERROR_START();
  1939. SERIAL_ERRORLNPGM("Z-Probe failed");
  1940. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1941. }
  1942. stop();
  1943. return true;
  1944. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1945. #endif
  1946. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1947. endstops.enable_z_probe(deploy);
  1948. return false;
  1949. }
  1950. /**
  1951. * @brief Used by run_z_probe to do a single Z probe move.
  1952. *
  1953. * @param z Z destination
  1954. * @param fr_mm_s Feedrate in mm/s
  1955. * @return true to indicate an error
  1956. */
  1957. static bool do_probe_move(const float z, const float fr_mm_m) {
  1958. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1959. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1960. #endif
  1961. // Deploy BLTouch at the start of any probe
  1962. #if ENABLED(BLTOUCH)
  1963. if (set_bltouch_deployed(true)) return true;
  1964. #endif
  1965. #if QUIET_PROBING
  1966. probing_pause(true);
  1967. #endif
  1968. // Move down until probe triggered
  1969. do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
  1970. // Check to see if the probe was triggered
  1971. const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
  1972. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  1973. Z_MIN
  1974. #else
  1975. Z_MIN_PROBE
  1976. #endif
  1977. );
  1978. #if QUIET_PROBING
  1979. probing_pause(false);
  1980. #endif
  1981. // Retract BLTouch immediately after a probe if it was triggered
  1982. #if ENABLED(BLTOUCH)
  1983. if (probe_triggered && set_bltouch_deployed(false)) return true;
  1984. #endif
  1985. // Clear endstop flags
  1986. endstops.hit_on_purpose();
  1987. // Get Z where the steppers were interrupted
  1988. set_current_from_steppers_for_axis(Z_AXIS);
  1989. // Tell the planner where we actually are
  1990. SYNC_PLAN_POSITION_KINEMATIC();
  1991. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1992. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1993. #endif
  1994. return !probe_triggered;
  1995. }
  1996. /**
  1997. * @details Used by probe_pt to do a single Z probe.
  1998. * Leaves current_position[Z_AXIS] at the height where the probe triggered.
  1999. *
  2000. * @param short_move Flag for a shorter probe move towards the bed
  2001. * @return The raw Z position where the probe was triggered
  2002. */
  2003. static float run_z_probe(const bool short_move=true) {
  2004. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2005. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  2006. #endif
  2007. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  2008. refresh_cmd_timeout();
  2009. #if ENABLED(PROBE_DOUBLE_TOUCH)
  2010. // Do a first probe at the fast speed
  2011. if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
  2012. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2013. float first_probe_z = current_position[Z_AXIS];
  2014. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  2015. #endif
  2016. // move up to make clearance for the probe
  2017. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2018. #else
  2019. // If the nozzle is above the travel height then
  2020. // move down quickly before doing the slow probe
  2021. float z = Z_CLEARANCE_DEPLOY_PROBE;
  2022. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  2023. if (z < current_position[Z_AXIS]) {
  2024. // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
  2025. if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
  2026. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2027. }
  2028. #endif
  2029. // move down slowly to find bed
  2030. if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
  2031. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2032. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  2033. #endif
  2034. // Debug: compare probe heights
  2035. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  2036. if (DEBUGGING(LEVELING)) {
  2037. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  2038. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  2039. }
  2040. #endif
  2041. return current_position[Z_AXIS] + zprobe_zoffset
  2042. #if ENABLED(DELTA)
  2043. + home_offset[Z_AXIS] // Account for delta height adjustment
  2044. #endif
  2045. ;
  2046. }
  2047. /**
  2048. * - Move to the given XY
  2049. * - Deploy the probe, if not already deployed
  2050. * - Probe the bed, get the Z position
  2051. * - Depending on the 'stow' flag
  2052. * - Stow the probe, or
  2053. * - Raise to the BETWEEN height
  2054. * - Return the probed Z position
  2055. */
  2056. float probe_pt(const float &rx, const float &ry, const bool stow, const uint8_t verbose_level, const bool printable=true) {
  2057. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2058. if (DEBUGGING(LEVELING)) {
  2059. SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
  2060. SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
  2061. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  2062. SERIAL_ECHOLNPGM("stow)");
  2063. DEBUG_POS("", current_position);
  2064. }
  2065. #endif
  2066. const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
  2067. if (printable
  2068. ? !position_is_reachable(nx, ny)
  2069. : !position_is_reachable_by_probe(rx, ry)
  2070. ) return NAN;
  2071. const float old_feedrate_mm_s = feedrate_mm_s;
  2072. #if ENABLED(DELTA)
  2073. if (current_position[Z_AXIS] > delta_clip_start_height)
  2074. do_blocking_move_to_z(delta_clip_start_height);
  2075. #endif
  2076. #if HAS_SOFTWARE_ENDSTOPS
  2077. // Store the status of the soft endstops and disable if we're probing a non-printable location
  2078. static bool enable_soft_endstops = soft_endstops_enabled;
  2079. if (!printable) soft_endstops_enabled = false;
  2080. #endif
  2081. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  2082. // Move the probe to the given XY
  2083. do_blocking_move_to_xy(nx, ny);
  2084. float measured_z = NAN;
  2085. if (!DEPLOY_PROBE()) {
  2086. measured_z = run_z_probe(printable);
  2087. if (!stow)
  2088. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2089. else
  2090. if (STOW_PROBE()) measured_z = NAN;
  2091. }
  2092. #if HAS_SOFTWARE_ENDSTOPS
  2093. // Restore the soft endstop status
  2094. soft_endstops_enabled = enable_soft_endstops;
  2095. #endif
  2096. if (verbose_level > 2) {
  2097. SERIAL_PROTOCOLPGM("Bed X: ");
  2098. SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 3);
  2099. SERIAL_PROTOCOLPGM(" Y: ");
  2100. SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 3);
  2101. SERIAL_PROTOCOLPGM(" Z: ");
  2102. SERIAL_PROTOCOL_F(measured_z, 3);
  2103. SERIAL_EOL();
  2104. }
  2105. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2106. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  2107. #endif
  2108. feedrate_mm_s = old_feedrate_mm_s;
  2109. if (isnan(measured_z)) {
  2110. LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
  2111. SERIAL_ERROR_START();
  2112. SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
  2113. }
  2114. return measured_z;
  2115. }
  2116. #endif // HAS_BED_PROBE
  2117. #if HAS_LEVELING
  2118. bool leveling_is_valid() {
  2119. return
  2120. #if ENABLED(MESH_BED_LEVELING)
  2121. mbl.has_mesh
  2122. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2123. !!bilinear_grid_spacing[X_AXIS]
  2124. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2125. true
  2126. #else // 3POINT, LINEAR
  2127. true
  2128. #endif
  2129. ;
  2130. }
  2131. /**
  2132. * Turn bed leveling on or off, fixing the current
  2133. * position as-needed.
  2134. *
  2135. * Disable: Current position = physical position
  2136. * Enable: Current position = "unleveled" physical position
  2137. */
  2138. void set_bed_leveling_enabled(const bool enable/*=true*/) {
  2139. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2140. const bool can_change = (!enable || leveling_is_valid());
  2141. #else
  2142. constexpr bool can_change = true;
  2143. #endif
  2144. if (can_change && enable != planner.leveling_active) {
  2145. #if ENABLED(MESH_BED_LEVELING)
  2146. if (!enable)
  2147. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2148. const bool enabling = enable && leveling_is_valid();
  2149. planner.leveling_active = enabling;
  2150. if (enabling) planner.unapply_leveling(current_position);
  2151. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2152. #if PLANNER_LEVELING
  2153. if (planner.leveling_active) { // leveling from on to off
  2154. // change unleveled current_position to physical current_position without moving steppers.
  2155. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2156. planner.leveling_active = false; // disable only AFTER calling apply_leveling
  2157. }
  2158. else { // leveling from off to on
  2159. planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
  2160. // change physical current_position to unleveled current_position without moving steppers.
  2161. planner.unapply_leveling(current_position);
  2162. }
  2163. #else
  2164. planner.leveling_active = enable; // just flip the bit, current_position will be wrong until next move.
  2165. #endif
  2166. #else // ABL
  2167. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2168. // Force bilinear_z_offset to re-calculate next time
  2169. const float reset[XYZ] = { -9999.999, -9999.999, 0 };
  2170. (void)bilinear_z_offset(reset);
  2171. #endif
  2172. // Enable or disable leveling compensation in the planner
  2173. planner.leveling_active = enable;
  2174. if (!enable)
  2175. // When disabling just get the current position from the steppers.
  2176. // This will yield the smallest error when first converted back to steps.
  2177. set_current_from_steppers_for_axis(
  2178. #if ABL_PLANAR
  2179. ALL_AXES
  2180. #else
  2181. Z_AXIS
  2182. #endif
  2183. );
  2184. else
  2185. // When enabling, remove compensation from the current position,
  2186. // so compensation will give the right stepper counts.
  2187. planner.unapply_leveling(current_position);
  2188. #endif // ABL
  2189. }
  2190. }
  2191. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  2192. void set_z_fade_height(const float zfh) {
  2193. const bool level_active = planner.leveling_active;
  2194. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2195. if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
  2196. #endif
  2197. planner.set_z_fade_height(zfh);
  2198. if (level_active) {
  2199. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2200. set_bed_leveling_enabled(true); // turn back on after changing fade height
  2201. #else
  2202. set_current_from_steppers_for_axis(
  2203. #if ABL_PLANAR
  2204. ALL_AXES
  2205. #else
  2206. Z_AXIS
  2207. #endif
  2208. );
  2209. #endif
  2210. }
  2211. }
  2212. #endif // LEVELING_FADE_HEIGHT
  2213. /**
  2214. * Reset calibration results to zero.
  2215. */
  2216. void reset_bed_level() {
  2217. set_bed_leveling_enabled(false);
  2218. #if ENABLED(MESH_BED_LEVELING)
  2219. if (leveling_is_valid()) {
  2220. mbl.reset();
  2221. mbl.has_mesh = false;
  2222. }
  2223. #else
  2224. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2225. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2226. #endif
  2227. #if ABL_PLANAR
  2228. planner.bed_level_matrix.set_to_identity();
  2229. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2230. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  2231. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  2232. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2233. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2234. z_values[x][y] = NAN;
  2235. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2236. ubl.reset();
  2237. #endif
  2238. #endif
  2239. }
  2240. #endif // HAS_LEVELING
  2241. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
  2242. /**
  2243. * Enable to produce output in JSON format suitable
  2244. * for SCAD or JavaScript mesh visualizers.
  2245. *
  2246. * Visualize meshes in OpenSCAD using the included script.
  2247. *
  2248. * buildroot/shared/scripts/MarlinMesh.scad
  2249. */
  2250. //#define SCAD_MESH_OUTPUT
  2251. /**
  2252. * Print calibration results for plotting or manual frame adjustment.
  2253. */
  2254. static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
  2255. #ifndef SCAD_MESH_OUTPUT
  2256. for (uint8_t x = 0; x < sx; x++) {
  2257. for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
  2258. SERIAL_PROTOCOLCHAR(' ');
  2259. SERIAL_PROTOCOL((int)x);
  2260. }
  2261. SERIAL_EOL();
  2262. #endif
  2263. #ifdef SCAD_MESH_OUTPUT
  2264. SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
  2265. #endif
  2266. for (uint8_t y = 0; y < sy; y++) {
  2267. #ifdef SCAD_MESH_OUTPUT
  2268. SERIAL_PROTOCOLPGM(" ["); // open sub-array
  2269. #else
  2270. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2271. SERIAL_PROTOCOL((int)y);
  2272. #endif
  2273. for (uint8_t x = 0; x < sx; x++) {
  2274. SERIAL_PROTOCOLCHAR(' ');
  2275. const float offset = fn(x, y);
  2276. if (!isnan(offset)) {
  2277. if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
  2278. SERIAL_PROTOCOL_F(offset, precision);
  2279. }
  2280. else {
  2281. #ifdef SCAD_MESH_OUTPUT
  2282. for (uint8_t i = 3; i < precision + 3; i++)
  2283. SERIAL_PROTOCOLCHAR(' ');
  2284. SERIAL_PROTOCOLPGM("NAN");
  2285. #else
  2286. for (uint8_t i = 0; i < precision + 3; i++)
  2287. SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
  2288. #endif
  2289. }
  2290. #ifdef SCAD_MESH_OUTPUT
  2291. if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
  2292. #endif
  2293. }
  2294. #ifdef SCAD_MESH_OUTPUT
  2295. SERIAL_PROTOCOLCHAR(' ');
  2296. SERIAL_PROTOCOLCHAR(']'); // close sub-array
  2297. if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
  2298. #endif
  2299. SERIAL_EOL();
  2300. }
  2301. #ifdef SCAD_MESH_OUTPUT
  2302. SERIAL_PROTOCOLPGM("];"); // close 2D array
  2303. #endif
  2304. SERIAL_EOL();
  2305. }
  2306. #endif
  2307. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2308. /**
  2309. * Extrapolate a single point from its neighbors
  2310. */
  2311. static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
  2312. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2313. if (DEBUGGING(LEVELING)) {
  2314. SERIAL_ECHOPGM("Extrapolate [");
  2315. if (x < 10) SERIAL_CHAR(' ');
  2316. SERIAL_ECHO((int)x);
  2317. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2318. SERIAL_CHAR(' ');
  2319. if (y < 10) SERIAL_CHAR(' ');
  2320. SERIAL_ECHO((int)y);
  2321. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2322. SERIAL_CHAR(']');
  2323. }
  2324. #endif
  2325. if (!isnan(z_values[x][y])) {
  2326. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2327. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2328. #endif
  2329. return; // Don't overwrite good values.
  2330. }
  2331. SERIAL_EOL();
  2332. // Get X neighbors, Y neighbors, and XY neighbors
  2333. const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
  2334. float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
  2335. b1 = z_values[x ][y1], b2 = z_values[x ][y2],
  2336. c1 = z_values[x1][y1], c2 = z_values[x2][y2];
  2337. // Treat far unprobed points as zero, near as equal to far
  2338. if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
  2339. if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
  2340. if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
  2341. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2342. // Take the average instead of the median
  2343. z_values[x][y] = (a + b + c) / 3.0;
  2344. // Median is robust (ignores outliers).
  2345. // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2346. // : ((c < b) ? b : (a < c) ? a : c);
  2347. }
  2348. //Enable this if your SCARA uses 180° of total area
  2349. //#define EXTRAPOLATE_FROM_EDGE
  2350. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2351. #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
  2352. #define HALF_IN_X
  2353. #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
  2354. #define HALF_IN_Y
  2355. #endif
  2356. #endif
  2357. /**
  2358. * Fill in the unprobed points (corners of circular print surface)
  2359. * using linear extrapolation, away from the center.
  2360. */
  2361. static void extrapolate_unprobed_bed_level() {
  2362. #ifdef HALF_IN_X
  2363. constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
  2364. #else
  2365. constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2366. ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
  2367. xlen = ctrx1;
  2368. #endif
  2369. #ifdef HALF_IN_Y
  2370. constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
  2371. #else
  2372. constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2373. ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
  2374. ylen = ctry1;
  2375. #endif
  2376. for (uint8_t xo = 0; xo <= xlen; xo++)
  2377. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2378. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2379. #ifndef HALF_IN_X
  2380. const uint8_t x1 = ctrx1 - xo;
  2381. #endif
  2382. #ifndef HALF_IN_Y
  2383. const uint8_t y1 = ctry1 - yo;
  2384. #ifndef HALF_IN_X
  2385. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2386. #endif
  2387. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2388. #endif
  2389. #ifndef HALF_IN_X
  2390. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2391. #endif
  2392. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2393. }
  2394. }
  2395. static void print_bilinear_leveling_grid() {
  2396. SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
  2397. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
  2398. [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
  2399. );
  2400. }
  2401. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2402. #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2403. #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2404. #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
  2405. #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
  2406. float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2407. int bilinear_grid_spacing_virt[2] = { 0 };
  2408. float bilinear_grid_factor_virt[2] = { 0 };
  2409. static void print_bilinear_leveling_grid_virt() {
  2410. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2411. print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
  2412. [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
  2413. );
  2414. }
  2415. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2416. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2417. uint8_t ep = 0, ip = 1;
  2418. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2419. if (x) {
  2420. ep = GRID_MAX_POINTS_X - 1;
  2421. ip = GRID_MAX_POINTS_X - 2;
  2422. }
  2423. if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
  2424. return LINEAR_EXTRAPOLATION(
  2425. z_values[ep][y - 1],
  2426. z_values[ip][y - 1]
  2427. );
  2428. else
  2429. return LINEAR_EXTRAPOLATION(
  2430. bed_level_virt_coord(ep + 1, y),
  2431. bed_level_virt_coord(ip + 1, y)
  2432. );
  2433. }
  2434. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2435. if (y) {
  2436. ep = GRID_MAX_POINTS_Y - 1;
  2437. ip = GRID_MAX_POINTS_Y - 2;
  2438. }
  2439. if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
  2440. return LINEAR_EXTRAPOLATION(
  2441. z_values[x - 1][ep],
  2442. z_values[x - 1][ip]
  2443. );
  2444. else
  2445. return LINEAR_EXTRAPOLATION(
  2446. bed_level_virt_coord(x, ep + 1),
  2447. bed_level_virt_coord(x, ip + 1)
  2448. );
  2449. }
  2450. return z_values[x - 1][y - 1];
  2451. }
  2452. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2453. return (
  2454. p[i-1] * -t * sq(1 - t)
  2455. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2456. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2457. - p[i+2] * sq(t) * (1 - t)
  2458. ) * 0.5;
  2459. }
  2460. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2461. float row[4], column[4];
  2462. for (uint8_t i = 0; i < 4; i++) {
  2463. for (uint8_t j = 0; j < 4; j++) {
  2464. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2465. }
  2466. row[i] = bed_level_virt_cmr(column, 1, ty);
  2467. }
  2468. return bed_level_virt_cmr(row, 1, tx);
  2469. }
  2470. void bed_level_virt_interpolate() {
  2471. bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
  2472. bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
  2473. bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
  2474. bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
  2475. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2476. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2477. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2478. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2479. if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
  2480. continue;
  2481. z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2482. bed_level_virt_2cmr(
  2483. x + 1,
  2484. y + 1,
  2485. (float)tx / (BILINEAR_SUBDIVISIONS),
  2486. (float)ty / (BILINEAR_SUBDIVISIONS)
  2487. );
  2488. }
  2489. }
  2490. #endif // ABL_BILINEAR_SUBDIVISION
  2491. // Refresh after other values have been updated
  2492. void refresh_bed_level() {
  2493. bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
  2494. bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
  2495. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2496. bed_level_virt_interpolate();
  2497. #endif
  2498. }
  2499. #endif // AUTO_BED_LEVELING_BILINEAR
  2500. /**
  2501. * Home an individual linear axis
  2502. */
  2503. static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
  2504. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2505. if (DEBUGGING(LEVELING)) {
  2506. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2507. SERIAL_ECHOPAIR(", ", distance);
  2508. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2509. SERIAL_CHAR(')');
  2510. SERIAL_EOL();
  2511. }
  2512. #endif
  2513. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2514. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2515. if (deploy_bltouch) set_bltouch_deployed(true);
  2516. #endif
  2517. #if QUIET_PROBING
  2518. if (axis == Z_AXIS) probing_pause(true);
  2519. #endif
  2520. // Tell the planner we're at Z=0
  2521. current_position[axis] = 0;
  2522. #if IS_SCARA
  2523. SYNC_PLAN_POSITION_KINEMATIC();
  2524. current_position[axis] = distance;
  2525. inverse_kinematics(current_position);
  2526. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2527. #else
  2528. sync_plan_position();
  2529. current_position[axis] = distance;
  2530. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2531. #endif
  2532. stepper.synchronize();
  2533. #if QUIET_PROBING
  2534. if (axis == Z_AXIS) probing_pause(false);
  2535. #endif
  2536. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2537. if (deploy_bltouch) set_bltouch_deployed(false);
  2538. #endif
  2539. endstops.hit_on_purpose();
  2540. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2541. if (DEBUGGING(LEVELING)) {
  2542. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2543. SERIAL_CHAR(')');
  2544. SERIAL_EOL();
  2545. }
  2546. #endif
  2547. }
  2548. /**
  2549. * TMC2130 specific sensorless homing using stallGuard2.
  2550. * stallGuard2 only works when in spreadCycle mode.
  2551. * spreadCycle and stealthChop are mutually exclusive.
  2552. */
  2553. #if ENABLED(SENSORLESS_HOMING)
  2554. void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
  2555. #if ENABLED(STEALTHCHOP)
  2556. if (enable) {
  2557. st.coolstep_min_speed(1024UL * 1024UL - 1UL);
  2558. st.stealthChop(0);
  2559. }
  2560. else {
  2561. st.coolstep_min_speed(0);
  2562. st.stealthChop(1);
  2563. }
  2564. #endif
  2565. st.diag1_stall(enable ? 1 : 0);
  2566. }
  2567. #endif
  2568. /**
  2569. * Home an individual "raw axis" to its endstop.
  2570. * This applies to XYZ on Cartesian and Core robots, and
  2571. * to the individual ABC steppers on DELTA and SCARA.
  2572. *
  2573. * At the end of the procedure the axis is marked as
  2574. * homed and the current position of that axis is updated.
  2575. * Kinematic robots should wait till all axes are homed
  2576. * before updating the current position.
  2577. */
  2578. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2579. static void homeaxis(const AxisEnum axis) {
  2580. #if IS_SCARA
  2581. // Only Z homing (with probe) is permitted
  2582. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2583. #else
  2584. #define CAN_HOME(A) \
  2585. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2586. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2587. #endif
  2588. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2589. if (DEBUGGING(LEVELING)) {
  2590. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2591. SERIAL_CHAR(')');
  2592. SERIAL_EOL();
  2593. }
  2594. #endif
  2595. const int axis_home_dir =
  2596. #if ENABLED(DUAL_X_CARRIAGE)
  2597. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2598. #endif
  2599. home_dir(axis);
  2600. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2601. #if HOMING_Z_WITH_PROBE
  2602. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2603. #endif
  2604. // Set flags for X, Y, Z motor locking
  2605. #if ENABLED(X_DUAL_ENDSTOPS)
  2606. if (axis == X_AXIS) stepper.set_homing_flag_x(true);
  2607. #endif
  2608. #if ENABLED(Y_DUAL_ENDSTOPS)
  2609. if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
  2610. #endif
  2611. #if ENABLED(Z_DUAL_ENDSTOPS)
  2612. if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
  2613. #endif
  2614. // Disable stealthChop if used. Enable diag1 pin on driver.
  2615. #if ENABLED(SENSORLESS_HOMING)
  2616. #if ENABLED(X_IS_TMC2130)
  2617. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
  2618. #endif
  2619. #if ENABLED(Y_IS_TMC2130)
  2620. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
  2621. #endif
  2622. #endif
  2623. // Fast move towards endstop until triggered
  2624. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2625. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2626. #endif
  2627. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2628. // When homing Z with probe respect probe clearance
  2629. const float bump = axis_home_dir * (
  2630. #if HOMING_Z_WITH_PROBE
  2631. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2632. #endif
  2633. home_bump_mm(axis)
  2634. );
  2635. // If a second homing move is configured...
  2636. if (bump) {
  2637. // Move away from the endstop by the axis HOME_BUMP_MM
  2638. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2639. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2640. #endif
  2641. do_homing_move(axis, -bump);
  2642. // Slow move towards endstop until triggered
  2643. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2644. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2645. #endif
  2646. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2647. }
  2648. /**
  2649. * Home axes that have dual endstops... differently
  2650. */
  2651. #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  2652. const bool pos_dir = axis_home_dir > 0;
  2653. #if ENABLED(X_DUAL_ENDSTOPS)
  2654. if (axis == X_AXIS) {
  2655. const bool lock_x1 = pos_dir ? (x_endstop_adj > 0) : (x_endstop_adj < 0);
  2656. const float adj = FABS(x_endstop_adj);
  2657. if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
  2658. do_homing_move(axis, pos_dir ? -adj : adj);
  2659. if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
  2660. stepper.set_homing_flag_x(false);
  2661. }
  2662. #endif
  2663. #if ENABLED(Y_DUAL_ENDSTOPS)
  2664. if (axis == Y_AXIS) {
  2665. const bool lock_y1 = pos_dir ? (y_endstop_adj > 0) : (y_endstop_adj < 0);
  2666. const float adj = FABS(y_endstop_adj);
  2667. if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
  2668. do_homing_move(axis, pos_dir ? -adj : adj);
  2669. if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
  2670. stepper.set_homing_flag_y(false);
  2671. }
  2672. #endif
  2673. #if ENABLED(Z_DUAL_ENDSTOPS)
  2674. if (axis == Z_AXIS) {
  2675. const bool lock_z1 = pos_dir ? (z_endstop_adj > 0) : (z_endstop_adj < 0);
  2676. const float adj = FABS(z_endstop_adj);
  2677. if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2678. do_homing_move(axis, pos_dir ? -adj : adj);
  2679. if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2680. stepper.set_homing_flag_z(false);
  2681. }
  2682. #endif
  2683. #endif
  2684. #if IS_SCARA
  2685. set_axis_is_at_home(axis);
  2686. SYNC_PLAN_POSITION_KINEMATIC();
  2687. #elif ENABLED(DELTA)
  2688. // Delta has already moved all three towers up in G28
  2689. // so here it re-homes each tower in turn.
  2690. // Delta homing treats the axes as normal linear axes.
  2691. // retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
  2692. if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
  2693. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2694. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
  2695. #endif
  2696. do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR);
  2697. }
  2698. #else
  2699. // For cartesian/core machines,
  2700. // set the axis to its home position
  2701. set_axis_is_at_home(axis);
  2702. sync_plan_position();
  2703. destination[axis] = current_position[axis];
  2704. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2705. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2706. #endif
  2707. #endif
  2708. // Re-enable stealthChop if used. Disable diag1 pin on driver.
  2709. #if ENABLED(SENSORLESS_HOMING)
  2710. #if ENABLED(X_IS_TMC2130)
  2711. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
  2712. #endif
  2713. #if ENABLED(Y_IS_TMC2130)
  2714. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
  2715. #endif
  2716. #endif
  2717. // Put away the Z probe
  2718. #if HOMING_Z_WITH_PROBE
  2719. if (axis == Z_AXIS && STOW_PROBE()) return;
  2720. #endif
  2721. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2722. if (DEBUGGING(LEVELING)) {
  2723. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2724. SERIAL_CHAR(')');
  2725. SERIAL_EOL();
  2726. }
  2727. #endif
  2728. } // homeaxis()
  2729. #if ENABLED(FWRETRACT)
  2730. /**
  2731. * Retract or recover according to firmware settings
  2732. *
  2733. * This function handles retract/recover moves for G10 and G11,
  2734. * plus auto-retract moves sent from G0/G1 when E-only moves are done.
  2735. *
  2736. * To simplify the logic, doubled retract/recover moves are ignored.
  2737. *
  2738. * Note: Z lift is done transparently to the planner. Aborting
  2739. * a print between G10 and G11 may corrupt the Z position.
  2740. *
  2741. * Note: Auto-retract will apply the set Z hop in addition to any Z hop
  2742. * included in the G-code. Use M207 Z0 to to prevent double hop.
  2743. */
  2744. void retract(const bool retracting
  2745. #if EXTRUDERS > 1
  2746. , bool swapping = false
  2747. #endif
  2748. ) {
  2749. static float hop_amount = 0.0; // Total amount lifted, for use in recover
  2750. // Prevent two retracts or recovers in a row
  2751. if (retracted[active_extruder] == retracting) return;
  2752. // Prevent two swap-retract or recovers in a row
  2753. #if EXTRUDERS > 1
  2754. // Allow G10 S1 only after G10
  2755. if (swapping && retracted_swap[active_extruder] == retracting) return;
  2756. // G11 priority to recover the long retract if activated
  2757. if (!retracting) swapping = retracted_swap[active_extruder];
  2758. #else
  2759. const bool swapping = false;
  2760. #endif
  2761. /* // debugging
  2762. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2763. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2764. SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
  2765. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2766. SERIAL_ECHOPAIR("retracted[", i);
  2767. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2768. SERIAL_ECHOPAIR("retracted_swap[", i);
  2769. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2770. }
  2771. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2772. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2773. //*/
  2774. const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
  2775. const float old_feedrate_mm_s = feedrate_mm_s;
  2776. // The current position will be the destination for E and Z moves
  2777. set_destination_from_current();
  2778. stepper.synchronize(); // Wait for buffered moves to complete
  2779. const float renormalize = 100.0 / flow_percentage[active_extruder] / volumetric_multiplier[active_extruder];
  2780. if (retracting) {
  2781. // Retract by moving from a faux E position back to the current E position
  2782. feedrate_mm_s = retract_feedrate_mm_s;
  2783. current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
  2784. sync_plan_position_e();
  2785. prepare_move_to_destination();
  2786. // Is a Z hop set, and has the hop not yet been done?
  2787. if (has_zhop && !hop_amount) {
  2788. hop_amount += retract_zlift; // Carriage is raised for retraction hop
  2789. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
  2790. current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
  2791. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2792. prepare_move_to_destination(); // Raise up to the old current pos
  2793. feedrate_mm_s = retract_feedrate_mm_s; // Restore feedrate
  2794. }
  2795. }
  2796. else {
  2797. // If a hop was done and Z hasn't changed, undo the Z hop
  2798. if (hop_amount) {
  2799. current_position[Z_AXIS] += retract_zlift; // Pretend current pos is lower. Next move raises Z.
  2800. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2801. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
  2802. prepare_move_to_destination(); // Raise up to the old current pos
  2803. hop_amount = 0.0; // Clear hop
  2804. }
  2805. // A retract multiplier has been added here to get faster swap recovery
  2806. feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
  2807. const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
  2808. current_position[E_AXIS] -= move_e * renormalize;
  2809. sync_plan_position_e();
  2810. prepare_move_to_destination(); // Recover E
  2811. }
  2812. feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
  2813. retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
  2814. // If swap retract/recover update the retracted_swap flag too
  2815. #if EXTRUDERS > 1
  2816. if (swapping) retracted_swap[active_extruder] = retracting;
  2817. #endif
  2818. /* // debugging
  2819. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2820. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2821. SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
  2822. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2823. SERIAL_ECHOPAIR("retracted[", i);
  2824. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2825. SERIAL_ECHOPAIR("retracted_swap[", i);
  2826. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2827. }
  2828. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2829. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2830. //*/
  2831. }
  2832. #endif // FWRETRACT
  2833. #if ENABLED(MIXING_EXTRUDER)
  2834. void normalize_mix() {
  2835. float mix_total = 0.0;
  2836. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2837. // Scale all values if they don't add up to ~1.0
  2838. if (!NEAR(mix_total, 1.0)) {
  2839. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2840. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2841. }
  2842. }
  2843. #if ENABLED(DIRECT_MIXING_IN_G1)
  2844. // Get mixing parameters from the GCode
  2845. // The total "must" be 1.0 (but it will be normalized)
  2846. // If no mix factors are given, the old mix is preserved
  2847. void gcode_get_mix() {
  2848. const char* mixing_codes = "ABCDHI";
  2849. byte mix_bits = 0;
  2850. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2851. if (parser.seenval(mixing_codes[i])) {
  2852. SBI(mix_bits, i);
  2853. float v = parser.value_float();
  2854. NOLESS(v, 0.0);
  2855. mixing_factor[i] = RECIPROCAL(v);
  2856. }
  2857. }
  2858. // If any mixing factors were included, clear the rest
  2859. // If none were included, preserve the last mix
  2860. if (mix_bits) {
  2861. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2862. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2863. normalize_mix();
  2864. }
  2865. }
  2866. #endif
  2867. #endif
  2868. /**
  2869. * ***************************************************************************
  2870. * ***************************** G-CODE HANDLING *****************************
  2871. * ***************************************************************************
  2872. */
  2873. /**
  2874. * Set XYZE destination and feedrate from the current GCode command
  2875. *
  2876. * - Set destination from included axis codes
  2877. * - Set to current for missing axis codes
  2878. * - Set the feedrate, if included
  2879. */
  2880. void gcode_get_destination() {
  2881. LOOP_XYZE(i) {
  2882. if (parser.seen(axis_codes[i])) {
  2883. const float v = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2884. destination[i] = i == E_AXIS ? v : LOGICAL_TO_NATIVE(v, i);
  2885. }
  2886. else
  2887. destination[i] = current_position[i];
  2888. }
  2889. if (parser.linearval('F') > 0.0)
  2890. feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
  2891. #if ENABLED(PRINTCOUNTER)
  2892. if (!DEBUGGING(DRYRUN))
  2893. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2894. #endif
  2895. // Get ABCDHI mixing factors
  2896. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2897. gcode_get_mix();
  2898. #endif
  2899. }
  2900. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2901. /**
  2902. * Output a "busy" message at regular intervals
  2903. * while the machine is not accepting commands.
  2904. */
  2905. void host_keepalive() {
  2906. const millis_t ms = millis();
  2907. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2908. if (PENDING(ms, next_busy_signal_ms)) return;
  2909. switch (busy_state) {
  2910. case IN_HANDLER:
  2911. case IN_PROCESS:
  2912. SERIAL_ECHO_START();
  2913. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2914. break;
  2915. case PAUSED_FOR_USER:
  2916. SERIAL_ECHO_START();
  2917. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2918. break;
  2919. case PAUSED_FOR_INPUT:
  2920. SERIAL_ECHO_START();
  2921. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2922. break;
  2923. default:
  2924. break;
  2925. }
  2926. }
  2927. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2928. }
  2929. #endif // HOST_KEEPALIVE_FEATURE
  2930. /**************************************************
  2931. ***************** GCode Handlers *****************
  2932. **************************************************/
  2933. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2934. #define G0_G1_CONDITION !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
  2935. #else
  2936. #define G0_G1_CONDITION true
  2937. #endif
  2938. /**
  2939. * G0, G1: Coordinated movement of X Y Z E axes
  2940. */
  2941. inline void gcode_G0_G1(
  2942. #if IS_SCARA
  2943. bool fast_move=false
  2944. #endif
  2945. ) {
  2946. if (IsRunning() && G0_G1_CONDITION) {
  2947. gcode_get_destination(); // For X Y Z E F
  2948. #if ENABLED(FWRETRACT)
  2949. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  2950. // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
  2951. if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
  2952. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2953. // Is this a retract or recover move?
  2954. if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
  2955. current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
  2956. sync_plan_position_e(); // AND from the planner
  2957. return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
  2958. }
  2959. }
  2960. }
  2961. #endif // FWRETRACT
  2962. #if IS_SCARA
  2963. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2964. #else
  2965. prepare_move_to_destination();
  2966. #endif
  2967. }
  2968. }
  2969. /**
  2970. * G2: Clockwise Arc
  2971. * G3: Counterclockwise Arc
  2972. *
  2973. * This command has two forms: IJ-form and R-form.
  2974. *
  2975. * - I specifies an X offset. J specifies a Y offset.
  2976. * At least one of the IJ parameters is required.
  2977. * X and Y can be omitted to do a complete circle.
  2978. * The given XY is not error-checked. The arc ends
  2979. * based on the angle of the destination.
  2980. * Mixing I or J with R will throw an error.
  2981. *
  2982. * - R specifies the radius. X or Y is required.
  2983. * Omitting both X and Y will throw an error.
  2984. * X or Y must differ from the current XY.
  2985. * Mixing R with I or J will throw an error.
  2986. *
  2987. * - P specifies the number of full circles to do
  2988. * before the specified arc move.
  2989. *
  2990. * Examples:
  2991. *
  2992. * G2 I10 ; CW circle centered at X+10
  2993. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2994. */
  2995. #if ENABLED(ARC_SUPPORT)
  2996. inline void gcode_G2_G3(const bool clockwise) {
  2997. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2998. if (axis_unhomed_error()) return;
  2999. #endif
  3000. if (IsRunning()) {
  3001. #if ENABLED(SF_ARC_FIX)
  3002. const bool relative_mode_backup = relative_mode;
  3003. relative_mode = true;
  3004. #endif
  3005. gcode_get_destination();
  3006. #if ENABLED(SF_ARC_FIX)
  3007. relative_mode = relative_mode_backup;
  3008. #endif
  3009. float arc_offset[2] = { 0.0, 0.0 };
  3010. if (parser.seenval('R')) {
  3011. const float r = parser.value_linear_units(),
  3012. p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
  3013. p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
  3014. if (r && (p2 != p1 || q2 != q1)) {
  3015. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  3016. dx = p2 - p1, dy = q2 - q1, // X and Y differences
  3017. d = HYPOT(dx, dy), // Linear distance between the points
  3018. h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  3019. mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
  3020. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  3021. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  3022. arc_offset[0] = cx - p1;
  3023. arc_offset[1] = cy - q1;
  3024. }
  3025. }
  3026. else {
  3027. if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
  3028. if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
  3029. }
  3030. if (arc_offset[0] || arc_offset[1]) {
  3031. #if ENABLED(ARC_P_CIRCLES)
  3032. // P indicates number of circles to do
  3033. int8_t circles_to_do = parser.byteval('P');
  3034. if (!WITHIN(circles_to_do, 0, 100)) {
  3035. SERIAL_ERROR_START();
  3036. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  3037. }
  3038. while (circles_to_do--)
  3039. plan_arc(current_position, arc_offset, clockwise);
  3040. #endif
  3041. // Send the arc to the planner
  3042. plan_arc(destination, arc_offset, clockwise);
  3043. refresh_cmd_timeout();
  3044. }
  3045. else {
  3046. // Bad arguments
  3047. SERIAL_ERROR_START();
  3048. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  3049. }
  3050. }
  3051. }
  3052. #endif // ARC_SUPPORT
  3053. void dwell(millis_t time) {
  3054. refresh_cmd_timeout();
  3055. time += previous_cmd_ms;
  3056. while (PENDING(millis(), time)) idle();
  3057. }
  3058. /**
  3059. * G4: Dwell S<seconds> or P<milliseconds>
  3060. */
  3061. inline void gcode_G4() {
  3062. millis_t dwell_ms = 0;
  3063. if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
  3064. if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
  3065. stepper.synchronize();
  3066. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  3067. dwell(dwell_ms);
  3068. }
  3069. #if ENABLED(BEZIER_CURVE_SUPPORT)
  3070. /**
  3071. * Parameters interpreted according to:
  3072. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  3073. * However I, J omission is not supported at this point; all
  3074. * parameters can be omitted and default to zero.
  3075. */
  3076. /**
  3077. * G5: Cubic B-spline
  3078. */
  3079. inline void gcode_G5() {
  3080. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  3081. if (axis_unhomed_error()) return;
  3082. #endif
  3083. if (IsRunning()) {
  3084. #if ENABLED(CNC_WORKSPACE_PLANES)
  3085. if (workspace_plane != PLANE_XY) {
  3086. SERIAL_ERROR_START();
  3087. SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
  3088. return;
  3089. }
  3090. #endif
  3091. gcode_get_destination();
  3092. const float offset[] = {
  3093. parser.linearval('I'),
  3094. parser.linearval('J'),
  3095. parser.linearval('P'),
  3096. parser.linearval('Q')
  3097. };
  3098. plan_cubic_move(offset);
  3099. }
  3100. }
  3101. #endif // BEZIER_CURVE_SUPPORT
  3102. #if ENABLED(FWRETRACT)
  3103. /**
  3104. * G10 - Retract filament according to settings of M207
  3105. */
  3106. inline void gcode_G10() {
  3107. #if EXTRUDERS > 1
  3108. const bool rs = parser.boolval('S');
  3109. retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
  3110. #endif
  3111. retract(true
  3112. #if EXTRUDERS > 1
  3113. , rs
  3114. #endif
  3115. );
  3116. }
  3117. /**
  3118. * G11 - Recover filament according to settings of M208
  3119. */
  3120. inline void gcode_G11() { retract(false); }
  3121. #endif // FWRETRACT
  3122. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  3123. /**
  3124. * G12: Clean the nozzle
  3125. */
  3126. inline void gcode_G12() {
  3127. // Don't allow nozzle cleaning without homing first
  3128. if (axis_unhomed_error()) return;
  3129. const uint8_t pattern = parser.ushortval('P', 0),
  3130. strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
  3131. objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
  3132. const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
  3133. Nozzle::clean(pattern, strokes, radius, objects);
  3134. }
  3135. #endif
  3136. #if ENABLED(CNC_WORKSPACE_PLANES)
  3137. inline void report_workspace_plane() {
  3138. SERIAL_ECHO_START();
  3139. SERIAL_ECHOPGM("Workspace Plane ");
  3140. serialprintPGM(
  3141. workspace_plane == PLANE_YZ ? PSTR("YZ\n") :
  3142. workspace_plane == PLANE_ZX ? PSTR("ZX\n") :
  3143. PSTR("XY\n")
  3144. );
  3145. }
  3146. inline void set_workspace_plane(const WorkspacePlane plane) {
  3147. workspace_plane = plane;
  3148. if (DEBUGGING(INFO)) report_workspace_plane();
  3149. }
  3150. /**
  3151. * G17: Select Plane XY
  3152. * G18: Select Plane ZX
  3153. * G19: Select Plane YZ
  3154. */
  3155. inline void gcode_G17() { set_workspace_plane(PLANE_XY); }
  3156. inline void gcode_G18() { set_workspace_plane(PLANE_ZX); }
  3157. inline void gcode_G19() { set_workspace_plane(PLANE_YZ); }
  3158. #endif // CNC_WORKSPACE_PLANES
  3159. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  3160. /**
  3161. * Select a coordinate system and update the current position.
  3162. * System index -1 is used to specify machine-native.
  3163. */
  3164. bool select_coordinate_system(const int8_t _new) {
  3165. if (active_coordinate_system == _new) return false;
  3166. float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
  3167. if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
  3168. COPY(old_offset, coordinate_system[active_coordinate_system]);
  3169. if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
  3170. COPY(new_offset, coordinate_system[_new]);
  3171. active_coordinate_system = _new;
  3172. bool didXYZ = false;
  3173. LOOP_XYZ(i) {
  3174. const float diff = new_offset[i] - old_offset[i];
  3175. if (diff) {
  3176. position_shift[i] += diff;
  3177. update_software_endstops((AxisEnum)i);
  3178. didXYZ = true;
  3179. }
  3180. }
  3181. if (didXYZ) SYNC_PLAN_POSITION_KINEMATIC();
  3182. return true;
  3183. }
  3184. /**
  3185. * In CNC G-code G53 is like a modifier
  3186. * It precedes a movement command (or other modifiers) on the same line.
  3187. * This is the first command to use parser.chain() to make this possible.
  3188. */
  3189. inline void gcode_G53() {
  3190. // If this command has more following...
  3191. if (parser.chain()) {
  3192. const int8_t _system = active_coordinate_system;
  3193. active_coordinate_system = -1;
  3194. process_parsed_command();
  3195. active_coordinate_system = _system;
  3196. }
  3197. }
  3198. /**
  3199. * G54-G59.3: Select a new workspace
  3200. *
  3201. * A workspace is an XYZ offset to the machine native space.
  3202. * All workspaces default to 0,0,0 at start, or with EEPROM
  3203. * support they may be restored from a previous session.
  3204. *
  3205. * G92 is used to set the current workspace's offset.
  3206. */
  3207. inline void gcode_G54_59(uint8_t subcode=0) {
  3208. const int8_t _space = parser.codenum - 54 + subcode;
  3209. if (select_coordinate_system(_space)) {
  3210. SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
  3211. report_current_position();
  3212. }
  3213. }
  3214. FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
  3215. FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
  3216. FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
  3217. FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
  3218. FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
  3219. FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
  3220. #endif
  3221. #if ENABLED(INCH_MODE_SUPPORT)
  3222. /**
  3223. * G20: Set input mode to inches
  3224. */
  3225. inline void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); }
  3226. /**
  3227. * G21: Set input mode to millimeters
  3228. */
  3229. inline void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); }
  3230. #endif
  3231. #if ENABLED(NOZZLE_PARK_FEATURE)
  3232. /**
  3233. * G27: Park the nozzle
  3234. */
  3235. inline void gcode_G27() {
  3236. // Don't allow nozzle parking without homing first
  3237. if (axis_unhomed_error()) return;
  3238. Nozzle::park(parser.ushortval('P'));
  3239. }
  3240. #endif // NOZZLE_PARK_FEATURE
  3241. #if ENABLED(QUICK_HOME)
  3242. static void quick_home_xy() {
  3243. // Pretend the current position is 0,0
  3244. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3245. sync_plan_position();
  3246. const int x_axis_home_dir =
  3247. #if ENABLED(DUAL_X_CARRIAGE)
  3248. x_home_dir(active_extruder)
  3249. #else
  3250. home_dir(X_AXIS)
  3251. #endif
  3252. ;
  3253. const float mlx = max_length(X_AXIS),
  3254. mly = max_length(Y_AXIS),
  3255. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  3256. fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
  3257. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  3258. endstops.hit_on_purpose(); // clear endstop hit flags
  3259. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3260. }
  3261. #endif // QUICK_HOME
  3262. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3263. void log_machine_info() {
  3264. SERIAL_ECHOPGM("Machine Type: ");
  3265. #if ENABLED(DELTA)
  3266. SERIAL_ECHOLNPGM("Delta");
  3267. #elif IS_SCARA
  3268. SERIAL_ECHOLNPGM("SCARA");
  3269. #elif IS_CORE
  3270. SERIAL_ECHOLNPGM("Core");
  3271. #else
  3272. SERIAL_ECHOLNPGM("Cartesian");
  3273. #endif
  3274. SERIAL_ECHOPGM("Probe: ");
  3275. #if ENABLED(PROBE_MANUALLY)
  3276. SERIAL_ECHOLNPGM("PROBE_MANUALLY");
  3277. #elif ENABLED(FIX_MOUNTED_PROBE)
  3278. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  3279. #elif ENABLED(BLTOUCH)
  3280. SERIAL_ECHOLNPGM("BLTOUCH");
  3281. #elif HAS_Z_SERVO_ENDSTOP
  3282. SERIAL_ECHOLNPGM("SERVO PROBE");
  3283. #elif ENABLED(Z_PROBE_SLED)
  3284. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  3285. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  3286. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  3287. #else
  3288. SERIAL_ECHOLNPGM("NONE");
  3289. #endif
  3290. #if HAS_BED_PROBE
  3291. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  3292. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  3293. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  3294. #if X_PROBE_OFFSET_FROM_EXTRUDER > 0
  3295. SERIAL_ECHOPGM(" (Right");
  3296. #elif X_PROBE_OFFSET_FROM_EXTRUDER < 0
  3297. SERIAL_ECHOPGM(" (Left");
  3298. #elif Y_PROBE_OFFSET_FROM_EXTRUDER != 0
  3299. SERIAL_ECHOPGM(" (Middle");
  3300. #else
  3301. SERIAL_ECHOPGM(" (Aligned With");
  3302. #endif
  3303. #if Y_PROBE_OFFSET_FROM_EXTRUDER > 0
  3304. SERIAL_ECHOPGM("-Back");
  3305. #elif Y_PROBE_OFFSET_FROM_EXTRUDER < 0
  3306. SERIAL_ECHOPGM("-Front");
  3307. #elif X_PROBE_OFFSET_FROM_EXTRUDER != 0
  3308. SERIAL_ECHOPGM("-Center");
  3309. #endif
  3310. if (zprobe_zoffset < 0)
  3311. SERIAL_ECHOPGM(" & Below");
  3312. else if (zprobe_zoffset > 0)
  3313. SERIAL_ECHOPGM(" & Above");
  3314. else
  3315. SERIAL_ECHOPGM(" & Same Z as");
  3316. SERIAL_ECHOLNPGM(" Nozzle)");
  3317. #endif
  3318. #if HAS_ABL
  3319. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  3320. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3321. SERIAL_ECHOPGM("LINEAR");
  3322. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3323. SERIAL_ECHOPGM("BILINEAR");
  3324. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3325. SERIAL_ECHOPGM("3POINT");
  3326. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3327. SERIAL_ECHOPGM("UBL");
  3328. #endif
  3329. if (planner.leveling_active) {
  3330. SERIAL_ECHOLNPGM(" (enabled)");
  3331. #if ABL_PLANAR
  3332. const float diff[XYZ] = {
  3333. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  3334. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  3335. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  3336. };
  3337. SERIAL_ECHOPGM("ABL Adjustment X");
  3338. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  3339. SERIAL_ECHO(diff[X_AXIS]);
  3340. SERIAL_ECHOPGM(" Y");
  3341. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  3342. SERIAL_ECHO(diff[Y_AXIS]);
  3343. SERIAL_ECHOPGM(" Z");
  3344. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  3345. SERIAL_ECHO(diff[Z_AXIS]);
  3346. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3347. SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
  3348. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3349. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  3350. #endif
  3351. }
  3352. else
  3353. SERIAL_ECHOLNPGM(" (disabled)");
  3354. SERIAL_EOL();
  3355. #elif ENABLED(MESH_BED_LEVELING)
  3356. SERIAL_ECHOPGM("Mesh Bed Leveling");
  3357. if (planner.leveling_active) {
  3358. float rz = current_position[Z_AXIS];
  3359. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], rz);
  3360. SERIAL_ECHOLNPGM(" (enabled)");
  3361. SERIAL_ECHOPAIR("MBL Adjustment Z", rz);
  3362. }
  3363. else
  3364. SERIAL_ECHOPGM(" (disabled)");
  3365. SERIAL_EOL();
  3366. #endif // MESH_BED_LEVELING
  3367. }
  3368. #endif // DEBUG_LEVELING_FEATURE
  3369. #if ENABLED(DELTA)
  3370. /**
  3371. * A delta can only safely home all axes at the same time
  3372. * This is like quick_home_xy() but for 3 towers.
  3373. */
  3374. inline bool home_delta() {
  3375. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3376. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  3377. #endif
  3378. // Init the current position of all carriages to 0,0,0
  3379. ZERO(current_position);
  3380. sync_plan_position();
  3381. // Move all carriages together linearly until an endstop is hit.
  3382. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
  3383. feedrate_mm_s = homing_feedrate(X_AXIS);
  3384. buffer_line_to_current_position();
  3385. stepper.synchronize();
  3386. // If an endstop was not hit, then damage can occur if homing is continued.
  3387. // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
  3388. // not set correctly.
  3389. if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
  3390. LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
  3391. SERIAL_ERROR_START();
  3392. SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
  3393. return false;
  3394. }
  3395. endstops.hit_on_purpose(); // clear endstop hit flags
  3396. // At least one carriage has reached the top.
  3397. // Now re-home each carriage separately.
  3398. HOMEAXIS(A);
  3399. HOMEAXIS(B);
  3400. HOMEAXIS(C);
  3401. // Set all carriages to their home positions
  3402. // Do this here all at once for Delta, because
  3403. // XYZ isn't ABC. Applying this per-tower would
  3404. // give the impression that they are the same.
  3405. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  3406. SYNC_PLAN_POSITION_KINEMATIC();
  3407. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3408. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  3409. #endif
  3410. return true;
  3411. }
  3412. #endif // DELTA
  3413. #if ENABLED(Z_SAFE_HOMING)
  3414. inline void home_z_safely() {
  3415. // Disallow Z homing if X or Y are unknown
  3416. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  3417. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  3418. SERIAL_ECHO_START();
  3419. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  3420. return;
  3421. }
  3422. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3423. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  3424. #endif
  3425. SYNC_PLAN_POSITION_KINEMATIC();
  3426. /**
  3427. * Move the Z probe (or just the nozzle) to the safe homing point
  3428. */
  3429. destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
  3430. destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
  3431. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  3432. #if HOMING_Z_WITH_PROBE
  3433. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  3434. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  3435. #endif
  3436. if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
  3437. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3438. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  3439. #endif
  3440. // This causes the carriage on Dual X to unpark
  3441. #if ENABLED(DUAL_X_CARRIAGE)
  3442. active_extruder_parked = false;
  3443. #endif
  3444. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  3445. HOMEAXIS(Z);
  3446. }
  3447. else {
  3448. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  3449. SERIAL_ECHO_START();
  3450. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  3451. }
  3452. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3453. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  3454. #endif
  3455. }
  3456. #endif // Z_SAFE_HOMING
  3457. #if ENABLED(PROBE_MANUALLY)
  3458. bool g29_in_progress = false;
  3459. #else
  3460. constexpr bool g29_in_progress = false;
  3461. #endif
  3462. /**
  3463. * G28: Home all axes according to settings
  3464. *
  3465. * Parameters
  3466. *
  3467. * None Home to all axes with no parameters.
  3468. * With QUICK_HOME enabled XY will home together, then Z.
  3469. *
  3470. * Cartesian parameters
  3471. *
  3472. * X Home to the X endstop
  3473. * Y Home to the Y endstop
  3474. * Z Home to the Z endstop
  3475. *
  3476. */
  3477. inline void gcode_G28(const bool always_home_all) {
  3478. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3479. if (DEBUGGING(LEVELING)) {
  3480. SERIAL_ECHOLNPGM(">>> gcode_G28");
  3481. log_machine_info();
  3482. }
  3483. #endif
  3484. // Wait for planner moves to finish!
  3485. stepper.synchronize();
  3486. // Cancel the active G29 session
  3487. #if ENABLED(PROBE_MANUALLY)
  3488. g29_in_progress = false;
  3489. #endif
  3490. // Disable the leveling matrix before homing
  3491. #if HAS_LEVELING
  3492. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3493. const bool ubl_state_at_entry = planner.leveling_active;
  3494. #endif
  3495. set_bed_leveling_enabled(false);
  3496. #endif
  3497. #if ENABLED(CNC_WORKSPACE_PLANES)
  3498. workspace_plane = PLANE_XY;
  3499. #endif
  3500. // Always home with tool 0 active
  3501. #if HOTENDS > 1
  3502. const uint8_t old_tool_index = active_extruder;
  3503. tool_change(0, 0, true);
  3504. #endif
  3505. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  3506. extruder_duplication_enabled = false;
  3507. #endif
  3508. setup_for_endstop_or_probe_move();
  3509. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3510. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3511. #endif
  3512. endstops.enable(true); // Enable endstops for next homing move
  3513. #if ENABLED(DELTA)
  3514. home_delta();
  3515. UNUSED(always_home_all);
  3516. #else // NOT DELTA
  3517. const bool homeX = always_home_all || parser.seen('X'),
  3518. homeY = always_home_all || parser.seen('Y'),
  3519. homeZ = always_home_all || parser.seen('Z'),
  3520. home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3521. set_destination_from_current();
  3522. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3523. if (home_all || homeZ) {
  3524. HOMEAXIS(Z);
  3525. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3526. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3527. #endif
  3528. }
  3529. #else
  3530. if (home_all || homeX || homeY) {
  3531. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3532. destination[Z_AXIS] = Z_HOMING_HEIGHT;
  3533. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3534. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3535. if (DEBUGGING(LEVELING))
  3536. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3537. #endif
  3538. do_blocking_move_to_z(destination[Z_AXIS]);
  3539. }
  3540. }
  3541. #endif
  3542. #if ENABLED(QUICK_HOME)
  3543. if (home_all || (homeX && homeY)) quick_home_xy();
  3544. #endif
  3545. #if ENABLED(HOME_Y_BEFORE_X)
  3546. // Home Y
  3547. if (home_all || homeY) {
  3548. HOMEAXIS(Y);
  3549. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3550. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3551. #endif
  3552. }
  3553. #endif
  3554. // Home X
  3555. if (home_all || homeX) {
  3556. #if ENABLED(DUAL_X_CARRIAGE)
  3557. // Always home the 2nd (right) extruder first
  3558. active_extruder = 1;
  3559. HOMEAXIS(X);
  3560. // Remember this extruder's position for later tool change
  3561. inactive_extruder_x_pos = current_position[X_AXIS];
  3562. // Home the 1st (left) extruder
  3563. active_extruder = 0;
  3564. HOMEAXIS(X);
  3565. // Consider the active extruder to be parked
  3566. COPY(raised_parked_position, current_position);
  3567. delayed_move_time = 0;
  3568. active_extruder_parked = true;
  3569. #else
  3570. HOMEAXIS(X);
  3571. #endif
  3572. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3573. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3574. #endif
  3575. }
  3576. #if DISABLED(HOME_Y_BEFORE_X)
  3577. // Home Y
  3578. if (home_all || homeY) {
  3579. HOMEAXIS(Y);
  3580. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3581. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3582. #endif
  3583. }
  3584. #endif
  3585. // Home Z last if homing towards the bed
  3586. #if Z_HOME_DIR < 0
  3587. if (home_all || homeZ) {
  3588. #if ENABLED(Z_SAFE_HOMING)
  3589. home_z_safely();
  3590. #else
  3591. HOMEAXIS(Z);
  3592. #endif
  3593. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3594. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
  3595. #endif
  3596. } // home_all || homeZ
  3597. #endif // Z_HOME_DIR < 0
  3598. SYNC_PLAN_POSITION_KINEMATIC();
  3599. #endif // !DELTA (gcode_G28)
  3600. endstops.not_homing();
  3601. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3602. // move to a height where we can use the full xy-area
  3603. do_blocking_move_to_z(delta_clip_start_height);
  3604. #endif
  3605. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3606. set_bed_leveling_enabled(ubl_state_at_entry);
  3607. #endif
  3608. clean_up_after_endstop_or_probe_move();
  3609. // Restore the active tool after homing
  3610. #if HOTENDS > 1
  3611. #if ENABLED(PARKING_EXTRUDER)
  3612. #define NO_FETCH false // fetch the previous toolhead
  3613. #else
  3614. #define NO_FETCH true
  3615. #endif
  3616. tool_change(old_tool_index, 0, NO_FETCH);
  3617. #endif
  3618. lcd_refresh();
  3619. report_current_position();
  3620. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3621. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3622. #endif
  3623. } // G28
  3624. void home_all_axes() { gcode_G28(true); }
  3625. #if HAS_PROBING_PROCEDURE
  3626. void out_of_range_error(const char* p_edge) {
  3627. SERIAL_PROTOCOLPGM("?Probe ");
  3628. serialprintPGM(p_edge);
  3629. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3630. }
  3631. #endif
  3632. #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
  3633. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3634. extern bool lcd_wait_for_move;
  3635. #endif
  3636. inline void _manual_goto_xy(const float &rx, const float &ry) {
  3637. #if MANUAL_PROBE_HEIGHT > 0
  3638. const float prev_z = current_position[Z_AXIS];
  3639. do_blocking_move_to_z(MANUAL_PROBE_HEIGHT, homing_feedrate(Z_AXIS));
  3640. #endif
  3641. do_blocking_move_to_xy(rx, ry, MMM_TO_MMS(XY_PROBE_SPEED));
  3642. #if MANUAL_PROBE_HEIGHT > 0
  3643. do_blocking_move_to_z(prev_z, homing_feedrate(Z_AXIS));
  3644. #endif
  3645. current_position[X_AXIS] = rx;
  3646. current_position[Y_AXIS] = ry;
  3647. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3648. lcd_wait_for_move = false;
  3649. #endif
  3650. }
  3651. #endif
  3652. #if ENABLED(MESH_BED_LEVELING)
  3653. // Save 130 bytes with non-duplication of PSTR
  3654. void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3655. void mbl_mesh_report() {
  3656. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
  3657. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3658. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3659. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
  3660. [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
  3661. );
  3662. }
  3663. void mesh_probing_done() {
  3664. mbl.has_mesh = true;
  3665. home_all_axes();
  3666. set_bed_leveling_enabled(true);
  3667. #if ENABLED(MESH_G28_REST_ORIGIN)
  3668. current_position[Z_AXIS] = Z_MIN_POS;
  3669. set_destination_from_current();
  3670. buffer_line_to_destination(homing_feedrate(Z_AXIS));
  3671. stepper.synchronize();
  3672. #endif
  3673. }
  3674. /**
  3675. * G29: Mesh-based Z probe, probes a grid and produces a
  3676. * mesh to compensate for variable bed height
  3677. *
  3678. * Parameters With MESH_BED_LEVELING:
  3679. *
  3680. * S0 Produce a mesh report
  3681. * S1 Start probing mesh points
  3682. * S2 Probe the next mesh point
  3683. * S3 Xn Yn Zn.nn Manually modify a single point
  3684. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3685. * S5 Reset and disable mesh
  3686. *
  3687. * The S0 report the points as below
  3688. *
  3689. * +----> X-axis 1-n
  3690. * |
  3691. * |
  3692. * v Y-axis 1-n
  3693. *
  3694. */
  3695. inline void gcode_G29() {
  3696. static int mbl_probe_index = -1;
  3697. #if HAS_SOFTWARE_ENDSTOPS
  3698. static bool enable_soft_endstops;
  3699. #endif
  3700. const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
  3701. if (!WITHIN(state, 0, 5)) {
  3702. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3703. return;
  3704. }
  3705. int8_t px, py;
  3706. switch (state) {
  3707. case MeshReport:
  3708. if (leveling_is_valid()) {
  3709. SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
  3710. mbl_mesh_report();
  3711. }
  3712. else
  3713. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3714. break;
  3715. case MeshStart:
  3716. mbl.reset();
  3717. mbl_probe_index = 0;
  3718. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3719. break;
  3720. case MeshNext:
  3721. if (mbl_probe_index < 0) {
  3722. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3723. return;
  3724. }
  3725. // For each G29 S2...
  3726. if (mbl_probe_index == 0) {
  3727. #if HAS_SOFTWARE_ENDSTOPS
  3728. // For the initial G29 S2 save software endstop state
  3729. enable_soft_endstops = soft_endstops_enabled;
  3730. #endif
  3731. }
  3732. else {
  3733. // For G29 S2 after adjusting Z.
  3734. mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
  3735. #if HAS_SOFTWARE_ENDSTOPS
  3736. soft_endstops_enabled = enable_soft_endstops;
  3737. #endif
  3738. }
  3739. // If there's another point to sample, move there with optional lift.
  3740. if (mbl_probe_index < GRID_MAX_POINTS) {
  3741. mbl.zigzag(mbl_probe_index, px, py);
  3742. _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
  3743. #if HAS_SOFTWARE_ENDSTOPS
  3744. // Disable software endstops to allow manual adjustment
  3745. // If G29 is not completed, they will not be re-enabled
  3746. soft_endstops_enabled = false;
  3747. #endif
  3748. mbl_probe_index++;
  3749. }
  3750. else {
  3751. // One last "return to the bed" (as originally coded) at completion
  3752. current_position[Z_AXIS] = Z_MIN_POS + MANUAL_PROBE_HEIGHT;
  3753. buffer_line_to_current_position();
  3754. stepper.synchronize();
  3755. // After recording the last point, activate home and activate
  3756. mbl_probe_index = -1;
  3757. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3758. BUZZ(100, 659);
  3759. BUZZ(100, 698);
  3760. mesh_probing_done();
  3761. }
  3762. break;
  3763. case MeshSet:
  3764. if (parser.seenval('X')) {
  3765. px = parser.value_int() - 1;
  3766. if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
  3767. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
  3768. return;
  3769. }
  3770. }
  3771. else {
  3772. SERIAL_CHAR('X'); echo_not_entered();
  3773. return;
  3774. }
  3775. if (parser.seenval('Y')) {
  3776. py = parser.value_int() - 1;
  3777. if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  3778. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
  3779. return;
  3780. }
  3781. }
  3782. else {
  3783. SERIAL_CHAR('Y'); echo_not_entered();
  3784. return;
  3785. }
  3786. if (parser.seenval('Z')) {
  3787. mbl.z_values[px][py] = parser.value_linear_units();
  3788. }
  3789. else {
  3790. SERIAL_CHAR('Z'); echo_not_entered();
  3791. return;
  3792. }
  3793. break;
  3794. case MeshSetZOffset:
  3795. if (parser.seenval('Z')) {
  3796. mbl.z_offset = parser.value_linear_units();
  3797. }
  3798. else {
  3799. SERIAL_CHAR('Z'); echo_not_entered();
  3800. return;
  3801. }
  3802. break;
  3803. case MeshReset:
  3804. reset_bed_level();
  3805. break;
  3806. } // switch(state)
  3807. report_current_position();
  3808. }
  3809. #elif OLDSCHOOL_ABL
  3810. #if ABL_GRID
  3811. #if ENABLED(PROBE_Y_FIRST)
  3812. #define PR_OUTER_VAR xCount
  3813. #define PR_OUTER_END abl_grid_points_x
  3814. #define PR_INNER_VAR yCount
  3815. #define PR_INNER_END abl_grid_points_y
  3816. #else
  3817. #define PR_OUTER_VAR yCount
  3818. #define PR_OUTER_END abl_grid_points_y
  3819. #define PR_INNER_VAR xCount
  3820. #define PR_INNER_END abl_grid_points_x
  3821. #endif
  3822. #endif
  3823. /**
  3824. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3825. * Will fail if the printer has not been homed with G28.
  3826. *
  3827. * Enhanced G29 Auto Bed Leveling Probe Routine
  3828. *
  3829. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3830. * or alter the bed level data. Useful to check the topology
  3831. * after a first run of G29.
  3832. *
  3833. * J Jettison current bed leveling data
  3834. *
  3835. * V Set the verbose level (0-4). Example: "G29 V3"
  3836. *
  3837. * Parameters With LINEAR leveling only:
  3838. *
  3839. * P Set the size of the grid that will be probed (P x P points).
  3840. * Example: "G29 P4"
  3841. *
  3842. * X Set the X size of the grid that will be probed (X x Y points).
  3843. * Example: "G29 X7 Y5"
  3844. *
  3845. * Y Set the Y size of the grid that will be probed (X x Y points).
  3846. *
  3847. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3848. * This is useful for manual bed leveling and finding flaws in the bed (to
  3849. * assist with part placement).
  3850. * Not supported by non-linear delta printer bed leveling.
  3851. *
  3852. * Parameters With LINEAR and BILINEAR leveling only:
  3853. *
  3854. * S Set the XY travel speed between probe points (in units/min)
  3855. *
  3856. * F Set the Front limit of the probing grid
  3857. * B Set the Back limit of the probing grid
  3858. * L Set the Left limit of the probing grid
  3859. * R Set the Right limit of the probing grid
  3860. *
  3861. * Parameters with DEBUG_LEVELING_FEATURE only:
  3862. *
  3863. * C Make a totally fake grid with no actual probing.
  3864. * For use in testing when no probing is possible.
  3865. *
  3866. * Parameters with BILINEAR leveling only:
  3867. *
  3868. * Z Supply an additional Z probe offset
  3869. *
  3870. * Extra parameters with PROBE_MANUALLY:
  3871. *
  3872. * To do manual probing simply repeat G29 until the procedure is complete.
  3873. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
  3874. *
  3875. * Q Query leveling and G29 state
  3876. *
  3877. * A Abort current leveling procedure
  3878. *
  3879. * Extra parameters with BILINEAR only:
  3880. *
  3881. * W Write a mesh point. (If G29 is idle.)
  3882. * I X index for mesh point
  3883. * J Y index for mesh point
  3884. * X X for mesh point, overrides I
  3885. * Y Y for mesh point, overrides J
  3886. * Z Z for mesh point. Otherwise, raw current Z.
  3887. *
  3888. * Without PROBE_MANUALLY:
  3889. *
  3890. * E By default G29 will engage the Z probe, test the bed, then disengage.
  3891. * Include "E" to engage/disengage the Z probe for each sample.
  3892. * There's no extra effect if you have a fixed Z probe.
  3893. *
  3894. */
  3895. inline void gcode_G29() {
  3896. // G29 Q is also available if debugging
  3897. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3898. const bool query = parser.seen('Q');
  3899. const uint8_t old_debug_flags = marlin_debug_flags;
  3900. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3901. if (DEBUGGING(LEVELING)) {
  3902. DEBUG_POS(">>> gcode_G29", current_position);
  3903. log_machine_info();
  3904. }
  3905. marlin_debug_flags = old_debug_flags;
  3906. #if DISABLED(PROBE_MANUALLY)
  3907. if (query) return;
  3908. #endif
  3909. #endif
  3910. #if ENABLED(PROBE_MANUALLY)
  3911. const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ;
  3912. #endif
  3913. #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
  3914. const bool faux = parser.boolval('C');
  3915. #elif ENABLED(PROBE_MANUALLY)
  3916. const bool faux = no_action;
  3917. #else
  3918. bool constexpr faux = false;
  3919. #endif
  3920. // Don't allow auto-leveling without homing first
  3921. if (axis_unhomed_error()) return;
  3922. // Define local vars 'static' for manual probing, 'auto' otherwise
  3923. #if ENABLED(PROBE_MANUALLY)
  3924. #define ABL_VAR static
  3925. #else
  3926. #define ABL_VAR
  3927. #endif
  3928. ABL_VAR int verbose_level;
  3929. ABL_VAR float xProbe, yProbe, measured_z;
  3930. ABL_VAR bool dryrun, abl_should_enable;
  3931. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3932. ABL_VAR int abl_probe_index;
  3933. #endif
  3934. #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
  3935. ABL_VAR bool enable_soft_endstops = true;
  3936. #endif
  3937. #if ABL_GRID
  3938. #if ENABLED(PROBE_MANUALLY)
  3939. ABL_VAR uint8_t PR_OUTER_VAR;
  3940. ABL_VAR int8_t PR_INNER_VAR;
  3941. #endif
  3942. ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
  3943. ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
  3944. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3945. ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
  3946. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3947. ABL_VAR bool do_topography_map;
  3948. #else // Bilinear
  3949. uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
  3950. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3951. #endif
  3952. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
  3953. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3954. ABL_VAR int abl2;
  3955. #else // Bilinear
  3956. int constexpr abl2 = GRID_MAX_POINTS;
  3957. #endif
  3958. #endif
  3959. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3960. ABL_VAR float zoffset;
  3961. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3962. ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  3963. ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
  3964. eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
  3965. mean;
  3966. #endif
  3967. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3968. int constexpr abl2 = 3;
  3969. // Probe at 3 arbitrary points
  3970. ABL_VAR vector_3 points[3] = {
  3971. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3972. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3973. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3974. };
  3975. #endif // AUTO_BED_LEVELING_3POINT
  3976. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3977. struct linear_fit_data lsf_results;
  3978. incremental_LSF_reset(&lsf_results);
  3979. #endif
  3980. /**
  3981. * On the initial G29 fetch command parameters.
  3982. */
  3983. if (!g29_in_progress) {
  3984. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3985. abl_probe_index = -1;
  3986. #endif
  3987. abl_should_enable = planner.leveling_active;
  3988. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3989. if (parser.seen('W')) {
  3990. if (!leveling_is_valid()) {
  3991. SERIAL_ERROR_START();
  3992. SERIAL_ERRORLNPGM("No bilinear grid");
  3993. return;
  3994. }
  3995. const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
  3996. if (!WITHIN(rz, -10, 10)) {
  3997. SERIAL_ERROR_START();
  3998. SERIAL_ERRORLNPGM("Bad Z value");
  3999. return;
  4000. }
  4001. const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
  4002. ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
  4003. int8_t i = parser.byteval('I', -1),
  4004. j = parser.byteval('J', -1);
  4005. if (!isnan(rx) && !isnan(ry)) {
  4006. // Get nearest i / j from x / y
  4007. i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
  4008. j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
  4009. i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
  4010. j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
  4011. }
  4012. if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
  4013. set_bed_leveling_enabled(false);
  4014. z_values[i][j] = rz;
  4015. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  4016. bed_level_virt_interpolate();
  4017. #endif
  4018. set_bed_leveling_enabled(abl_should_enable);
  4019. }
  4020. return;
  4021. } // parser.seen('W')
  4022. #endif
  4023. #if HAS_LEVELING
  4024. // Jettison bed leveling data
  4025. if (parser.seen('J')) {
  4026. reset_bed_level();
  4027. return;
  4028. }
  4029. #endif
  4030. verbose_level = parser.intval('V');
  4031. if (!WITHIN(verbose_level, 0, 4)) {
  4032. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  4033. return;
  4034. }
  4035. dryrun = parser.boolval('D')
  4036. #if ENABLED(PROBE_MANUALLY)
  4037. || no_action
  4038. #endif
  4039. ;
  4040. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4041. do_topography_map = verbose_level > 2 || parser.boolval('T');
  4042. // X and Y specify points in each direction, overriding the default
  4043. // These values may be saved with the completed mesh
  4044. abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
  4045. abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
  4046. if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
  4047. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  4048. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  4049. return;
  4050. }
  4051. abl2 = abl_grid_points_x * abl_grid_points_y;
  4052. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4053. zoffset = parser.linearval('Z');
  4054. #endif
  4055. #if ABL_GRID
  4056. xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
  4057. left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
  4058. right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
  4059. front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
  4060. back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION;
  4061. const bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
  4062. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  4063. right_out_r = right_probe_bed_position > MAX_PROBE_X,
  4064. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  4065. front_out_f = front_probe_bed_position < MIN_PROBE_Y,
  4066. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  4067. back_out_b = back_probe_bed_position > MAX_PROBE_Y,
  4068. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  4069. if (left_out || right_out || front_out || back_out) {
  4070. if (left_out) {
  4071. out_of_range_error(PSTR("(L)eft"));
  4072. left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
  4073. }
  4074. if (right_out) {
  4075. out_of_range_error(PSTR("(R)ight"));
  4076. right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
  4077. }
  4078. if (front_out) {
  4079. out_of_range_error(PSTR("(F)ront"));
  4080. front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
  4081. }
  4082. if (back_out) {
  4083. out_of_range_error(PSTR("(B)ack"));
  4084. back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
  4085. }
  4086. return;
  4087. }
  4088. // probe at the points of a lattice grid
  4089. xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
  4090. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  4091. #endif // ABL_GRID
  4092. if (verbose_level > 0) {
  4093. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  4094. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  4095. }
  4096. stepper.synchronize();
  4097. // Disable auto bed leveling during G29
  4098. planner.leveling_active = false;
  4099. if (!dryrun) {
  4100. // Re-orient the current position without leveling
  4101. // based on where the steppers are positioned.
  4102. set_current_from_steppers_for_axis(ALL_AXES);
  4103. // Sync the planner to where the steppers stopped
  4104. SYNC_PLAN_POSITION_KINEMATIC();
  4105. }
  4106. #if HAS_BED_PROBE
  4107. // Deploy the probe. Probe will raise if needed.
  4108. if (DEPLOY_PROBE()) {
  4109. planner.leveling_active = abl_should_enable;
  4110. return;
  4111. }
  4112. #endif
  4113. if (!faux) setup_for_endstop_or_probe_move();
  4114. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4115. #if ENABLED(PROBE_MANUALLY)
  4116. if (!no_action)
  4117. #endif
  4118. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  4119. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  4120. || left_probe_bed_position != bilinear_start[X_AXIS]
  4121. || front_probe_bed_position != bilinear_start[Y_AXIS]
  4122. ) {
  4123. if (dryrun) {
  4124. // Before reset bed level, re-enable to correct the position
  4125. planner.leveling_active = abl_should_enable;
  4126. }
  4127. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  4128. reset_bed_level();
  4129. // Initialize a grid with the given dimensions
  4130. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  4131. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  4132. bilinear_start[X_AXIS] = left_probe_bed_position;
  4133. bilinear_start[Y_AXIS] = front_probe_bed_position;
  4134. // Can't re-enable (on error) until the new grid is written
  4135. abl_should_enable = false;
  4136. }
  4137. #endif // AUTO_BED_LEVELING_BILINEAR
  4138. #if ENABLED(AUTO_BED_LEVELING_3POINT)
  4139. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4140. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  4141. #endif
  4142. // Probe at 3 arbitrary points
  4143. points[0].z = points[1].z = points[2].z = 0;
  4144. #endif // AUTO_BED_LEVELING_3POINT
  4145. } // !g29_in_progress
  4146. #if ENABLED(PROBE_MANUALLY)
  4147. // For manual probing, get the next index to probe now.
  4148. // On the first probe this will be incremented to 0.
  4149. if (!no_action) {
  4150. ++abl_probe_index;
  4151. g29_in_progress = true;
  4152. }
  4153. // Abort current G29 procedure, go back to idle state
  4154. if (seenA && g29_in_progress) {
  4155. SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
  4156. #if HAS_SOFTWARE_ENDSTOPS
  4157. soft_endstops_enabled = enable_soft_endstops;
  4158. #endif
  4159. planner.leveling_active = abl_should_enable;
  4160. g29_in_progress = false;
  4161. #if ENABLED(LCD_BED_LEVELING)
  4162. lcd_wait_for_move = false;
  4163. #endif
  4164. }
  4165. // Query G29 status
  4166. if (verbose_level || seenQ) {
  4167. SERIAL_PROTOCOLPGM("Manual G29 ");
  4168. if (g29_in_progress) {
  4169. SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2));
  4170. SERIAL_PROTOCOLLNPAIR(" of ", abl2);
  4171. }
  4172. else
  4173. SERIAL_PROTOCOLLNPGM("idle");
  4174. }
  4175. if (no_action) return;
  4176. if (abl_probe_index == 0) {
  4177. // For the initial G29 save software endstop state
  4178. #if HAS_SOFTWARE_ENDSTOPS
  4179. enable_soft_endstops = soft_endstops_enabled;
  4180. #endif
  4181. }
  4182. else {
  4183. // For G29 after adjusting Z.
  4184. // Save the previous Z before going to the next point
  4185. measured_z = current_position[Z_AXIS];
  4186. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4187. mean += measured_z;
  4188. eqnBVector[abl_probe_index] = measured_z;
  4189. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4190. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4191. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4192. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4193. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4194. z_values[xCount][yCount] = measured_z + zoffset;
  4195. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4196. if (DEBUGGING(LEVELING)) {
  4197. SERIAL_PROTOCOLPAIR("Save X", xCount);
  4198. SERIAL_PROTOCOLPAIR(" Y", yCount);
  4199. SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
  4200. }
  4201. #endif
  4202. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4203. points[abl_probe_index].z = measured_z;
  4204. #endif
  4205. }
  4206. //
  4207. // If there's another point to sample, move there with optional lift.
  4208. //
  4209. #if ABL_GRID
  4210. // Skip any unreachable points
  4211. while (abl_probe_index < abl2) {
  4212. // Set xCount, yCount based on abl_probe_index, with zig-zag
  4213. PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
  4214. PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
  4215. // Probe in reverse order for every other row/column
  4216. bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
  4217. if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
  4218. const float xBase = xCount * xGridSpacing + left_probe_bed_position,
  4219. yBase = yCount * yGridSpacing + front_probe_bed_position;
  4220. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4221. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4222. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4223. indexIntoAB[xCount][yCount] = abl_probe_index;
  4224. #endif
  4225. // Keep looping till a reachable point is found
  4226. if (position_is_reachable(xProbe, yProbe)) break;
  4227. ++abl_probe_index;
  4228. }
  4229. // Is there a next point to move to?
  4230. if (abl_probe_index < abl2) {
  4231. _manual_goto_xy(xProbe, yProbe); // Can be used here too!
  4232. #if HAS_SOFTWARE_ENDSTOPS
  4233. // Disable software endstops to allow manual adjustment
  4234. // If G29 is not completed, they will not be re-enabled
  4235. soft_endstops_enabled = false;
  4236. #endif
  4237. return;
  4238. }
  4239. else {
  4240. // Leveling done! Fall through to G29 finishing code below
  4241. SERIAL_PROTOCOLLNPGM("Grid probing done.");
  4242. // Re-enable software endstops, if needed
  4243. #if HAS_SOFTWARE_ENDSTOPS
  4244. soft_endstops_enabled = enable_soft_endstops;
  4245. #endif
  4246. }
  4247. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4248. // Probe at 3 arbitrary points
  4249. if (abl_probe_index < 3) {
  4250. xProbe = points[abl_probe_index].x;
  4251. yProbe = points[abl_probe_index].y;
  4252. #if HAS_SOFTWARE_ENDSTOPS
  4253. // Disable software endstops to allow manual adjustment
  4254. // If G29 is not completed, they will not be re-enabled
  4255. soft_endstops_enabled = false;
  4256. #endif
  4257. return;
  4258. }
  4259. else {
  4260. SERIAL_PROTOCOLLNPGM("3-point probing done.");
  4261. // Re-enable software endstops, if needed
  4262. #if HAS_SOFTWARE_ENDSTOPS
  4263. soft_endstops_enabled = enable_soft_endstops;
  4264. #endif
  4265. if (!dryrun) {
  4266. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4267. if (planeNormal.z < 0) {
  4268. planeNormal.x *= -1;
  4269. planeNormal.y *= -1;
  4270. planeNormal.z *= -1;
  4271. }
  4272. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4273. // Can't re-enable (on error) until the new grid is written
  4274. abl_should_enable = false;
  4275. }
  4276. }
  4277. #endif // AUTO_BED_LEVELING_3POINT
  4278. #else // !PROBE_MANUALLY
  4279. {
  4280. const bool stow_probe_after_each = parser.boolval('E');
  4281. #if ABL_GRID
  4282. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  4283. measured_z = 0;
  4284. // Outer loop is Y with PROBE_Y_FIRST disabled
  4285. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
  4286. int8_t inStart, inStop, inInc;
  4287. if (zig) { // away from origin
  4288. inStart = 0;
  4289. inStop = PR_INNER_END;
  4290. inInc = 1;
  4291. }
  4292. else { // towards origin
  4293. inStart = PR_INNER_END - 1;
  4294. inStop = -1;
  4295. inInc = -1;
  4296. }
  4297. zig ^= true; // zag
  4298. // Inner loop is Y with PROBE_Y_FIRST enabled
  4299. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  4300. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  4301. yBase = front_probe_bed_position + yGridSpacing * yCount;
  4302. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4303. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4304. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4305. indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
  4306. #endif
  4307. #if IS_KINEMATIC
  4308. // Avoid probing outside the round or hexagonal area
  4309. if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
  4310. #endif
  4311. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4312. if (isnan(measured_z)) {
  4313. planner.leveling_active = abl_should_enable;
  4314. break;
  4315. }
  4316. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4317. mean += measured_z;
  4318. eqnBVector[abl_probe_index] = measured_z;
  4319. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4320. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4321. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4322. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4323. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4324. z_values[xCount][yCount] = measured_z + zoffset;
  4325. #endif
  4326. abl_should_enable = false;
  4327. idle();
  4328. } // inner
  4329. } // outer
  4330. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4331. // Probe at 3 arbitrary points
  4332. for (uint8_t i = 0; i < 3; ++i) {
  4333. // Retain the last probe position
  4334. xProbe = points[i].x;
  4335. yProbe = points[i].y;
  4336. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4337. if (isnan(measured_z)) {
  4338. planner.leveling_active = abl_should_enable;
  4339. break;
  4340. }
  4341. points[i].z = measured_z;
  4342. }
  4343. if (!dryrun && !isnan(measured_z)) {
  4344. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4345. if (planeNormal.z < 0) {
  4346. planeNormal.x *= -1;
  4347. planeNormal.y *= -1;
  4348. planeNormal.z *= -1;
  4349. }
  4350. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4351. // Can't re-enable (on error) until the new grid is written
  4352. abl_should_enable = false;
  4353. }
  4354. #endif // AUTO_BED_LEVELING_3POINT
  4355. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  4356. if (STOW_PROBE()) {
  4357. planner.leveling_active = abl_should_enable;
  4358. measured_z = NAN;
  4359. }
  4360. }
  4361. #endif // !PROBE_MANUALLY
  4362. //
  4363. // G29 Finishing Code
  4364. //
  4365. // Unless this is a dry run, auto bed leveling will
  4366. // definitely be enabled after this point.
  4367. //
  4368. // If code above wants to continue leveling, it should
  4369. // return or loop before this point.
  4370. //
  4371. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4372. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  4373. #endif
  4374. #if ENABLED(PROBE_MANUALLY)
  4375. g29_in_progress = false;
  4376. #if ENABLED(LCD_BED_LEVELING)
  4377. lcd_wait_for_move = false;
  4378. #endif
  4379. #endif
  4380. // Calculate leveling, print reports, correct the position
  4381. if (!isnan(measured_z)) {
  4382. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4383. if (!dryrun) extrapolate_unprobed_bed_level();
  4384. print_bilinear_leveling_grid();
  4385. refresh_bed_level();
  4386. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  4387. print_bilinear_leveling_grid_virt();
  4388. #endif
  4389. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  4390. // For LINEAR leveling calculate matrix, print reports, correct the position
  4391. /**
  4392. * solve the plane equation ax + by + d = z
  4393. * A is the matrix with rows [x y 1] for all the probed points
  4394. * B is the vector of the Z positions
  4395. * the normal vector to the plane is formed by the coefficients of the
  4396. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  4397. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4398. */
  4399. float plane_equation_coefficients[3];
  4400. finish_incremental_LSF(&lsf_results);
  4401. plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
  4402. plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
  4403. plane_equation_coefficients[2] = -lsf_results.D;
  4404. mean /= abl2;
  4405. if (verbose_level) {
  4406. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4407. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  4408. SERIAL_PROTOCOLPGM(" b: ");
  4409. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  4410. SERIAL_PROTOCOLPGM(" d: ");
  4411. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  4412. SERIAL_EOL();
  4413. if (verbose_level > 2) {
  4414. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  4415. SERIAL_PROTOCOL_F(mean, 8);
  4416. SERIAL_EOL();
  4417. }
  4418. }
  4419. // Create the matrix but don't correct the position yet
  4420. if (!dryrun)
  4421. planner.bed_level_matrix = matrix_3x3::create_look_at(
  4422. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
  4423. );
  4424. // Show the Topography map if enabled
  4425. if (do_topography_map) {
  4426. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  4427. " +--- BACK --+\n"
  4428. " | |\n"
  4429. " L | (+) | R\n"
  4430. " E | | I\n"
  4431. " F | (-) N (+) | G\n"
  4432. " T | | H\n"
  4433. " | (-) | T\n"
  4434. " | |\n"
  4435. " O-- FRONT --+\n"
  4436. " (0,0)");
  4437. float min_diff = 999;
  4438. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4439. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4440. int ind = indexIntoAB[xx][yy];
  4441. float diff = eqnBVector[ind] - mean,
  4442. x_tmp = eqnAMatrix[ind + 0 * abl2],
  4443. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4444. z_tmp = 0;
  4445. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4446. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  4447. if (diff >= 0.0)
  4448. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  4449. else
  4450. SERIAL_PROTOCOLCHAR(' ');
  4451. SERIAL_PROTOCOL_F(diff, 5);
  4452. } // xx
  4453. SERIAL_EOL();
  4454. } // yy
  4455. SERIAL_EOL();
  4456. if (verbose_level > 3) {
  4457. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  4458. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4459. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4460. int ind = indexIntoAB[xx][yy];
  4461. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  4462. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4463. z_tmp = 0;
  4464. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4465. float diff = eqnBVector[ind] - z_tmp - min_diff;
  4466. if (diff >= 0.0)
  4467. SERIAL_PROTOCOLPGM(" +");
  4468. // Include + for column alignment
  4469. else
  4470. SERIAL_PROTOCOLCHAR(' ');
  4471. SERIAL_PROTOCOL_F(diff, 5);
  4472. } // xx
  4473. SERIAL_EOL();
  4474. } // yy
  4475. SERIAL_EOL();
  4476. }
  4477. } //do_topography_map
  4478. #endif // AUTO_BED_LEVELING_LINEAR
  4479. #if ABL_PLANAR
  4480. // For LINEAR and 3POINT leveling correct the current position
  4481. if (verbose_level > 0)
  4482. planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
  4483. if (!dryrun) {
  4484. //
  4485. // Correct the current XYZ position based on the tilted plane.
  4486. //
  4487. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4488. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  4489. #endif
  4490. float converted[XYZ];
  4491. COPY(converted, current_position);
  4492. planner.leveling_active = true;
  4493. planner.unapply_leveling(converted); // use conversion machinery
  4494. planner.leveling_active = false;
  4495. // Use the last measured distance to the bed, if possible
  4496. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  4497. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  4498. ) {
  4499. const float simple_z = current_position[Z_AXIS] - measured_z;
  4500. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4501. if (DEBUGGING(LEVELING)) {
  4502. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  4503. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  4504. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  4505. }
  4506. #endif
  4507. converted[Z_AXIS] = simple_z;
  4508. }
  4509. // The rotated XY and corrected Z are now current_position
  4510. COPY(current_position, converted);
  4511. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4512. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  4513. #endif
  4514. }
  4515. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4516. if (!dryrun) {
  4517. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4518. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  4519. #endif
  4520. // Unapply the offset because it is going to be immediately applied
  4521. // and cause compensation movement in Z
  4522. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  4523. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4524. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  4525. #endif
  4526. }
  4527. #endif // ABL_PLANAR
  4528. #ifdef Z_PROBE_END_SCRIPT
  4529. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4530. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  4531. #endif
  4532. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  4533. stepper.synchronize();
  4534. #endif
  4535. // Auto Bed Leveling is complete! Enable if possible.
  4536. planner.leveling_active = dryrun ? abl_should_enable : true;
  4537. } // !isnan(measured_z)
  4538. // Restore state after probing
  4539. if (!faux) clean_up_after_endstop_or_probe_move();
  4540. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4541. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  4542. #endif
  4543. report_current_position();
  4544. KEEPALIVE_STATE(IN_HANDLER);
  4545. if (planner.leveling_active)
  4546. SYNC_PLAN_POSITION_KINEMATIC();
  4547. }
  4548. #endif // OLDSCHOOL_ABL
  4549. #if HAS_BED_PROBE
  4550. /**
  4551. * G30: Do a single Z probe at the current XY
  4552. *
  4553. * Parameters:
  4554. *
  4555. * X Probe X position (default current X)
  4556. * Y Probe Y position (default current Y)
  4557. * E Engage the probe for each probe
  4558. */
  4559. inline void gcode_G30() {
  4560. const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
  4561. ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
  4562. if (!position_is_reachable_by_probe(xpos, ypos)) return;
  4563. // Disable leveling so the planner won't mess with us
  4564. #if HAS_LEVELING
  4565. set_bed_leveling_enabled(false);
  4566. #endif
  4567. setup_for_endstop_or_probe_move();
  4568. const float measured_z = probe_pt(xpos, ypos, parser.boolval('E'), 1);
  4569. if (!isnan(measured_z)) {
  4570. SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
  4571. SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
  4572. SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
  4573. }
  4574. clean_up_after_endstop_or_probe_move();
  4575. report_current_position();
  4576. }
  4577. #if ENABLED(Z_PROBE_SLED)
  4578. /**
  4579. * G31: Deploy the Z probe
  4580. */
  4581. inline void gcode_G31() { DEPLOY_PROBE(); }
  4582. /**
  4583. * G32: Stow the Z probe
  4584. */
  4585. inline void gcode_G32() { STOW_PROBE(); }
  4586. #endif // Z_PROBE_SLED
  4587. #endif // HAS_BED_PROBE
  4588. #if ENABLED(DELTA_AUTO_CALIBRATION)
  4589. constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
  4590. _4P_STEP = _7P_STEP * 2, // 4-point step
  4591. NPP = _7P_STEP * 6; // number of calibration points on the radius
  4592. enum CalEnum { // the 7 main calibration points - add definitions if needed
  4593. CEN = 0,
  4594. __A = 1,
  4595. _AB = __A + _7P_STEP,
  4596. __B = _AB + _7P_STEP,
  4597. _BC = __B + _7P_STEP,
  4598. __C = _BC + _7P_STEP,
  4599. _CA = __C + _7P_STEP,
  4600. };
  4601. #define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
  4602. #define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
  4603. #define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
  4604. #define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
  4605. #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
  4606. #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
  4607. static void print_signed_float(const char * const prefix, const float &f) {
  4608. SERIAL_PROTOCOLPGM(" ");
  4609. serialprintPGM(prefix);
  4610. SERIAL_PROTOCOLCHAR(':');
  4611. if (f >= 0) SERIAL_CHAR('+');
  4612. SERIAL_PROTOCOL_F(f, 2);
  4613. }
  4614. static void print_G33_settings(const bool end_stops, const bool tower_angles) {
  4615. SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
  4616. if (end_stops) {
  4617. print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
  4618. print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
  4619. print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
  4620. }
  4621. if (end_stops && tower_angles) {
  4622. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4623. SERIAL_EOL();
  4624. SERIAL_CHAR('.');
  4625. SERIAL_PROTOCOL_SP(13);
  4626. }
  4627. if (tower_angles) {
  4628. print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
  4629. print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
  4630. print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
  4631. }
  4632. if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
  4633. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4634. }
  4635. SERIAL_EOL();
  4636. }
  4637. static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
  4638. SERIAL_PROTOCOLPGM(". ");
  4639. print_signed_float(PSTR("c"), z_at_pt[CEN]);
  4640. if (tower_points) {
  4641. print_signed_float(PSTR(" x"), z_at_pt[__A]);
  4642. print_signed_float(PSTR(" y"), z_at_pt[__B]);
  4643. print_signed_float(PSTR(" z"), z_at_pt[__C]);
  4644. }
  4645. if (tower_points && opposite_points) {
  4646. SERIAL_EOL();
  4647. SERIAL_CHAR('.');
  4648. SERIAL_PROTOCOL_SP(13);
  4649. }
  4650. if (opposite_points) {
  4651. print_signed_float(PSTR("yz"), z_at_pt[_BC]);
  4652. print_signed_float(PSTR("zx"), z_at_pt[_CA]);
  4653. print_signed_float(PSTR("xy"), z_at_pt[_AB]);
  4654. }
  4655. SERIAL_EOL();
  4656. }
  4657. /**
  4658. * After G33:
  4659. * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
  4660. * - Stow the probe
  4661. * - Restore endstops state
  4662. * - Select the old tool, if needed
  4663. */
  4664. static void G33_cleanup(
  4665. #if HOTENDS > 1
  4666. const uint8_t old_tool_index
  4667. #endif
  4668. ) {
  4669. #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  4670. do_blocking_move_to_z(delta_clip_start_height);
  4671. #endif
  4672. STOW_PROBE();
  4673. clean_up_after_endstop_or_probe_move();
  4674. #if HOTENDS > 1
  4675. tool_change(old_tool_index, 0, true);
  4676. #endif
  4677. }
  4678. static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
  4679. const bool _0p_calibration = probe_points == 0,
  4680. _1p_calibration = probe_points == 1,
  4681. _4p_calibration = probe_points == 2,
  4682. _4p_opposite_points = _4p_calibration && !towers_set,
  4683. _7p_calibration = probe_points >= 3 || probe_points == 0,
  4684. _7p_no_intermediates = probe_points == 3,
  4685. _7p_1_intermediates = probe_points == 4,
  4686. _7p_2_intermediates = probe_points == 5,
  4687. _7p_4_intermediates = probe_points == 6,
  4688. _7p_6_intermediates = probe_points == 7,
  4689. _7p_8_intermediates = probe_points == 8,
  4690. _7p_11_intermediates = probe_points == 9,
  4691. _7p_14_intermediates = probe_points == 10,
  4692. _7p_intermed_points = probe_points >= 4,
  4693. _7p_6_centre = probe_points >= 5 && probe_points <= 7,
  4694. _7p_9_centre = probe_points >= 8;
  4695. #if HAS_BED_PROBE
  4696. const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
  4697. dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
  4698. #endif
  4699. LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
  4700. if (!_0p_calibration) {
  4701. if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
  4702. z_at_pt[CEN] +=
  4703. #if HAS_BED_PROBE
  4704. probe_pt(dx, dy, stow_after_each, 1, false)
  4705. #else
  4706. lcd_probe_pt(0, 0)
  4707. #endif
  4708. ;
  4709. }
  4710. if (_7p_calibration) { // probe extra center points
  4711. const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
  4712. steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
  4713. I_LOOP_CAL_PT(axis, start, steps) {
  4714. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4715. r = delta_calibration_radius * 0.1;
  4716. z_at_pt[CEN] +=
  4717. #if HAS_BED_PROBE
  4718. probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
  4719. #else
  4720. lcd_probe_pt(cos(a) * r, sin(a) * r)
  4721. #endif
  4722. ;
  4723. }
  4724. z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
  4725. }
  4726. if (!_1p_calibration) { // probe the radius
  4727. const CalEnum start = _4p_opposite_points ? _AB : __A;
  4728. const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
  4729. _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
  4730. _7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
  4731. _7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
  4732. _7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
  4733. _7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
  4734. _7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
  4735. _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
  4736. _4P_STEP; // .5r * 6 + 1c = 4
  4737. bool zig_zag = true;
  4738. F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
  4739. const int8_t offset = _7p_9_centre ? 1 : 0;
  4740. for (int8_t circle = -offset; circle <= offset; circle++) {
  4741. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4742. r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
  4743. interpol = fmod(axis, 1);
  4744. const float z_temp =
  4745. #if HAS_BED_PROBE
  4746. probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1)
  4747. #else
  4748. lcd_probe_pt(cos(a) * r, sin(a) * r)
  4749. #endif
  4750. ;
  4751. // split probe point to neighbouring calibration points
  4752. z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
  4753. z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
  4754. }
  4755. zig_zag = !zig_zag;
  4756. }
  4757. if (_7p_intermed_points)
  4758. LOOP_CAL_RAD(axis)
  4759. z_at_pt[axis] /= _7P_STEP / steps;
  4760. }
  4761. float S1 = z_at_pt[CEN],
  4762. S2 = sq(z_at_pt[CEN]);
  4763. int16_t N = 1;
  4764. if (!_1p_calibration) { // std dev from zero plane
  4765. LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
  4766. S1 += z_at_pt[axis];
  4767. S2 += sq(z_at_pt[axis]);
  4768. N++;
  4769. }
  4770. return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
  4771. }
  4772. }
  4773. return 0.00001;
  4774. }
  4775. #if HAS_BED_PROBE
  4776. static void G33_auto_tune() {
  4777. float z_at_pt[NPP + 1] = { 0.0 },
  4778. z_at_pt_base[NPP + 1] = { 0.0 },
  4779. z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
  4780. #define ZP(N,I) ((N) * z_at_pt[I])
  4781. #define Z06(I) ZP(6, I)
  4782. #define Z03(I) ZP(3, I)
  4783. #define Z02(I) ZP(2, I)
  4784. #define Z01(I) ZP(1, I)
  4785. #define Z32(I) ZP(3/2, I)
  4786. SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
  4787. SERIAL_EOL();
  4788. probe_G33_points(z_at_pt_base, 3, true, false);
  4789. print_G33_results(z_at_pt_base, true, true);
  4790. LOOP_XYZ(axis) {
  4791. delta_endstop_adj[axis] -= 1.0;
  4792. endstops.enable(true);
  4793. if (!home_delta()) return;
  4794. endstops.not_homing();
  4795. SERIAL_PROTOCOLPGM("Tuning E");
  4796. SERIAL_CHAR(tolower(axis_codes[axis]));
  4797. SERIAL_EOL();
  4798. probe_G33_points(z_at_pt, 3, true, false);
  4799. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4800. print_G33_results(z_at_pt, true, true);
  4801. delta_endstop_adj[axis] += 1.0;
  4802. switch (axis) {
  4803. case A_AXIS :
  4804. h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
  4805. break;
  4806. case B_AXIS :
  4807. h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
  4808. break;
  4809. case C_AXIS :
  4810. h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
  4811. break;
  4812. }
  4813. }
  4814. h_fac /= 3.0;
  4815. h_fac *= norm; // Normalize to 1.02 for Kossel mini
  4816. for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
  4817. delta_radius += 1.0 * zig_zag;
  4818. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  4819. endstops.enable(true);
  4820. if (!home_delta()) return;
  4821. endstops.not_homing();
  4822. SERIAL_PROTOCOLPGM("Tuning R");
  4823. SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
  4824. SERIAL_EOL();
  4825. probe_G33_points(z_at_pt, 3, true, false);
  4826. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4827. print_G33_results(z_at_pt, true, true);
  4828. delta_radius -= 1.0 * zig_zag;
  4829. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  4830. r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
  4831. }
  4832. r_fac /= 2.0;
  4833. r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
  4834. LOOP_XYZ(axis) {
  4835. delta_tower_angle_trim[axis] += 1.0;
  4836. delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
  4837. delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
  4838. z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  4839. home_offset[Z_AXIS] -= z_temp;
  4840. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  4841. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  4842. endstops.enable(true);
  4843. if (!home_delta()) return;
  4844. endstops.not_homing();
  4845. SERIAL_PROTOCOLPGM("Tuning T");
  4846. SERIAL_CHAR(tolower(axis_codes[axis]));
  4847. SERIAL_EOL();
  4848. probe_G33_points(z_at_pt, 3, true, false);
  4849. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4850. print_G33_results(z_at_pt, true, true);
  4851. delta_tower_angle_trim[axis] -= 1.0;
  4852. delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
  4853. delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
  4854. z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  4855. home_offset[Z_AXIS] -= z_temp;
  4856. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  4857. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  4858. switch (axis) {
  4859. case A_AXIS :
  4860. a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
  4861. break;
  4862. case B_AXIS :
  4863. a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
  4864. break;
  4865. case C_AXIS :
  4866. a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
  4867. break;
  4868. }
  4869. }
  4870. a_fac /= 3.0;
  4871. a_fac *= norm; // Normalize to 0.83 for Kossel mini
  4872. endstops.enable(true);
  4873. if (!home_delta()) return;
  4874. endstops.not_homing();
  4875. print_signed_float(PSTR( "H_FACTOR: "), h_fac);
  4876. print_signed_float(PSTR(" R_FACTOR: "), r_fac);
  4877. print_signed_float(PSTR(" A_FACTOR: "), a_fac);
  4878. SERIAL_EOL();
  4879. SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
  4880. SERIAL_EOL();
  4881. }
  4882. #endif // HAS_BED_PROBE
  4883. /**
  4884. * G33 - Delta '1-4-7-point' Auto-Calibration
  4885. * Calibrate height, endstops, delta radius, and tower angles.
  4886. *
  4887. * Parameters:
  4888. *
  4889. * Pn Number of probe points:
  4890. * P0 No probe. Normalize only.
  4891. * P1 Probe center and set height only.
  4892. * P2 Probe center and towers. Set height, endstops and delta radius.
  4893. * P3 Probe all positions: center, towers and opposite towers. Set all.
  4894. * P4-P10 Probe all positions + at different itermediate locations and average them.
  4895. *
  4896. * T Don't calibrate tower angle corrections
  4897. *
  4898. * Cn.nn Calibration precision; when omitted calibrates to maximum precision
  4899. *
  4900. * Fn Force to run at least n iterations and takes the best result
  4901. *
  4902. * A Auto tune calibartion factors (set in Configuration.h)
  4903. *
  4904. * Vn Verbose level:
  4905. * V0 Dry-run mode. Report settings and probe results. No calibration.
  4906. * V1 Report settings
  4907. * V2 Report settings and probe results
  4908. *
  4909. * E Engage the probe for each point
  4910. */
  4911. inline void gcode_G33() {
  4912. const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
  4913. if (!WITHIN(probe_points, 0, 10)) {
  4914. SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
  4915. return;
  4916. }
  4917. const int8_t verbose_level = parser.byteval('V', 1);
  4918. if (!WITHIN(verbose_level, 0, 2)) {
  4919. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
  4920. return;
  4921. }
  4922. const float calibration_precision = parser.floatval('C');
  4923. if (calibration_precision < 0) {
  4924. SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
  4925. return;
  4926. }
  4927. const int8_t force_iterations = parser.intval('F', 0);
  4928. if (!WITHIN(force_iterations, 0, 30)) {
  4929. SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
  4930. return;
  4931. }
  4932. const bool towers_set = !parser.boolval('T'),
  4933. auto_tune = parser.boolval('A'),
  4934. stow_after_each = parser.boolval('E'),
  4935. _0p_calibration = probe_points == 0,
  4936. _1p_calibration = probe_points == 1,
  4937. _4p_calibration = probe_points == 2,
  4938. _7p_9_centre = probe_points >= 8,
  4939. _tower_results = (_4p_calibration && towers_set)
  4940. || probe_points >= 3 || probe_points == 0,
  4941. _opposite_results = (_4p_calibration && !towers_set)
  4942. || probe_points >= 3 || probe_points == 0,
  4943. _endstop_results = probe_points != 1,
  4944. _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
  4945. const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
  4946. int8_t iterations = 0;
  4947. float test_precision,
  4948. zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
  4949. zero_std_dev_min = zero_std_dev,
  4950. e_old[ABC] = {
  4951. delta_endstop_adj[A_AXIS],
  4952. delta_endstop_adj[B_AXIS],
  4953. delta_endstop_adj[C_AXIS]
  4954. },
  4955. dr_old = delta_radius,
  4956. zh_old = home_offset[Z_AXIS],
  4957. ta_old[ABC] = {
  4958. delta_tower_angle_trim[A_AXIS],
  4959. delta_tower_angle_trim[B_AXIS],
  4960. delta_tower_angle_trim[C_AXIS]
  4961. };
  4962. SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
  4963. if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
  4964. LOOP_CAL_RAD(axis) {
  4965. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4966. r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
  4967. if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
  4968. SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
  4969. return;
  4970. }
  4971. }
  4972. }
  4973. stepper.synchronize();
  4974. #if HAS_LEVELING
  4975. reset_bed_level(); // After calibration bed-level data is no longer valid
  4976. #endif
  4977. #if HOTENDS > 1
  4978. const uint8_t old_tool_index = active_extruder;
  4979. tool_change(0, 0, true);
  4980. #define G33_CLEANUP() G33_cleanup(old_tool_index)
  4981. #else
  4982. #define G33_CLEANUP() G33_cleanup()
  4983. #endif
  4984. setup_for_endstop_or_probe_move();
  4985. endstops.enable(true);
  4986. if (!_0p_calibration) {
  4987. if (!home_delta())
  4988. return;
  4989. endstops.not_homing();
  4990. }
  4991. if (auto_tune) {
  4992. #if HAS_BED_PROBE
  4993. G33_auto_tune();
  4994. #else
  4995. SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
  4996. #endif
  4997. G33_CLEANUP();
  4998. return;
  4999. }
  5000. // Report settings
  5001. const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
  5002. serialprintPGM(checkingac);
  5003. if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
  5004. SERIAL_EOL();
  5005. lcd_setstatusPGM(checkingac);
  5006. print_G33_settings(_endstop_results, _angle_results);
  5007. do {
  5008. float z_at_pt[NPP + 1] = { 0.0 };
  5009. test_precision = zero_std_dev;
  5010. iterations++;
  5011. // Probe the points
  5012. zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
  5013. // Solve matrices
  5014. if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
  5015. if (zero_std_dev < zero_std_dev_min) {
  5016. COPY(e_old, delta_endstop_adj);
  5017. dr_old = delta_radius;
  5018. zh_old = home_offset[Z_AXIS];
  5019. COPY(ta_old, delta_tower_angle_trim);
  5020. }
  5021. float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
  5022. const float r_diff = delta_radius - delta_calibration_radius,
  5023. h_factor = 1 / 6.0 *
  5024. #ifdef H_FACTOR
  5025. (H_FACTOR), // Set in Configuration.h
  5026. #else
  5027. (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
  5028. #endif
  5029. r_factor = 1 / 6.0 *
  5030. #ifdef R_FACTOR
  5031. -(R_FACTOR), // Set in Configuration.h
  5032. #else
  5033. -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
  5034. #endif
  5035. a_factor = 1 / 6.0 *
  5036. #ifdef A_FACTOR
  5037. (A_FACTOR); // Set in Configuration.h
  5038. #else
  5039. (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
  5040. #endif
  5041. #define ZP(N,I) ((N) * z_at_pt[I])
  5042. #define Z6(I) ZP(6, I)
  5043. #define Z4(I) ZP(4, I)
  5044. #define Z2(I) ZP(2, I)
  5045. #define Z1(I) ZP(1, I)
  5046. #if !HAS_BED_PROBE
  5047. test_precision = 0.00; // forced end
  5048. #endif
  5049. switch (probe_points) {
  5050. case 0:
  5051. test_precision = 0.00; // forced end
  5052. break;
  5053. case 1:
  5054. test_precision = 0.00; // forced end
  5055. LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
  5056. break;
  5057. case 2:
  5058. if (towers_set) {
  5059. e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
  5060. e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
  5061. e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
  5062. r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
  5063. }
  5064. else {
  5065. e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
  5066. e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
  5067. e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
  5068. r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
  5069. }
  5070. break;
  5071. default:
  5072. e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
  5073. e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
  5074. e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
  5075. r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
  5076. if (towers_set) {
  5077. t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
  5078. t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
  5079. t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
  5080. e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
  5081. e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
  5082. e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
  5083. }
  5084. break;
  5085. }
  5086. LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
  5087. delta_radius += r_delta;
  5088. LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
  5089. }
  5090. else if (zero_std_dev >= test_precision) { // step one back
  5091. COPY(delta_endstop_adj, e_old);
  5092. delta_radius = dr_old;
  5093. home_offset[Z_AXIS] = zh_old;
  5094. COPY(delta_tower_angle_trim, ta_old);
  5095. }
  5096. if (verbose_level != 0) { // !dry run
  5097. // normalise angles to least squares
  5098. if (_angle_results) {
  5099. float a_sum = 0.0;
  5100. LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
  5101. LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
  5102. }
  5103. // adjust delta_height and endstops by the max amount
  5104. const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  5105. home_offset[Z_AXIS] -= z_temp;
  5106. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  5107. }
  5108. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  5109. NOMORE(zero_std_dev_min, zero_std_dev);
  5110. // print report
  5111. if (verbose_level != 1)
  5112. print_G33_results(z_at_pt, _tower_results, _opposite_results);
  5113. if (verbose_level != 0) { // !dry run
  5114. if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
  5115. SERIAL_PROTOCOLPGM("Calibration OK");
  5116. SERIAL_PROTOCOL_SP(32);
  5117. #if HAS_BED_PROBE
  5118. if (zero_std_dev >= test_precision && !_1p_calibration)
  5119. SERIAL_PROTOCOLPGM("rolling back.");
  5120. else
  5121. #endif
  5122. {
  5123. SERIAL_PROTOCOLPGM("std dev:");
  5124. SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
  5125. }
  5126. SERIAL_EOL();
  5127. char mess[21];
  5128. strcpy_P(mess, PSTR("Calibration sd:"));
  5129. if (zero_std_dev_min < 1)
  5130. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
  5131. else
  5132. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
  5133. lcd_setstatus(mess);
  5134. print_G33_settings(_endstop_results, _angle_results);
  5135. serialprintPGM(save_message);
  5136. SERIAL_EOL();
  5137. }
  5138. else { // !end iterations
  5139. char mess[15];
  5140. if (iterations < 31)
  5141. sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
  5142. else
  5143. strcpy_P(mess, PSTR("No convergence"));
  5144. SERIAL_PROTOCOL(mess);
  5145. SERIAL_PROTOCOL_SP(32);
  5146. SERIAL_PROTOCOLPGM("std dev:");
  5147. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  5148. SERIAL_EOL();
  5149. lcd_setstatus(mess);
  5150. print_G33_settings(_endstop_results, _angle_results);
  5151. }
  5152. }
  5153. else { // dry run
  5154. const char *enddryrun = PSTR("End DRY-RUN");
  5155. serialprintPGM(enddryrun);
  5156. SERIAL_PROTOCOL_SP(35);
  5157. SERIAL_PROTOCOLPGM("std dev:");
  5158. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  5159. SERIAL_EOL();
  5160. char mess[21];
  5161. strcpy_P(mess, enddryrun);
  5162. strcpy_P(&mess[11], PSTR(" sd:"));
  5163. if (zero_std_dev < 1)
  5164. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
  5165. else
  5166. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
  5167. lcd_setstatus(mess);
  5168. }
  5169. endstops.enable(true);
  5170. if (!home_delta())
  5171. return;
  5172. endstops.not_homing();
  5173. }
  5174. while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
  5175. G33_CLEANUP();
  5176. }
  5177. #endif // DELTA_AUTO_CALIBRATION
  5178. #if ENABLED(G38_PROBE_TARGET)
  5179. static bool G38_run_probe() {
  5180. bool G38_pass_fail = false;
  5181. #if ENABLED(PROBE_DOUBLE_TOUCH)
  5182. // Get direction of move and retract
  5183. float retract_mm[XYZ];
  5184. LOOP_XYZ(i) {
  5185. float dist = destination[i] - current_position[i];
  5186. retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  5187. }
  5188. #endif
  5189. stepper.synchronize(); // wait until the machine is idle
  5190. // Move until destination reached or target hit
  5191. endstops.enable(true);
  5192. G38_move = true;
  5193. G38_endstop_hit = false;
  5194. prepare_move_to_destination();
  5195. stepper.synchronize();
  5196. G38_move = false;
  5197. endstops.hit_on_purpose();
  5198. set_current_from_steppers_for_axis(ALL_AXES);
  5199. SYNC_PLAN_POSITION_KINEMATIC();
  5200. if (G38_endstop_hit) {
  5201. G38_pass_fail = true;
  5202. #if ENABLED(PROBE_DOUBLE_TOUCH)
  5203. // Move away by the retract distance
  5204. set_destination_from_current();
  5205. LOOP_XYZ(i) destination[i] += retract_mm[i];
  5206. endstops.enable(false);
  5207. prepare_move_to_destination();
  5208. stepper.synchronize();
  5209. feedrate_mm_s /= 4;
  5210. // Bump the target more slowly
  5211. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  5212. endstops.enable(true);
  5213. G38_move = true;
  5214. prepare_move_to_destination();
  5215. stepper.synchronize();
  5216. G38_move = false;
  5217. set_current_from_steppers_for_axis(ALL_AXES);
  5218. SYNC_PLAN_POSITION_KINEMATIC();
  5219. #endif
  5220. }
  5221. endstops.hit_on_purpose();
  5222. endstops.not_homing();
  5223. return G38_pass_fail;
  5224. }
  5225. /**
  5226. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  5227. * G38.3 - probe toward workpiece, stop on contact
  5228. *
  5229. * Like G28 except uses Z min probe for all axes
  5230. */
  5231. inline void gcode_G38(bool is_38_2) {
  5232. // Get X Y Z E F
  5233. gcode_get_destination();
  5234. setup_for_endstop_or_probe_move();
  5235. // If any axis has enough movement, do the move
  5236. LOOP_XYZ(i)
  5237. if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  5238. if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
  5239. // If G38.2 fails throw an error
  5240. if (!G38_run_probe() && is_38_2) {
  5241. SERIAL_ERROR_START();
  5242. SERIAL_ERRORLNPGM("Failed to reach target");
  5243. }
  5244. break;
  5245. }
  5246. clean_up_after_endstop_or_probe_move();
  5247. }
  5248. #endif // G38_PROBE_TARGET
  5249. #if HAS_MESH
  5250. /**
  5251. * G42: Move X & Y axes to mesh coordinates (I & J)
  5252. */
  5253. inline void gcode_G42() {
  5254. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  5255. if (axis_unhomed_error()) return;
  5256. #endif
  5257. if (IsRunning()) {
  5258. const bool hasI = parser.seenval('I');
  5259. const int8_t ix = RAW_X_POSITION(hasI ? parser.value_linear_units() : 0);
  5260. const bool hasJ = parser.seenval('J');
  5261. const int8_t iy = RAW_Y_POSITION(hasJ ? parser.value_linear_units() : 0);
  5262. if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
  5263. SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
  5264. return;
  5265. }
  5266. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  5267. #define _GET_MESH_X(I) bilinear_start[X_AXIS] + I * bilinear_grid_spacing[X_AXIS]
  5268. #define _GET_MESH_Y(J) bilinear_start[Y_AXIS] + J * bilinear_grid_spacing[Y_AXIS]
  5269. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  5270. #define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I)
  5271. #define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J)
  5272. #elif ENABLED(MESH_BED_LEVELING)
  5273. #define _GET_MESH_X(I) mbl.index_to_xpos[I]
  5274. #define _GET_MESH_Y(J) mbl.index_to_ypos[J]
  5275. #endif
  5276. set_destination_from_current();
  5277. if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
  5278. if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
  5279. if (parser.boolval('P')) {
  5280. if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  5281. if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  5282. }
  5283. const float fval = parser.linearval('F');
  5284. if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
  5285. // SCARA kinematic has "safe" XY raw moves
  5286. #if IS_SCARA
  5287. prepare_uninterpolated_move_to_destination();
  5288. #else
  5289. prepare_move_to_destination();
  5290. #endif
  5291. }
  5292. }
  5293. #endif // HAS_MESH
  5294. /**
  5295. * G92: Set current position to given X Y Z E
  5296. */
  5297. inline void gcode_G92() {
  5298. stepper.synchronize();
  5299. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5300. switch (parser.subcode) {
  5301. case 1:
  5302. // Zero the G92 values and restore current position
  5303. #if !IS_SCARA
  5304. LOOP_XYZ(i) {
  5305. const float v = position_shift[i];
  5306. if (v) {
  5307. position_shift[i] = 0;
  5308. update_software_endstops((AxisEnum)i);
  5309. }
  5310. }
  5311. #endif // Not SCARA
  5312. return;
  5313. }
  5314. #endif
  5315. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5316. #define IS_G92_0 (parser.subcode == 0)
  5317. #else
  5318. #define IS_G92_0 true
  5319. #endif
  5320. bool didXYZ = false, didE = false;
  5321. if (IS_G92_0) LOOP_XYZE(i) {
  5322. if (parser.seenval(axis_codes[i])) {
  5323. const float l = parser.value_axis_units((AxisEnum)i),
  5324. v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i),
  5325. d = v - current_position[i];
  5326. if (!NEAR_ZERO(d)) {
  5327. if (i == E_AXIS) didE = true; else didXYZ = true;
  5328. #if IS_SCARA
  5329. current_position[i] = v; // For SCARA just set the position directly
  5330. #elif HAS_POSITION_SHIFT
  5331. if (i == E_AXIS)
  5332. current_position[E_AXIS] = v; // When using coordinate spaces, only E is set directly
  5333. else {
  5334. position_shift[i] += d; // Other axes simply offset the coordinate space
  5335. update_software_endstops((AxisEnum)i);
  5336. }
  5337. #else
  5338. current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
  5339. #endif
  5340. }
  5341. }
  5342. }
  5343. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5344. // Apply workspace offset to the active coordinate system
  5345. if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
  5346. COPY(coordinate_system[active_coordinate_system], position_shift);
  5347. #endif
  5348. if (didXYZ)
  5349. SYNC_PLAN_POSITION_KINEMATIC();
  5350. else if (didE)
  5351. sync_plan_position_e();
  5352. report_current_position();
  5353. }
  5354. #if HAS_RESUME_CONTINUE
  5355. /**
  5356. * M0: Unconditional stop - Wait for user button press on LCD
  5357. * M1: Conditional stop - Wait for user button press on LCD
  5358. */
  5359. inline void gcode_M0_M1() {
  5360. const char * const args = parser.string_arg;
  5361. millis_t ms = 0;
  5362. bool hasP = false, hasS = false;
  5363. if (parser.seenval('P')) {
  5364. ms = parser.value_millis(); // milliseconds to wait
  5365. hasP = ms > 0;
  5366. }
  5367. if (parser.seenval('S')) {
  5368. ms = parser.value_millis_from_seconds(); // seconds to wait
  5369. hasS = ms > 0;
  5370. }
  5371. #if ENABLED(ULTIPANEL)
  5372. if (!hasP && !hasS && args && *args)
  5373. lcd_setstatus(args, true);
  5374. else {
  5375. LCD_MESSAGEPGM(MSG_USERWAIT);
  5376. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  5377. dontExpireStatus();
  5378. #endif
  5379. }
  5380. #else
  5381. if (!hasP && !hasS && args && *args) {
  5382. SERIAL_ECHO_START();
  5383. SERIAL_ECHOLN(args);
  5384. }
  5385. #endif
  5386. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5387. wait_for_user = true;
  5388. stepper.synchronize();
  5389. refresh_cmd_timeout();
  5390. if (ms > 0) {
  5391. ms += previous_cmd_ms; // wait until this time for a click
  5392. while (PENDING(millis(), ms) && wait_for_user) idle();
  5393. }
  5394. else {
  5395. #if ENABLED(ULTIPANEL)
  5396. if (lcd_detected()) {
  5397. while (wait_for_user) idle();
  5398. print_job_timer.isPaused() ? LCD_MESSAGEPGM(WELCOME_MSG) : LCD_MESSAGEPGM(MSG_RESUMING);
  5399. }
  5400. #else
  5401. while (wait_for_user) idle();
  5402. #endif
  5403. }
  5404. wait_for_user = false;
  5405. KEEPALIVE_STATE(IN_HANDLER);
  5406. }
  5407. #endif // HAS_RESUME_CONTINUE
  5408. #if ENABLED(SPINDLE_LASER_ENABLE)
  5409. /**
  5410. * M3: Spindle Clockwise
  5411. * M4: Spindle Counter-clockwise
  5412. *
  5413. * S0 turns off spindle.
  5414. *
  5415. * If no speed PWM output is defined then M3/M4 just turns it on.
  5416. *
  5417. * At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
  5418. * Hardware PWM is required. ISRs are too slow.
  5419. *
  5420. * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
  5421. * No other settings give a PWM signal that goes from 0 to 5 volts.
  5422. *
  5423. * The system automatically sets WGM to Mode 1, so no special
  5424. * initialization is needed.
  5425. *
  5426. * WGM bits for timer 2 are automatically set by the system to
  5427. * Mode 1. This produces an acceptable 0 to 5 volt signal.
  5428. * No special initialization is needed.
  5429. *
  5430. * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
  5431. * factors for timers 2, 3, 4, and 5 are acceptable.
  5432. *
  5433. * SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
  5434. * the spindle/laser during power-up or when connecting to the host
  5435. * (usually goes through a reset which sets all I/O pins to tri-state)
  5436. *
  5437. * PWM duty cycle goes from 0 (off) to 255 (always on).
  5438. */
  5439. // Wait for spindle to come up to speed
  5440. inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); }
  5441. // Wait for spindle to stop turning
  5442. inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); }
  5443. /**
  5444. * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
  5445. *
  5446. * it accepts inputs of 0-255
  5447. */
  5448. inline void ocr_val_mode() {
  5449. uint8_t spindle_laser_power = parser.value_byte();
  5450. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5451. if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
  5452. analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
  5453. }
  5454. inline void gcode_M3_M4(bool is_M3) {
  5455. stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
  5456. #if SPINDLE_DIR_CHANGE
  5457. const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
  5458. if (SPINDLE_STOP_ON_DIR_CHANGE \
  5459. && READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
  5460. && READ(SPINDLE_DIR_PIN) != rotation_dir
  5461. ) {
  5462. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
  5463. delay_for_power_down();
  5464. }
  5465. WRITE(SPINDLE_DIR_PIN, rotation_dir);
  5466. #endif
  5467. /**
  5468. * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
  5469. * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
  5470. * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
  5471. */
  5472. #if ENABLED(SPINDLE_LASER_PWM)
  5473. if (parser.seen('O')) ocr_val_mode();
  5474. else {
  5475. const float spindle_laser_power = parser.floatval('S');
  5476. if (spindle_laser_power == 0) {
  5477. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
  5478. delay_for_power_down();
  5479. }
  5480. else {
  5481. int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
  5482. NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
  5483. if (spindle_laser_power <= SPEED_POWER_MIN)
  5484. ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
  5485. if (spindle_laser_power >= SPEED_POWER_MAX)
  5486. ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
  5487. if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
  5488. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5489. analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
  5490. delay_for_power_up();
  5491. }
  5492. }
  5493. #else
  5494. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
  5495. delay_for_power_up();
  5496. #endif
  5497. }
  5498. /**
  5499. * M5 turn off spindle
  5500. */
  5501. inline void gcode_M5() {
  5502. stepper.synchronize();
  5503. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
  5504. delay_for_power_down();
  5505. }
  5506. #endif // SPINDLE_LASER_ENABLE
  5507. /**
  5508. * M17: Enable power on all stepper motors
  5509. */
  5510. inline void gcode_M17() {
  5511. LCD_MESSAGEPGM(MSG_NO_MOVE);
  5512. enable_all_steppers();
  5513. }
  5514. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  5515. static float resume_position[XYZE];
  5516. static bool move_away_flag = false;
  5517. #if ENABLED(SDSUPPORT)
  5518. static bool sd_print_paused = false;
  5519. #endif
  5520. static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
  5521. static millis_t next_buzz = 0;
  5522. static int8_t runout_beep = 0;
  5523. if (init) next_buzz = runout_beep = 0;
  5524. const millis_t ms = millis();
  5525. if (ELAPSED(ms, next_buzz)) {
  5526. if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
  5527. next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400);
  5528. BUZZ(300, 2000);
  5529. runout_beep++;
  5530. }
  5531. }
  5532. }
  5533. static void ensure_safe_temperature() {
  5534. bool heaters_heating = true;
  5535. wait_for_heatup = true; // M108 will clear this
  5536. while (wait_for_heatup && heaters_heating) {
  5537. idle();
  5538. heaters_heating = false;
  5539. HOTEND_LOOP() {
  5540. if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) {
  5541. heaters_heating = true;
  5542. #if ENABLED(ULTIPANEL)
  5543. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  5544. #endif
  5545. break;
  5546. }
  5547. }
  5548. }
  5549. }
  5550. #if IS_KINEMATIC
  5551. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
  5552. #else
  5553. #define RUNPLAN(RATE_MM_S) buffer_line_to_destination(RATE_MM_S)
  5554. #endif
  5555. void do_pause_e_move(const float &length, const float fr) {
  5556. current_position[E_AXIS] += length;
  5557. set_destination_from_current();
  5558. RUNPLAN(fr);
  5559. stepper.synchronize();
  5560. }
  5561. static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos,
  5562. const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false
  5563. ) {
  5564. if (move_away_flag) return false; // already paused
  5565. if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) {
  5566. #if ENABLED(PREVENT_COLD_EXTRUSION)
  5567. if (!thermalManager.allow_cold_extrude &&
  5568. thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) {
  5569. SERIAL_ERROR_START();
  5570. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5571. return false;
  5572. }
  5573. #endif
  5574. ensure_safe_temperature(); // wait for extruder to heat up before unloading
  5575. }
  5576. // Indicate that the printer is paused
  5577. move_away_flag = true;
  5578. // Pause the print job and timer
  5579. #if ENABLED(SDSUPPORT)
  5580. if (card.sdprinting) {
  5581. card.pauseSDPrint();
  5582. sd_print_paused = true;
  5583. }
  5584. #endif
  5585. print_job_timer.pause();
  5586. // Show initial message and wait for synchronize steppers
  5587. if (show_lcd) {
  5588. #if ENABLED(ULTIPANEL)
  5589. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
  5590. #endif
  5591. }
  5592. // Save current position
  5593. stepper.synchronize();
  5594. COPY(resume_position, current_position);
  5595. // Initial retract before move to filament change position
  5596. if (retract) do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
  5597. // Lift Z axis
  5598. if (z_lift > 0)
  5599. do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE);
  5600. // Move XY axes to filament exchange position
  5601. do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE);
  5602. if (unload_length != 0) {
  5603. if (show_lcd) {
  5604. #if ENABLED(ULTIPANEL)
  5605. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD);
  5606. idle();
  5607. #endif
  5608. }
  5609. // Unload filament
  5610. do_pause_e_move(unload_length, FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5611. }
  5612. if (show_lcd) {
  5613. #if ENABLED(ULTIPANEL)
  5614. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5615. #endif
  5616. }
  5617. #if HAS_BUZZER
  5618. filament_change_beep(max_beep_count, true);
  5619. #endif
  5620. idle();
  5621. // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
  5622. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
  5623. disable_e_steppers();
  5624. safe_delay(100);
  5625. #endif
  5626. // Start the heater idle timers
  5627. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5628. HOTEND_LOOP()
  5629. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5630. return true;
  5631. }
  5632. static void wait_for_filament_reload(const int8_t max_beep_count = 0) {
  5633. bool nozzle_timed_out = false;
  5634. // Wait for filament insert by user and press button
  5635. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5636. wait_for_user = true; // LCD click or M108 will clear this
  5637. while (wait_for_user) {
  5638. #if HAS_BUZZER
  5639. filament_change_beep(max_beep_count);
  5640. #endif
  5641. // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
  5642. // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
  5643. if (!nozzle_timed_out)
  5644. HOTEND_LOOP()
  5645. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5646. if (nozzle_timed_out) {
  5647. #if ENABLED(ULTIPANEL)
  5648. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  5649. #endif
  5650. // Wait for LCD click or M108
  5651. while (wait_for_user) idle(true);
  5652. // Re-enable the heaters if they timed out
  5653. HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
  5654. // Wait for the heaters to reach the target temperatures
  5655. ensure_safe_temperature();
  5656. #if ENABLED(ULTIPANEL)
  5657. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5658. #endif
  5659. // Start the heater idle timers
  5660. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5661. HOTEND_LOOP()
  5662. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5663. wait_for_user = true; /* Wait for user to load filament */
  5664. nozzle_timed_out = false;
  5665. #if HAS_BUZZER
  5666. filament_change_beep(max_beep_count, true);
  5667. #endif
  5668. }
  5669. idle(true);
  5670. }
  5671. KEEPALIVE_STATE(IN_HANDLER);
  5672. }
  5673. static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) {
  5674. bool nozzle_timed_out = false;
  5675. if (!move_away_flag) return;
  5676. // Re-enable the heaters if they timed out
  5677. HOTEND_LOOP() {
  5678. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5679. thermalManager.reset_heater_idle_timer(e);
  5680. }
  5681. if (nozzle_timed_out) ensure_safe_temperature();
  5682. #if HAS_BUZZER
  5683. filament_change_beep(max_beep_count, true);
  5684. #endif
  5685. set_destination_from_current();
  5686. if (load_length != 0) {
  5687. #if ENABLED(ULTIPANEL)
  5688. // Show "insert filament"
  5689. if (nozzle_timed_out)
  5690. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5691. #endif
  5692. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5693. wait_for_user = true; // LCD click or M108 will clear this
  5694. while (wait_for_user && nozzle_timed_out) {
  5695. #if HAS_BUZZER
  5696. filament_change_beep(max_beep_count);
  5697. #endif
  5698. idle(true);
  5699. }
  5700. KEEPALIVE_STATE(IN_HANDLER);
  5701. #if ENABLED(ULTIPANEL)
  5702. // Show "load" message
  5703. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD);
  5704. #endif
  5705. // Load filament
  5706. do_pause_e_move(load_length, FILAMENT_CHANGE_LOAD_FEEDRATE);
  5707. }
  5708. #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0
  5709. float extrude_length = initial_extrude_length;
  5710. do {
  5711. if (extrude_length > 0) {
  5712. // "Wait for filament extrude"
  5713. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE);
  5714. // Extrude filament to get into hotend
  5715. do_pause_e_move(extrude_length, ADVANCED_PAUSE_EXTRUDE_FEEDRATE);
  5716. }
  5717. // Show "Extrude More" / "Resume" menu and wait for reply
  5718. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5719. wait_for_user = false;
  5720. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION);
  5721. while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
  5722. KEEPALIVE_STATE(IN_HANDLER);
  5723. extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH;
  5724. // Keep looping if "Extrude More" was selected
  5725. } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE);
  5726. #endif
  5727. #if ENABLED(ULTIPANEL)
  5728. // "Wait for print to resume"
  5729. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
  5730. #endif
  5731. // Set extruder to saved position
  5732. destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
  5733. planner.set_e_position_mm(current_position[E_AXIS]);
  5734. // Move XY to starting position, then Z
  5735. do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE);
  5736. do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE);
  5737. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5738. filament_ran_out = false;
  5739. #endif
  5740. #if ENABLED(ULTIPANEL)
  5741. // Show status screen
  5742. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
  5743. #endif
  5744. #if ENABLED(SDSUPPORT)
  5745. if (sd_print_paused) {
  5746. card.startFileprint();
  5747. sd_print_paused = false;
  5748. }
  5749. #endif
  5750. move_away_flag = false;
  5751. }
  5752. #endif // ADVANCED_PAUSE_FEATURE
  5753. #if ENABLED(SDSUPPORT)
  5754. /**
  5755. * M20: List SD card to serial output
  5756. */
  5757. inline void gcode_M20() {
  5758. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  5759. card.ls();
  5760. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  5761. }
  5762. /**
  5763. * M21: Init SD Card
  5764. */
  5765. inline void gcode_M21() { card.initsd(); }
  5766. /**
  5767. * M22: Release SD Card
  5768. */
  5769. inline void gcode_M22() { card.release(); }
  5770. /**
  5771. * M23: Open a file
  5772. */
  5773. inline void gcode_M23() {
  5774. // Simplify3D includes the size, so zero out all spaces (#7227)
  5775. for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0';
  5776. card.openFile(parser.string_arg, true);
  5777. }
  5778. /**
  5779. * M24: Start or Resume SD Print
  5780. */
  5781. inline void gcode_M24() {
  5782. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5783. resume_print();
  5784. #endif
  5785. card.startFileprint();
  5786. print_job_timer.start();
  5787. }
  5788. /**
  5789. * M25: Pause SD Print
  5790. */
  5791. inline void gcode_M25() {
  5792. card.pauseSDPrint();
  5793. print_job_timer.pause();
  5794. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5795. enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
  5796. #endif
  5797. }
  5798. /**
  5799. * M26: Set SD Card file index
  5800. */
  5801. inline void gcode_M26() {
  5802. if (card.cardOK && parser.seenval('S'))
  5803. card.setIndex(parser.value_long());
  5804. }
  5805. /**
  5806. * M27: Get SD Card status
  5807. */
  5808. inline void gcode_M27() { card.getStatus(); }
  5809. /**
  5810. * M28: Start SD Write
  5811. */
  5812. inline void gcode_M28() { card.openFile(parser.string_arg, false); }
  5813. /**
  5814. * M29: Stop SD Write
  5815. * Processed in write to file routine above
  5816. */
  5817. inline void gcode_M29() {
  5818. // card.saving = false;
  5819. }
  5820. /**
  5821. * M30 <filename>: Delete SD Card file
  5822. */
  5823. inline void gcode_M30() {
  5824. if (card.cardOK) {
  5825. card.closefile();
  5826. card.removeFile(parser.string_arg);
  5827. }
  5828. }
  5829. #endif // SDSUPPORT
  5830. /**
  5831. * M31: Get the time since the start of SD Print (or last M109)
  5832. */
  5833. inline void gcode_M31() {
  5834. char buffer[21];
  5835. duration_t elapsed = print_job_timer.duration();
  5836. elapsed.toString(buffer);
  5837. lcd_setstatus(buffer);
  5838. SERIAL_ECHO_START();
  5839. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  5840. }
  5841. #if ENABLED(SDSUPPORT)
  5842. /**
  5843. * M32: Select file and start SD Print
  5844. */
  5845. inline void gcode_M32() {
  5846. if (card.sdprinting)
  5847. stepper.synchronize();
  5848. char* namestartpos = parser.string_arg;
  5849. const bool call_procedure = parser.boolval('P');
  5850. if (card.cardOK) {
  5851. card.openFile(namestartpos, true, call_procedure);
  5852. if (parser.seenval('S'))
  5853. card.setIndex(parser.value_long());
  5854. card.startFileprint();
  5855. // Procedure calls count as normal print time.
  5856. if (!call_procedure) print_job_timer.start();
  5857. }
  5858. }
  5859. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  5860. /**
  5861. * M33: Get the long full path of a file or folder
  5862. *
  5863. * Parameters:
  5864. * <dospath> Case-insensitive DOS-style path to a file or folder
  5865. *
  5866. * Example:
  5867. * M33 miscel~1/armchair/armcha~1.gco
  5868. *
  5869. * Output:
  5870. * /Miscellaneous/Armchair/Armchair.gcode
  5871. */
  5872. inline void gcode_M33() {
  5873. card.printLongPath(parser.string_arg);
  5874. }
  5875. #endif
  5876. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  5877. /**
  5878. * M34: Set SD Card Sorting Options
  5879. */
  5880. inline void gcode_M34() {
  5881. if (parser.seen('S')) card.setSortOn(parser.value_bool());
  5882. if (parser.seenval('F')) {
  5883. const int v = parser.value_long();
  5884. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  5885. }
  5886. //if (parser.seen('R')) card.setSortReverse(parser.value_bool());
  5887. }
  5888. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  5889. /**
  5890. * M928: Start SD Write
  5891. */
  5892. inline void gcode_M928() {
  5893. card.openLogFile(parser.string_arg);
  5894. }
  5895. #endif // SDSUPPORT
  5896. /**
  5897. * Sensitive pin test for M42, M226
  5898. */
  5899. static bool pin_is_protected(const int8_t pin) {
  5900. static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
  5901. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  5902. if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true;
  5903. return false;
  5904. }
  5905. /**
  5906. * M42: Change pin status via GCode
  5907. *
  5908. * P<pin> Pin number (LED if omitted)
  5909. * S<byte> Pin status from 0 - 255
  5910. */
  5911. inline void gcode_M42() {
  5912. if (!parser.seenval('S')) return;
  5913. const byte pin_status = parser.value_byte();
  5914. const int pin_number = parser.intval('P', LED_PIN);
  5915. if (pin_number < 0) return;
  5916. if (pin_is_protected(pin_number)) {
  5917. SERIAL_ERROR_START();
  5918. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  5919. return;
  5920. }
  5921. pinMode(pin_number, OUTPUT);
  5922. digitalWrite(pin_number, pin_status);
  5923. analogWrite(pin_number, pin_status);
  5924. #if FAN_COUNT > 0
  5925. switch (pin_number) {
  5926. #if HAS_FAN0
  5927. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  5928. #endif
  5929. #if HAS_FAN1
  5930. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  5931. #endif
  5932. #if HAS_FAN2
  5933. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  5934. #endif
  5935. }
  5936. #endif
  5937. }
  5938. #if ENABLED(PINS_DEBUGGING)
  5939. #include "pinsDebug.h"
  5940. inline void toggle_pins() {
  5941. const bool I_flag = parser.boolval('I');
  5942. const int repeat = parser.intval('R', 1),
  5943. start = parser.intval('S'),
  5944. end = parser.intval('E', NUM_DIGITAL_PINS - 1),
  5945. wait = parser.intval('W', 500);
  5946. for (uint8_t pin = start; pin <= end; pin++) {
  5947. //report_pin_state_extended(pin, I_flag, false);
  5948. if (!I_flag && pin_is_protected(pin)) {
  5949. report_pin_state_extended(pin, I_flag, true, "Untouched ");
  5950. SERIAL_EOL();
  5951. }
  5952. else {
  5953. report_pin_state_extended(pin, I_flag, true, "Pulsing ");
  5954. #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
  5955. if (pin == TEENSY_E2) {
  5956. SET_OUTPUT(TEENSY_E2);
  5957. for (int16_t j = 0; j < repeat; j++) {
  5958. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5959. WRITE(TEENSY_E2, HIGH); safe_delay(wait);
  5960. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5961. }
  5962. }
  5963. else if (pin == TEENSY_E3) {
  5964. SET_OUTPUT(TEENSY_E3);
  5965. for (int16_t j = 0; j < repeat; j++) {
  5966. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5967. WRITE(TEENSY_E3, HIGH); safe_delay(wait);
  5968. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5969. }
  5970. }
  5971. else
  5972. #endif
  5973. {
  5974. pinMode(pin, OUTPUT);
  5975. for (int16_t j = 0; j < repeat; j++) {
  5976. digitalWrite(pin, 0); safe_delay(wait);
  5977. digitalWrite(pin, 1); safe_delay(wait);
  5978. digitalWrite(pin, 0); safe_delay(wait);
  5979. }
  5980. }
  5981. }
  5982. SERIAL_EOL();
  5983. }
  5984. SERIAL_ECHOLNPGM("Done.");
  5985. } // toggle_pins
  5986. inline void servo_probe_test() {
  5987. #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
  5988. SERIAL_ERROR_START();
  5989. SERIAL_ERRORLNPGM("SERVO not setup");
  5990. #elif !HAS_Z_SERVO_ENDSTOP
  5991. SERIAL_ERROR_START();
  5992. SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
  5993. #else // HAS_Z_SERVO_ENDSTOP
  5994. const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
  5995. SERIAL_PROTOCOLLNPGM("Servo probe test");
  5996. SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
  5997. SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
  5998. SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
  5999. bool probe_inverting;
  6000. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  6001. #define PROBE_TEST_PIN Z_MIN_PIN
  6002. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
  6003. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
  6004. SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
  6005. #if Z_MIN_ENDSTOP_INVERTING
  6006. SERIAL_PROTOCOLLNPGM("true");
  6007. #else
  6008. SERIAL_PROTOCOLLNPGM("false");
  6009. #endif
  6010. probe_inverting = Z_MIN_ENDSTOP_INVERTING;
  6011. #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
  6012. #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
  6013. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
  6014. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
  6015. SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
  6016. #if Z_MIN_PROBE_ENDSTOP_INVERTING
  6017. SERIAL_PROTOCOLLNPGM("true");
  6018. #else
  6019. SERIAL_PROTOCOLLNPGM("false");
  6020. #endif
  6021. probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
  6022. #endif
  6023. SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
  6024. SET_INPUT_PULLUP(PROBE_TEST_PIN);
  6025. bool deploy_state, stow_state;
  6026. for (uint8_t i = 0; i < 4; i++) {
  6027. MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
  6028. safe_delay(500);
  6029. deploy_state = READ(PROBE_TEST_PIN);
  6030. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  6031. safe_delay(500);
  6032. stow_state = READ(PROBE_TEST_PIN);
  6033. }
  6034. if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
  6035. refresh_cmd_timeout();
  6036. if (deploy_state != stow_state) {
  6037. SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
  6038. if (deploy_state) {
  6039. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
  6040. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
  6041. }
  6042. else {
  6043. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
  6044. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
  6045. }
  6046. #if ENABLED(BLTOUCH)
  6047. SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
  6048. #endif
  6049. }
  6050. else { // measure active signal length
  6051. MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
  6052. safe_delay(500);
  6053. SERIAL_PROTOCOLLNPGM("please trigger probe");
  6054. uint16_t probe_counter = 0;
  6055. // Allow 30 seconds max for operator to trigger probe
  6056. for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
  6057. safe_delay(2);
  6058. if (0 == j % (500 * 1)) // keep cmd_timeout happy
  6059. refresh_cmd_timeout();
  6060. if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
  6061. for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
  6062. safe_delay(2);
  6063. if (probe_counter == 50)
  6064. SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
  6065. else if (probe_counter >= 2)
  6066. SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
  6067. else
  6068. SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
  6069. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  6070. } // pulse detected
  6071. } // for loop waiting for trigger
  6072. if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
  6073. } // measure active signal length
  6074. #endif
  6075. } // servo_probe_test
  6076. /**
  6077. * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
  6078. *
  6079. * M43 - report name and state of pin(s)
  6080. * P<pin> Pin to read or watch. If omitted, reads all pins.
  6081. * I Flag to ignore Marlin's pin protection.
  6082. *
  6083. * M43 W - Watch pins -reporting changes- until reset, click, or M108.
  6084. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  6085. * I Flag to ignore Marlin's pin protection.
  6086. *
  6087. * M43 E<bool> - Enable / disable background endstop monitoring
  6088. * - Machine continues to operate
  6089. * - Reports changes to endstops
  6090. * - Toggles LED_PIN when an endstop changes
  6091. * - Can not reliably catch the 5mS pulse from BLTouch type probes
  6092. *
  6093. * M43 T - Toggle pin(s) and report which pin is being toggled
  6094. * S<pin> - Start Pin number. If not given, will default to 0
  6095. * L<pin> - End Pin number. If not given, will default to last pin defined for this board
  6096. * I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
  6097. * R - Repeat pulses on each pin this number of times before continueing to next pin
  6098. * W - Wait time (in miliseconds) between pulses. If not given will default to 500
  6099. *
  6100. * M43 S - Servo probe test
  6101. * P<index> - Probe index (optional - defaults to 0
  6102. */
  6103. inline void gcode_M43() {
  6104. if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
  6105. toggle_pins();
  6106. return;
  6107. }
  6108. // Enable or disable endstop monitoring
  6109. if (parser.seen('E')) {
  6110. endstop_monitor_flag = parser.value_bool();
  6111. SERIAL_PROTOCOLPGM("endstop monitor ");
  6112. serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis"));
  6113. SERIAL_PROTOCOLLNPGM("abled");
  6114. return;
  6115. }
  6116. if (parser.seen('S')) {
  6117. servo_probe_test();
  6118. return;
  6119. }
  6120. // Get the range of pins to test or watch
  6121. const uint8_t first_pin = parser.byteval('P'),
  6122. last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
  6123. if (first_pin > last_pin) return;
  6124. const bool ignore_protection = parser.boolval('I');
  6125. // Watch until click, M108, or reset
  6126. if (parser.boolval('W')) {
  6127. SERIAL_PROTOCOLLNPGM("Watching pins");
  6128. byte pin_state[last_pin - first_pin + 1];
  6129. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  6130. if (pin_is_protected(pin) && !ignore_protection) continue;
  6131. pinMode(pin, INPUT_PULLUP);
  6132. delay(1);
  6133. /*
  6134. if (IS_ANALOG(pin))
  6135. pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  6136. else
  6137. //*/
  6138. pin_state[pin - first_pin] = digitalRead(pin);
  6139. }
  6140. #if HAS_RESUME_CONTINUE
  6141. wait_for_user = true;
  6142. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6143. #endif
  6144. for (;;) {
  6145. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  6146. if (pin_is_protected(pin) && !ignore_protection) continue;
  6147. const byte val =
  6148. /*
  6149. IS_ANALOG(pin)
  6150. ? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
  6151. :
  6152. //*/
  6153. digitalRead(pin);
  6154. if (val != pin_state[pin - first_pin]) {
  6155. report_pin_state_extended(pin, ignore_protection, false);
  6156. pin_state[pin - first_pin] = val;
  6157. }
  6158. }
  6159. #if HAS_RESUME_CONTINUE
  6160. if (!wait_for_user) {
  6161. KEEPALIVE_STATE(IN_HANDLER);
  6162. break;
  6163. }
  6164. #endif
  6165. safe_delay(200);
  6166. }
  6167. return;
  6168. }
  6169. // Report current state of selected pin(s)
  6170. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  6171. report_pin_state_extended(pin, ignore_protection, true);
  6172. }
  6173. #endif // PINS_DEBUGGING
  6174. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6175. /**
  6176. * M48: Z probe repeatability measurement function.
  6177. *
  6178. * Usage:
  6179. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  6180. * P = Number of sampled points (4-50, default 10)
  6181. * X = Sample X position
  6182. * Y = Sample Y position
  6183. * V = Verbose level (0-4, default=1)
  6184. * E = Engage Z probe for each reading
  6185. * L = Number of legs of movement before probe
  6186. * S = Schizoid (Or Star if you prefer)
  6187. *
  6188. * This function assumes the bed has been homed. Specifically, that a G28 command
  6189. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  6190. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  6191. * regenerated.
  6192. */
  6193. inline void gcode_M48() {
  6194. if (axis_unhomed_error()) return;
  6195. const int8_t verbose_level = parser.byteval('V', 1);
  6196. if (!WITHIN(verbose_level, 0, 4)) {
  6197. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  6198. return;
  6199. }
  6200. if (verbose_level > 0)
  6201. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  6202. const int8_t n_samples = parser.byteval('P', 10);
  6203. if (!WITHIN(n_samples, 4, 50)) {
  6204. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  6205. return;
  6206. }
  6207. const bool stow_probe_after_each = parser.boolval('E');
  6208. float X_current = current_position[X_AXIS],
  6209. Y_current = current_position[Y_AXIS];
  6210. const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
  6211. Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6212. #if DISABLED(DELTA)
  6213. if (!WITHIN(X_probe_location, MIN_PROBE_X, MAX_PROBE_X)) {
  6214. out_of_range_error(PSTR("X"));
  6215. return;
  6216. }
  6217. if (!WITHIN(Y_probe_location, MIN_PROBE_Y, MAX_PROBE_Y)) {
  6218. out_of_range_error(PSTR("Y"));
  6219. return;
  6220. }
  6221. #else
  6222. if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
  6223. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  6224. return;
  6225. }
  6226. #endif
  6227. bool seen_L = parser.seen('L');
  6228. uint8_t n_legs = seen_L ? parser.value_byte() : 0;
  6229. if (n_legs > 15) {
  6230. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  6231. return;
  6232. }
  6233. if (n_legs == 1) n_legs = 2;
  6234. const bool schizoid_flag = parser.boolval('S');
  6235. if (schizoid_flag && !seen_L) n_legs = 7;
  6236. /**
  6237. * Now get everything to the specified probe point So we can safely do a
  6238. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  6239. * we don't want to use that as a starting point for each probe.
  6240. */
  6241. if (verbose_level > 2)
  6242. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  6243. // Disable bed level correction in M48 because we want the raw data when we probe
  6244. #if HAS_LEVELING
  6245. const bool was_enabled = planner.leveling_active;
  6246. set_bed_leveling_enabled(false);
  6247. #endif
  6248. setup_for_endstop_or_probe_move();
  6249. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  6250. // Move to the first point, deploy, and probe
  6251. const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  6252. bool probing_good = !isnan(t);
  6253. if (probing_good) {
  6254. randomSeed(millis());
  6255. for (uint8_t n = 0; n < n_samples; n++) {
  6256. if (n_legs) {
  6257. const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  6258. float angle = random(0.0, 360.0);
  6259. const float radius = random(
  6260. #if ENABLED(DELTA)
  6261. 0.1250000000 * (DELTA_PROBEABLE_RADIUS),
  6262. 0.3333333333 * (DELTA_PROBEABLE_RADIUS)
  6263. #else
  6264. 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
  6265. #endif
  6266. );
  6267. if (verbose_level > 3) {
  6268. SERIAL_ECHOPAIR("Starting radius: ", radius);
  6269. SERIAL_ECHOPAIR(" angle: ", angle);
  6270. SERIAL_ECHOPGM(" Direction: ");
  6271. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  6272. SERIAL_ECHOLNPGM("Clockwise");
  6273. }
  6274. for (uint8_t l = 0; l < n_legs - 1; l++) {
  6275. double delta_angle;
  6276. if (schizoid_flag)
  6277. // The points of a 5 point star are 72 degrees apart. We need to
  6278. // skip a point and go to the next one on the star.
  6279. delta_angle = dir * 2.0 * 72.0;
  6280. else
  6281. // If we do this line, we are just trying to move further
  6282. // around the circle.
  6283. delta_angle = dir * (float) random(25, 45);
  6284. angle += delta_angle;
  6285. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  6286. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  6287. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  6288. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  6289. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  6290. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  6291. #if DISABLED(DELTA)
  6292. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  6293. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  6294. #else
  6295. // If we have gone out too far, we can do a simple fix and scale the numbers
  6296. // back in closer to the origin.
  6297. while (!position_is_reachable_by_probe(X_current, Y_current)) {
  6298. X_current *= 0.8;
  6299. Y_current *= 0.8;
  6300. if (verbose_level > 3) {
  6301. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  6302. SERIAL_ECHOLNPAIR(", ", Y_current);
  6303. }
  6304. }
  6305. #endif
  6306. if (verbose_level > 3) {
  6307. SERIAL_PROTOCOLPGM("Going to:");
  6308. SERIAL_ECHOPAIR(" X", X_current);
  6309. SERIAL_ECHOPAIR(" Y", Y_current);
  6310. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  6311. }
  6312. do_blocking_move_to_xy(X_current, Y_current);
  6313. } // n_legs loop
  6314. } // n_legs
  6315. // Probe a single point
  6316. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  6317. // Break the loop if the probe fails
  6318. probing_good = !isnan(sample_set[n]);
  6319. if (!probing_good) break;
  6320. /**
  6321. * Get the current mean for the data points we have so far
  6322. */
  6323. double sum = 0.0;
  6324. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  6325. mean = sum / (n + 1);
  6326. NOMORE(min, sample_set[n]);
  6327. NOLESS(max, sample_set[n]);
  6328. /**
  6329. * Now, use that mean to calculate the standard deviation for the
  6330. * data points we have so far
  6331. */
  6332. sum = 0.0;
  6333. for (uint8_t j = 0; j <= n; j++)
  6334. sum += sq(sample_set[j] - mean);
  6335. sigma = SQRT(sum / (n + 1));
  6336. if (verbose_level > 0) {
  6337. if (verbose_level > 1) {
  6338. SERIAL_PROTOCOL(n + 1);
  6339. SERIAL_PROTOCOLPGM(" of ");
  6340. SERIAL_PROTOCOL((int)n_samples);
  6341. SERIAL_PROTOCOLPGM(": z: ");
  6342. SERIAL_PROTOCOL_F(sample_set[n], 3);
  6343. if (verbose_level > 2) {
  6344. SERIAL_PROTOCOLPGM(" mean: ");
  6345. SERIAL_PROTOCOL_F(mean, 4);
  6346. SERIAL_PROTOCOLPGM(" sigma: ");
  6347. SERIAL_PROTOCOL_F(sigma, 6);
  6348. SERIAL_PROTOCOLPGM(" min: ");
  6349. SERIAL_PROTOCOL_F(min, 3);
  6350. SERIAL_PROTOCOLPGM(" max: ");
  6351. SERIAL_PROTOCOL_F(max, 3);
  6352. SERIAL_PROTOCOLPGM(" range: ");
  6353. SERIAL_PROTOCOL_F(max-min, 3);
  6354. }
  6355. SERIAL_EOL();
  6356. }
  6357. }
  6358. } // n_samples loop
  6359. }
  6360. STOW_PROBE();
  6361. if (probing_good) {
  6362. SERIAL_PROTOCOLLNPGM("Finished!");
  6363. if (verbose_level > 0) {
  6364. SERIAL_PROTOCOLPGM("Mean: ");
  6365. SERIAL_PROTOCOL_F(mean, 6);
  6366. SERIAL_PROTOCOLPGM(" Min: ");
  6367. SERIAL_PROTOCOL_F(min, 3);
  6368. SERIAL_PROTOCOLPGM(" Max: ");
  6369. SERIAL_PROTOCOL_F(max, 3);
  6370. SERIAL_PROTOCOLPGM(" Range: ");
  6371. SERIAL_PROTOCOL_F(max-min, 3);
  6372. SERIAL_EOL();
  6373. }
  6374. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  6375. SERIAL_PROTOCOL_F(sigma, 6);
  6376. SERIAL_EOL();
  6377. SERIAL_EOL();
  6378. }
  6379. clean_up_after_endstop_or_probe_move();
  6380. // Re-enable bed level correction if it had been on
  6381. #if HAS_LEVELING
  6382. set_bed_leveling_enabled(was_enabled);
  6383. #endif
  6384. report_current_position();
  6385. }
  6386. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6387. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  6388. inline void gcode_M49() {
  6389. ubl.g26_debug_flag ^= true;
  6390. SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
  6391. serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
  6392. }
  6393. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
  6394. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  6395. /**
  6396. * M73: Set percentage complete (for display on LCD)
  6397. *
  6398. * Example:
  6399. * M73 P25 ; Set progress to 25%
  6400. *
  6401. * Notes:
  6402. * This has no effect during an SD print job
  6403. */
  6404. inline void gcode_M73() {
  6405. if (!IS_SD_PRINTING && parser.seen('P')) {
  6406. progress_bar_percent = parser.value_byte();
  6407. NOMORE(progress_bar_percent, 100);
  6408. }
  6409. }
  6410. #endif // ULTRA_LCD && LCD_SET_PROGRESS_MANUALLY
  6411. /**
  6412. * M75: Start print timer
  6413. */
  6414. inline void gcode_M75() { print_job_timer.start(); }
  6415. /**
  6416. * M76: Pause print timer
  6417. */
  6418. inline void gcode_M76() { print_job_timer.pause(); }
  6419. /**
  6420. * M77: Stop print timer
  6421. */
  6422. inline void gcode_M77() { print_job_timer.stop(); }
  6423. #if ENABLED(PRINTCOUNTER)
  6424. /**
  6425. * M78: Show print statistics
  6426. */
  6427. inline void gcode_M78() {
  6428. // "M78 S78" will reset the statistics
  6429. if (parser.intval('S') == 78)
  6430. print_job_timer.initStats();
  6431. else
  6432. print_job_timer.showStats();
  6433. }
  6434. #endif
  6435. /**
  6436. * M104: Set hot end temperature
  6437. */
  6438. inline void gcode_M104() {
  6439. if (get_target_extruder_from_command(104)) return;
  6440. if (DEBUGGING(DRYRUN)) return;
  6441. #if ENABLED(SINGLENOZZLE)
  6442. if (target_extruder != active_extruder) return;
  6443. #endif
  6444. if (parser.seenval('S')) {
  6445. const int16_t temp = parser.value_celsius();
  6446. thermalManager.setTargetHotend(temp, target_extruder);
  6447. #if ENABLED(DUAL_X_CARRIAGE)
  6448. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6449. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6450. #endif
  6451. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6452. /**
  6453. * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
  6454. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  6455. * standby mode, for instance in a dual extruder setup, without affecting
  6456. * the running print timer.
  6457. */
  6458. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6459. print_job_timer.stop();
  6460. LCD_MESSAGEPGM(WELCOME_MSG);
  6461. }
  6462. #endif
  6463. if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
  6464. lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6465. }
  6466. #if ENABLED(AUTOTEMP)
  6467. planner.autotemp_M104_M109();
  6468. #endif
  6469. }
  6470. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6471. void print_heater_state(const float &c, const float &t,
  6472. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6473. const float r,
  6474. #endif
  6475. const int8_t e=-2
  6476. ) {
  6477. #if !(HAS_TEMP_BED && HAS_TEMP_HOTEND) && HOTENDS <= 1
  6478. UNUSED(e);
  6479. #endif
  6480. SERIAL_PROTOCOLCHAR(' ');
  6481. SERIAL_PROTOCOLCHAR(
  6482. #if HAS_TEMP_BED && HAS_TEMP_HOTEND
  6483. e == -1 ? 'B' : 'T'
  6484. #elif HAS_TEMP_HOTEND
  6485. 'T'
  6486. #else
  6487. 'B'
  6488. #endif
  6489. );
  6490. #if HOTENDS > 1
  6491. if (e >= 0) SERIAL_PROTOCOLCHAR('0' + e);
  6492. #endif
  6493. SERIAL_PROTOCOLCHAR(':');
  6494. SERIAL_PROTOCOL(c);
  6495. SERIAL_PROTOCOLPAIR(" /" , t);
  6496. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6497. SERIAL_PROTOCOLPAIR(" (", r / OVERSAMPLENR);
  6498. SERIAL_PROTOCOLCHAR(')');
  6499. #endif
  6500. }
  6501. void print_heaterstates() {
  6502. #if HAS_TEMP_HOTEND
  6503. print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder)
  6504. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6505. , thermalManager.rawHotendTemp(target_extruder)
  6506. #endif
  6507. );
  6508. #endif
  6509. #if HAS_TEMP_BED
  6510. print_heater_state(thermalManager.degBed(), thermalManager.degTargetBed(),
  6511. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6512. thermalManager.rawBedTemp(),
  6513. #endif
  6514. -1 // BED
  6515. );
  6516. #endif
  6517. #if HOTENDS > 1
  6518. HOTEND_LOOP() print_heater_state(thermalManager.degHotend(e), thermalManager.degTargetHotend(e),
  6519. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6520. thermalManager.rawHotendTemp(e),
  6521. #endif
  6522. e
  6523. );
  6524. #endif
  6525. SERIAL_PROTOCOLPGM(" @:");
  6526. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  6527. #if HAS_TEMP_BED
  6528. SERIAL_PROTOCOLPGM(" B@:");
  6529. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  6530. #endif
  6531. #if HOTENDS > 1
  6532. HOTEND_LOOP() {
  6533. SERIAL_PROTOCOLPAIR(" @", e);
  6534. SERIAL_PROTOCOLCHAR(':');
  6535. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  6536. }
  6537. #endif
  6538. }
  6539. #endif
  6540. /**
  6541. * M105: Read hot end and bed temperature
  6542. */
  6543. inline void gcode_M105() {
  6544. if (get_target_extruder_from_command(105)) return;
  6545. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6546. SERIAL_PROTOCOLPGM(MSG_OK);
  6547. print_heaterstates();
  6548. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  6549. SERIAL_ERROR_START();
  6550. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  6551. #endif
  6552. SERIAL_EOL();
  6553. }
  6554. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  6555. static uint8_t auto_report_temp_interval;
  6556. static millis_t next_temp_report_ms;
  6557. /**
  6558. * M155: Set temperature auto-report interval. M155 S<seconds>
  6559. */
  6560. inline void gcode_M155() {
  6561. if (parser.seenval('S')) {
  6562. auto_report_temp_interval = parser.value_byte();
  6563. NOMORE(auto_report_temp_interval, 60);
  6564. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6565. }
  6566. }
  6567. inline void auto_report_temperatures() {
  6568. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  6569. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6570. print_heaterstates();
  6571. SERIAL_EOL();
  6572. }
  6573. }
  6574. #endif // AUTO_REPORT_TEMPERATURES
  6575. #if FAN_COUNT > 0
  6576. /**
  6577. * M106: Set Fan Speed
  6578. *
  6579. * S<int> Speed between 0-255
  6580. * P<index> Fan index, if more than one fan
  6581. *
  6582. * With EXTRA_FAN_SPEED enabled:
  6583. *
  6584. * T<int> Restore/Use/Set Temporary Speed:
  6585. * 1 = Restore previous speed after T2
  6586. * 2 = Use temporary speed set with T3-255
  6587. * 3-255 = Set the speed for use with T2
  6588. */
  6589. inline void gcode_M106() {
  6590. const uint8_t p = parser.byteval('P');
  6591. if (p < FAN_COUNT) {
  6592. #if ENABLED(EXTRA_FAN_SPEED)
  6593. const int16_t t = parser.intval('T');
  6594. NOMORE(t, 255);
  6595. if (t > 0) {
  6596. switch (t) {
  6597. case 1:
  6598. fanSpeeds[p] = old_fanSpeeds[p];
  6599. break;
  6600. case 2:
  6601. old_fanSpeeds[p] = fanSpeeds[p];
  6602. fanSpeeds[p] = new_fanSpeeds[p];
  6603. break;
  6604. default:
  6605. new_fanSpeeds[p] = t;
  6606. break;
  6607. }
  6608. return;
  6609. }
  6610. #endif // EXTRA_FAN_SPEED
  6611. const uint16_t s = parser.ushortval('S', 255);
  6612. fanSpeeds[p] = min(s, 255);
  6613. }
  6614. }
  6615. /**
  6616. * M107: Fan Off
  6617. */
  6618. inline void gcode_M107() {
  6619. const uint16_t p = parser.ushortval('P');
  6620. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  6621. }
  6622. #endif // FAN_COUNT > 0
  6623. #if DISABLED(EMERGENCY_PARSER)
  6624. /**
  6625. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  6626. */
  6627. inline void gcode_M108() { wait_for_heatup = false; }
  6628. /**
  6629. * M112: Emergency Stop
  6630. */
  6631. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  6632. /**
  6633. * M410: Quickstop - Abort all planned moves
  6634. *
  6635. * This will stop the carriages mid-move, so most likely they
  6636. * will be out of sync with the stepper position after this.
  6637. */
  6638. inline void gcode_M410() { quickstop_stepper(); }
  6639. #endif
  6640. /**
  6641. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  6642. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  6643. */
  6644. #ifndef MIN_COOLING_SLOPE_DEG
  6645. #define MIN_COOLING_SLOPE_DEG 1.50
  6646. #endif
  6647. #ifndef MIN_COOLING_SLOPE_TIME
  6648. #define MIN_COOLING_SLOPE_TIME 60
  6649. #endif
  6650. inline void gcode_M109() {
  6651. if (get_target_extruder_from_command(109)) return;
  6652. if (DEBUGGING(DRYRUN)) return;
  6653. #if ENABLED(SINGLENOZZLE)
  6654. if (target_extruder != active_extruder) return;
  6655. #endif
  6656. const bool no_wait_for_cooling = parser.seenval('S');
  6657. if (no_wait_for_cooling || parser.seenval('R')) {
  6658. const int16_t temp = parser.value_celsius();
  6659. thermalManager.setTargetHotend(temp, target_extruder);
  6660. #if ENABLED(DUAL_X_CARRIAGE)
  6661. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6662. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6663. #endif
  6664. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6665. /**
  6666. * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
  6667. * standby mode, (e.g., in a dual extruder setup) without affecting
  6668. * the running print timer.
  6669. */
  6670. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6671. print_job_timer.stop();
  6672. LCD_MESSAGEPGM(WELCOME_MSG);
  6673. }
  6674. else
  6675. print_job_timer.start();
  6676. #endif
  6677. if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6678. }
  6679. else return;
  6680. #if ENABLED(AUTOTEMP)
  6681. planner.autotemp_M104_M109();
  6682. #endif
  6683. #if TEMP_RESIDENCY_TIME > 0
  6684. millis_t residency_start_ms = 0;
  6685. // Loop until the temperature has stabilized
  6686. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  6687. #else
  6688. // Loop until the temperature is very close target
  6689. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  6690. #endif
  6691. float target_temp = -1.0, old_temp = 9999.0;
  6692. bool wants_to_cool = false;
  6693. wait_for_heatup = true;
  6694. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6695. #if DISABLED(BUSY_WHILE_HEATING)
  6696. KEEPALIVE_STATE(NOT_BUSY);
  6697. #endif
  6698. #if ENABLED(PRINTER_EVENT_LEDS)
  6699. const float start_temp = thermalManager.degHotend(target_extruder);
  6700. uint8_t old_blue = 0;
  6701. #endif
  6702. do {
  6703. // Target temperature might be changed during the loop
  6704. if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
  6705. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  6706. target_temp = thermalManager.degTargetHotend(target_extruder);
  6707. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6708. if (no_wait_for_cooling && wants_to_cool) break;
  6709. }
  6710. now = millis();
  6711. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  6712. next_temp_ms = now + 1000UL;
  6713. print_heaterstates();
  6714. #if TEMP_RESIDENCY_TIME > 0
  6715. SERIAL_PROTOCOLPGM(" W:");
  6716. if (residency_start_ms)
  6717. SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6718. else
  6719. SERIAL_PROTOCOLCHAR('?');
  6720. #endif
  6721. SERIAL_EOL();
  6722. }
  6723. idle();
  6724. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6725. const float temp = thermalManager.degHotend(target_extruder);
  6726. #if ENABLED(PRINTER_EVENT_LEDS)
  6727. // Gradually change LED strip from violet to red as nozzle heats up
  6728. if (!wants_to_cool) {
  6729. const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
  6730. if (blue != old_blue) {
  6731. old_blue = blue;
  6732. set_led_color(255, 0, blue
  6733. #if ENABLED(NEOPIXEL_LED)
  6734. , 0
  6735. , pixels.getBrightness()
  6736. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6737. , true
  6738. #endif
  6739. #endif
  6740. );
  6741. }
  6742. }
  6743. #endif
  6744. #if TEMP_RESIDENCY_TIME > 0
  6745. const float temp_diff = FABS(target_temp - temp);
  6746. if (!residency_start_ms) {
  6747. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  6748. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  6749. }
  6750. else if (temp_diff > TEMP_HYSTERESIS) {
  6751. // Restart the timer whenever the temperature falls outside the hysteresis.
  6752. residency_start_ms = now;
  6753. }
  6754. #endif
  6755. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  6756. if (wants_to_cool) {
  6757. // break after MIN_COOLING_SLOPE_TIME seconds
  6758. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  6759. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6760. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  6761. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  6762. old_temp = temp;
  6763. }
  6764. }
  6765. } while (wait_for_heatup && TEMP_CONDITIONS);
  6766. if (wait_for_heatup) {
  6767. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  6768. #if ENABLED(PRINTER_EVENT_LEDS)
  6769. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632) || ENABLED(RGBW_LED)
  6770. set_led_color(LED_WHITE);
  6771. #endif
  6772. #if ENABLED(NEOPIXEL_LED)
  6773. set_neopixel_color(pixels.Color(NEO_WHITE));
  6774. #endif
  6775. #endif
  6776. }
  6777. #if DISABLED(BUSY_WHILE_HEATING)
  6778. KEEPALIVE_STATE(IN_HANDLER);
  6779. #endif
  6780. }
  6781. #if HAS_TEMP_BED
  6782. #ifndef MIN_COOLING_SLOPE_DEG_BED
  6783. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  6784. #endif
  6785. #ifndef MIN_COOLING_SLOPE_TIME_BED
  6786. #define MIN_COOLING_SLOPE_TIME_BED 60
  6787. #endif
  6788. /**
  6789. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  6790. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  6791. */
  6792. inline void gcode_M190() {
  6793. if (DEBUGGING(DRYRUN)) return;
  6794. LCD_MESSAGEPGM(MSG_BED_HEATING);
  6795. const bool no_wait_for_cooling = parser.seenval('S');
  6796. if (no_wait_for_cooling || parser.seenval('R')) {
  6797. thermalManager.setTargetBed(parser.value_celsius());
  6798. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6799. if (parser.value_celsius() > BED_MINTEMP)
  6800. print_job_timer.start();
  6801. #endif
  6802. }
  6803. else return;
  6804. #if TEMP_BED_RESIDENCY_TIME > 0
  6805. millis_t residency_start_ms = 0;
  6806. // Loop until the temperature has stabilized
  6807. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  6808. #else
  6809. // Loop until the temperature is very close target
  6810. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  6811. #endif
  6812. float target_temp = -1.0, old_temp = 9999.0;
  6813. bool wants_to_cool = false;
  6814. wait_for_heatup = true;
  6815. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6816. #if DISABLED(BUSY_WHILE_HEATING)
  6817. KEEPALIVE_STATE(NOT_BUSY);
  6818. #endif
  6819. target_extruder = active_extruder; // for print_heaterstates
  6820. #if ENABLED(PRINTER_EVENT_LEDS)
  6821. const float start_temp = thermalManager.degBed();
  6822. uint8_t old_red = 255;
  6823. #endif
  6824. do {
  6825. // Target temperature might be changed during the loop
  6826. if (target_temp != thermalManager.degTargetBed()) {
  6827. wants_to_cool = thermalManager.isCoolingBed();
  6828. target_temp = thermalManager.degTargetBed();
  6829. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6830. if (no_wait_for_cooling && wants_to_cool) break;
  6831. }
  6832. now = millis();
  6833. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  6834. next_temp_ms = now + 1000UL;
  6835. print_heaterstates();
  6836. #if TEMP_BED_RESIDENCY_TIME > 0
  6837. SERIAL_PROTOCOLPGM(" W:");
  6838. if (residency_start_ms)
  6839. SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6840. else
  6841. SERIAL_PROTOCOLCHAR('?');
  6842. #endif
  6843. SERIAL_EOL();
  6844. }
  6845. idle();
  6846. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6847. const float temp = thermalManager.degBed();
  6848. #if ENABLED(PRINTER_EVENT_LEDS)
  6849. // Gradually change LED strip from blue to violet as bed heats up
  6850. if (!wants_to_cool) {
  6851. const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
  6852. if (red != old_red) {
  6853. old_red = red;
  6854. set_led_color(red, 0, 255
  6855. #if ENABLED(NEOPIXEL_LED)
  6856. , 0, pixels.getBrightness()
  6857. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6858. , true
  6859. #endif
  6860. #endif
  6861. );
  6862. }
  6863. }
  6864. #endif
  6865. #if TEMP_BED_RESIDENCY_TIME > 0
  6866. const float temp_diff = FABS(target_temp - temp);
  6867. if (!residency_start_ms) {
  6868. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  6869. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  6870. }
  6871. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  6872. // Restart the timer whenever the temperature falls outside the hysteresis.
  6873. residency_start_ms = now;
  6874. }
  6875. #endif // TEMP_BED_RESIDENCY_TIME > 0
  6876. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  6877. if (wants_to_cool) {
  6878. // Break after MIN_COOLING_SLOPE_TIME_BED seconds
  6879. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  6880. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6881. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  6882. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  6883. old_temp = temp;
  6884. }
  6885. }
  6886. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  6887. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  6888. #if DISABLED(BUSY_WHILE_HEATING)
  6889. KEEPALIVE_STATE(IN_HANDLER);
  6890. #endif
  6891. }
  6892. #endif // HAS_TEMP_BED
  6893. /**
  6894. * M110: Set Current Line Number
  6895. */
  6896. inline void gcode_M110() {
  6897. if (parser.seenval('N')) gcode_LastN = parser.value_long();
  6898. }
  6899. /**
  6900. * M111: Set the debug level
  6901. */
  6902. inline void gcode_M111() {
  6903. if (parser.seen('S')) marlin_debug_flags = parser.byteval('S');
  6904. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO,
  6905. str_debug_2[] PROGMEM = MSG_DEBUG_INFO,
  6906. str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS,
  6907. str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
  6908. str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
  6909. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6910. , str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
  6911. #endif
  6912. ;
  6913. const static char* const debug_strings[] PROGMEM = {
  6914. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
  6915. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6916. , str_debug_32
  6917. #endif
  6918. };
  6919. SERIAL_ECHO_START();
  6920. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  6921. if (marlin_debug_flags) {
  6922. uint8_t comma = 0;
  6923. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  6924. if (TEST(marlin_debug_flags, i)) {
  6925. if (comma++) SERIAL_CHAR(',');
  6926. serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
  6927. }
  6928. }
  6929. }
  6930. else {
  6931. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  6932. }
  6933. SERIAL_EOL();
  6934. }
  6935. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6936. /**
  6937. * M113: Get or set Host Keepalive interval (0 to disable)
  6938. *
  6939. * S<seconds> Optional. Set the keepalive interval.
  6940. */
  6941. inline void gcode_M113() {
  6942. if (parser.seenval('S')) {
  6943. host_keepalive_interval = parser.value_byte();
  6944. NOMORE(host_keepalive_interval, 60);
  6945. }
  6946. else {
  6947. SERIAL_ECHO_START();
  6948. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  6949. }
  6950. }
  6951. #endif
  6952. #if ENABLED(BARICUDA)
  6953. #if HAS_HEATER_1
  6954. /**
  6955. * M126: Heater 1 valve open
  6956. */
  6957. inline void gcode_M126() { baricuda_valve_pressure = parser.byteval('S', 255); }
  6958. /**
  6959. * M127: Heater 1 valve close
  6960. */
  6961. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  6962. #endif
  6963. #if HAS_HEATER_2
  6964. /**
  6965. * M128: Heater 2 valve open
  6966. */
  6967. inline void gcode_M128() { baricuda_e_to_p_pressure = parser.byteval('S', 255); }
  6968. /**
  6969. * M129: Heater 2 valve close
  6970. */
  6971. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  6972. #endif
  6973. #endif // BARICUDA
  6974. /**
  6975. * M140: Set bed temperature
  6976. */
  6977. inline void gcode_M140() {
  6978. if (DEBUGGING(DRYRUN)) return;
  6979. if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
  6980. }
  6981. #if ENABLED(ULTIPANEL)
  6982. /**
  6983. * M145: Set the heatup state for a material in the LCD menu
  6984. *
  6985. * S<material> (0=PLA, 1=ABS)
  6986. * H<hotend temp>
  6987. * B<bed temp>
  6988. * F<fan speed>
  6989. */
  6990. inline void gcode_M145() {
  6991. const uint8_t material = (uint8_t)parser.intval('S');
  6992. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  6993. SERIAL_ERROR_START();
  6994. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  6995. }
  6996. else {
  6997. int v;
  6998. if (parser.seenval('H')) {
  6999. v = parser.value_int();
  7000. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  7001. }
  7002. if (parser.seenval('F')) {
  7003. v = parser.value_int();
  7004. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  7005. }
  7006. #if TEMP_SENSOR_BED != 0
  7007. if (parser.seenval('B')) {
  7008. v = parser.value_int();
  7009. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  7010. }
  7011. #endif
  7012. }
  7013. }
  7014. #endif // ULTIPANEL
  7015. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  7016. /**
  7017. * M149: Set temperature units
  7018. */
  7019. inline void gcode_M149() {
  7020. if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C);
  7021. else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K);
  7022. else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F);
  7023. }
  7024. #endif
  7025. #if HAS_POWER_SWITCH
  7026. /**
  7027. * M80 : Turn on the Power Supply
  7028. * M80 S : Report the current state and exit
  7029. */
  7030. inline void gcode_M80() {
  7031. // S: Report the current power supply state and exit
  7032. if (parser.seen('S')) {
  7033. serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
  7034. return;
  7035. }
  7036. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
  7037. /**
  7038. * If you have a switch on suicide pin, this is useful
  7039. * if you want to start another print with suicide feature after
  7040. * a print without suicide...
  7041. */
  7042. #if HAS_SUICIDE
  7043. OUT_WRITE(SUICIDE_PIN, HIGH);
  7044. #endif
  7045. #if ENABLED(HAVE_TMC2130)
  7046. delay(100);
  7047. tmc2130_init(); // Settings only stick when the driver has power
  7048. #endif
  7049. powersupply_on = true;
  7050. #if ENABLED(ULTIPANEL)
  7051. LCD_MESSAGEPGM(WELCOME_MSG);
  7052. #endif
  7053. }
  7054. #endif // HAS_POWER_SWITCH
  7055. /**
  7056. * M81: Turn off Power, including Power Supply, if there is one.
  7057. *
  7058. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  7059. */
  7060. inline void gcode_M81() {
  7061. thermalManager.disable_all_heaters();
  7062. stepper.finish_and_disable();
  7063. #if FAN_COUNT > 0
  7064. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  7065. #if ENABLED(PROBING_FANS_OFF)
  7066. fans_paused = false;
  7067. ZERO(paused_fanSpeeds);
  7068. #endif
  7069. #endif
  7070. safe_delay(1000); // Wait 1 second before switching off
  7071. #if HAS_SUICIDE
  7072. stepper.synchronize();
  7073. suicide();
  7074. #elif HAS_POWER_SWITCH
  7075. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  7076. powersupply_on = false;
  7077. #endif
  7078. #if ENABLED(ULTIPANEL)
  7079. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  7080. #endif
  7081. }
  7082. /**
  7083. * M82: Set E codes absolute (default)
  7084. */
  7085. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  7086. /**
  7087. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  7088. */
  7089. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  7090. /**
  7091. * M18, M84: Disable stepper motors
  7092. */
  7093. inline void gcode_M18_M84() {
  7094. if (parser.seenval('S')) {
  7095. stepper_inactive_time = parser.value_millis_from_seconds();
  7096. }
  7097. else {
  7098. bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E')));
  7099. if (all_axis) {
  7100. stepper.finish_and_disable();
  7101. }
  7102. else {
  7103. stepper.synchronize();
  7104. if (parser.seen('X')) disable_X();
  7105. if (parser.seen('Y')) disable_Y();
  7106. if (parser.seen('Z')) disable_Z();
  7107. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS
  7108. if (parser.seen('E')) disable_e_steppers();
  7109. #endif
  7110. }
  7111. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  7112. ubl_lcd_map_control = defer_return_to_status = false;
  7113. #endif
  7114. }
  7115. }
  7116. /**
  7117. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  7118. */
  7119. inline void gcode_M85() {
  7120. if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds();
  7121. }
  7122. /**
  7123. * Multi-stepper support for M92, M201, M203
  7124. */
  7125. #if ENABLED(DISTINCT_E_FACTORS)
  7126. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  7127. #define TARGET_EXTRUDER target_extruder
  7128. #else
  7129. #define GET_TARGET_EXTRUDER(CMD) NOOP
  7130. #define TARGET_EXTRUDER 0
  7131. #endif
  7132. /**
  7133. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  7134. * (Follows the same syntax as G92)
  7135. *
  7136. * With multiple extruders use T to specify which one.
  7137. */
  7138. inline void gcode_M92() {
  7139. GET_TARGET_EXTRUDER(92);
  7140. LOOP_XYZE(i) {
  7141. if (parser.seen(axis_codes[i])) {
  7142. if (i == E_AXIS) {
  7143. const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
  7144. if (value < 20.0) {
  7145. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  7146. planner.max_jerk[E_AXIS] *= factor;
  7147. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  7148. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  7149. }
  7150. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  7151. }
  7152. else {
  7153. planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i);
  7154. }
  7155. }
  7156. }
  7157. planner.refresh_positioning();
  7158. }
  7159. /**
  7160. * Output the current position to serial
  7161. */
  7162. void report_current_position() {
  7163. SERIAL_PROTOCOLPGM("X:");
  7164. SERIAL_PROTOCOL(LOGICAL_X_POSITION(current_position[X_AXIS]));
  7165. SERIAL_PROTOCOLPGM(" Y:");
  7166. SERIAL_PROTOCOL(LOGICAL_X_POSITION(current_position[Y_AXIS]));
  7167. SERIAL_PROTOCOLPGM(" Z:");
  7168. SERIAL_PROTOCOL(LOGICAL_Z_POSITION(current_position[Z_AXIS]));
  7169. SERIAL_PROTOCOLPGM(" E:");
  7170. SERIAL_PROTOCOL(current_position[E_AXIS]);
  7171. stepper.report_positions();
  7172. #if IS_SCARA
  7173. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  7174. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  7175. SERIAL_EOL();
  7176. #endif
  7177. }
  7178. #ifdef M114_DETAIL
  7179. void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
  7180. char str[12];
  7181. for (uint8_t i = 0; i < n; i++) {
  7182. SERIAL_CHAR(' ');
  7183. SERIAL_CHAR(axis_codes[i]);
  7184. SERIAL_CHAR(':');
  7185. SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
  7186. }
  7187. SERIAL_EOL();
  7188. }
  7189. inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
  7190. void report_current_position_detail() {
  7191. stepper.synchronize();
  7192. SERIAL_PROTOCOLPGM("\nLogical:");
  7193. const float logical[XYZ] = {
  7194. LOGICAL_X_POSITION(current_position[X_AXIS]),
  7195. LOGICAL_Y_POSITION(current_position[Y_AXIS]),
  7196. LOGICAL_Z_POSITION(current_position[Z_AXIS])
  7197. };
  7198. report_xyze(logical);
  7199. SERIAL_PROTOCOLPGM("Raw: ");
  7200. report_xyz(current_position);
  7201. SERIAL_PROTOCOLPGM("Leveled:");
  7202. float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
  7203. planner.apply_leveling(leveled);
  7204. report_xyz(leveled);
  7205. SERIAL_PROTOCOLPGM("UnLevel:");
  7206. float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
  7207. planner.unapply_leveling(unleveled);
  7208. report_xyz(unleveled);
  7209. #if IS_KINEMATIC
  7210. #if IS_SCARA
  7211. SERIAL_PROTOCOLPGM("ScaraK: ");
  7212. #else
  7213. SERIAL_PROTOCOLPGM("DeltaK: ");
  7214. #endif
  7215. inverse_kinematics(leveled); // writes delta[]
  7216. report_xyz(delta);
  7217. #endif
  7218. SERIAL_PROTOCOLPGM("Stepper:");
  7219. const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
  7220. report_xyze(step_count, 4, 0);
  7221. #if IS_SCARA
  7222. const float deg[XYZ] = {
  7223. stepper.get_axis_position_degrees(A_AXIS),
  7224. stepper.get_axis_position_degrees(B_AXIS)
  7225. };
  7226. SERIAL_PROTOCOLPGM("Degrees:");
  7227. report_xyze(deg, 2);
  7228. #endif
  7229. SERIAL_PROTOCOLPGM("FromStp:");
  7230. get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
  7231. const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
  7232. report_xyze(from_steppers);
  7233. const float diff[XYZE] = {
  7234. from_steppers[X_AXIS] - leveled[X_AXIS],
  7235. from_steppers[Y_AXIS] - leveled[Y_AXIS],
  7236. from_steppers[Z_AXIS] - leveled[Z_AXIS],
  7237. from_steppers[E_AXIS] - current_position[E_AXIS]
  7238. };
  7239. SERIAL_PROTOCOLPGM("Differ: ");
  7240. report_xyze(diff);
  7241. }
  7242. #endif // M114_DETAIL
  7243. /**
  7244. * M114: Report current position to host
  7245. */
  7246. inline void gcode_M114() {
  7247. #ifdef M114_DETAIL
  7248. if (parser.seen('D')) {
  7249. report_current_position_detail();
  7250. return;
  7251. }
  7252. #endif
  7253. stepper.synchronize();
  7254. report_current_position();
  7255. }
  7256. /**
  7257. * M115: Capabilities string
  7258. */
  7259. inline void gcode_M115() {
  7260. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  7261. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  7262. // EEPROM (M500, M501)
  7263. #if ENABLED(EEPROM_SETTINGS)
  7264. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  7265. #else
  7266. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  7267. #endif
  7268. // AUTOREPORT_TEMP (M155)
  7269. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  7270. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  7271. #else
  7272. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  7273. #endif
  7274. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  7275. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  7276. // Print Job timer M75, M76, M77
  7277. SERIAL_PROTOCOLLNPGM("Cap:PRINT_JOB:1");
  7278. // AUTOLEVEL (G29)
  7279. #if HAS_ABL
  7280. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  7281. #else
  7282. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  7283. #endif
  7284. // Z_PROBE (G30)
  7285. #if HAS_BED_PROBE
  7286. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  7287. #else
  7288. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  7289. #endif
  7290. // MESH_REPORT (M420 V)
  7291. #if HAS_LEVELING
  7292. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
  7293. #else
  7294. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
  7295. #endif
  7296. // BUILD_PERCENT (M73)
  7297. #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
  7298. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:1");
  7299. #else
  7300. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:0");
  7301. #endif
  7302. // SOFTWARE_POWER (M80, M81)
  7303. #if HAS_POWER_SWITCH
  7304. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  7305. #else
  7306. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  7307. #endif
  7308. // CASE LIGHTS (M355)
  7309. #if HAS_CASE_LIGHT
  7310. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  7311. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
  7312. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:1");
  7313. }
  7314. else
  7315. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  7316. #else
  7317. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  7318. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  7319. #endif
  7320. // EMERGENCY_PARSER (M108, M112, M410)
  7321. #if ENABLED(EMERGENCY_PARSER)
  7322. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  7323. #else
  7324. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  7325. #endif
  7326. #endif // EXTENDED_CAPABILITIES_REPORT
  7327. }
  7328. /**
  7329. * M117: Set LCD Status Message
  7330. */
  7331. inline void gcode_M117() { lcd_setstatus(parser.string_arg); }
  7332. /**
  7333. * M118: Display a message in the host console.
  7334. *
  7335. * A1 Append '// ' for an action command, as in OctoPrint
  7336. * E1 Have the host 'echo:' the text
  7337. */
  7338. inline void gcode_M118() {
  7339. if (parser.boolval('E')) SERIAL_ECHO_START();
  7340. if (parser.boolval('A')) SERIAL_ECHOPGM("// ");
  7341. SERIAL_ECHOLN(parser.string_arg);
  7342. }
  7343. /**
  7344. * M119: Output endstop states to serial output
  7345. */
  7346. inline void gcode_M119() { endstops.M119(); }
  7347. /**
  7348. * M120: Enable endstops and set non-homing endstop state to "enabled"
  7349. */
  7350. inline void gcode_M120() { endstops.enable_globally(true); }
  7351. /**
  7352. * M121: Disable endstops and set non-homing endstop state to "disabled"
  7353. */
  7354. inline void gcode_M121() { endstops.enable_globally(false); }
  7355. #if ENABLED(PARK_HEAD_ON_PAUSE)
  7356. /**
  7357. * M125: Store current position and move to filament change position.
  7358. * Called on pause (by M25) to prevent material leaking onto the
  7359. * object. On resume (M24) the head will be moved back and the
  7360. * print will resume.
  7361. *
  7362. * If Marlin is compiled without SD Card support, M125 can be
  7363. * used directly to pause the print and move to park position,
  7364. * resuming with a button click or M108.
  7365. *
  7366. * L = override retract length
  7367. * X = override X
  7368. * Y = override Y
  7369. * Z = override Z raise
  7370. */
  7371. inline void gcode_M125() {
  7372. // Initial retract before move to filament change position
  7373. const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  7374. #ifdef PAUSE_PARK_RETRACT_LENGTH
  7375. - (PAUSE_PARK_RETRACT_LENGTH)
  7376. #endif
  7377. ;
  7378. // Lift Z axis
  7379. const float z_lift = parser.linearval('Z')
  7380. #ifdef PAUSE_PARK_Z_ADD
  7381. + PAUSE_PARK_Z_ADD
  7382. #endif
  7383. ;
  7384. // Move XY axes to filament change position or given position
  7385. const float x_pos = parser.linearval('X')
  7386. #ifdef PAUSE_PARK_X_POS
  7387. + PAUSE_PARK_X_POS
  7388. #endif
  7389. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7390. + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0)
  7391. #endif
  7392. ;
  7393. const float y_pos = parser.linearval('Y')
  7394. #ifdef PAUSE_PARK_Y_POS
  7395. + PAUSE_PARK_Y_POS
  7396. #endif
  7397. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7398. + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0)
  7399. #endif
  7400. ;
  7401. #if DISABLED(SDSUPPORT)
  7402. const bool job_running = print_job_timer.isRunning();
  7403. #endif
  7404. if (pause_print(retract, z_lift, x_pos, y_pos)) {
  7405. #if DISABLED(SDSUPPORT)
  7406. // Wait for lcd click or M108
  7407. wait_for_filament_reload();
  7408. // Return to print position and continue
  7409. resume_print();
  7410. if (job_running) print_job_timer.start();
  7411. #endif
  7412. }
  7413. }
  7414. #endif // PARK_HEAD_ON_PAUSE
  7415. #if HAS_COLOR_LEDS
  7416. /**
  7417. * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
  7418. * and Brightness - Use P (for NEOPIXEL only)
  7419. *
  7420. * Always sets all 3 or 4 components. If a component is left out, set to 0.
  7421. * If brightness is left out, no value changed
  7422. *
  7423. * Examples:
  7424. *
  7425. * M150 R255 ; Turn LED red
  7426. * M150 R255 U127 ; Turn LED orange (PWM only)
  7427. * M150 ; Turn LED off
  7428. * M150 R U B ; Turn LED white
  7429. * M150 W ; Turn LED white using a white LED
  7430. * M150 P127 ; Set LED 50% brightness
  7431. * M150 P ; Set LED full brightness
  7432. */
  7433. inline void gcode_M150() {
  7434. set_led_color(
  7435. parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7436. parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7437. parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7438. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  7439. , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7440. #if ENABLED(NEOPIXEL_LED)
  7441. , parser.seen('P') ? (parser.has_value() ? parser.value_byte() : 255) : pixels.getBrightness()
  7442. #endif
  7443. #endif
  7444. );
  7445. }
  7446. #endif // HAS_COLOR_LEDS
  7447. /**
  7448. * M200: Set filament diameter and set E axis units to cubic units
  7449. *
  7450. * T<extruder> - Optional extruder number. Current extruder if omitted.
  7451. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  7452. */
  7453. inline void gcode_M200() {
  7454. if (get_target_extruder_from_command(200)) return;
  7455. if (parser.seen('D')) {
  7456. // setting any extruder filament size disables volumetric on the assumption that
  7457. // slicers either generate in extruder values as cubic mm or as as filament feeds
  7458. // for all extruders
  7459. volumetric_enabled = (parser.value_linear_units() != 0.0);
  7460. if (volumetric_enabled) {
  7461. filament_size[target_extruder] = parser.value_linear_units();
  7462. // make sure all extruders have some sane value for the filament size
  7463. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7464. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  7465. }
  7466. }
  7467. calculate_volumetric_multipliers();
  7468. }
  7469. /**
  7470. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  7471. *
  7472. * With multiple extruders use T to specify which one.
  7473. */
  7474. inline void gcode_M201() {
  7475. GET_TARGET_EXTRUDER(201);
  7476. LOOP_XYZE(i) {
  7477. if (parser.seen(axis_codes[i])) {
  7478. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7479. planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
  7480. }
  7481. }
  7482. // 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)
  7483. planner.reset_acceleration_rates();
  7484. }
  7485. #if 0 // Not used for Sprinter/grbl gen6
  7486. inline void gcode_M202() {
  7487. LOOP_XYZE(i) {
  7488. if (parser.seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = parser.value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
  7489. }
  7490. }
  7491. #endif
  7492. /**
  7493. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  7494. *
  7495. * With multiple extruders use T to specify which one.
  7496. */
  7497. inline void gcode_M203() {
  7498. GET_TARGET_EXTRUDER(203);
  7499. LOOP_XYZE(i)
  7500. if (parser.seen(axis_codes[i])) {
  7501. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7502. planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a);
  7503. }
  7504. }
  7505. /**
  7506. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  7507. *
  7508. * P = Printing moves
  7509. * R = Retract only (no X, Y, Z) moves
  7510. * T = Travel (non printing) moves
  7511. *
  7512. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  7513. */
  7514. inline void gcode_M204() {
  7515. if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  7516. planner.travel_acceleration = planner.acceleration = parser.value_linear_units();
  7517. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  7518. }
  7519. if (parser.seen('P')) {
  7520. planner.acceleration = parser.value_linear_units();
  7521. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  7522. }
  7523. if (parser.seen('R')) {
  7524. planner.retract_acceleration = parser.value_linear_units();
  7525. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  7526. }
  7527. if (parser.seen('T')) {
  7528. planner.travel_acceleration = parser.value_linear_units();
  7529. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  7530. }
  7531. }
  7532. /**
  7533. * M205: Set Advanced Settings
  7534. *
  7535. * S = Min Feed Rate (units/s)
  7536. * T = Min Travel Feed Rate (units/s)
  7537. * B = Min Segment Time (µs)
  7538. * X = Max X Jerk (units/sec^2)
  7539. * Y = Max Y Jerk (units/sec^2)
  7540. * Z = Max Z Jerk (units/sec^2)
  7541. * E = Max E Jerk (units/sec^2)
  7542. */
  7543. inline void gcode_M205() {
  7544. if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
  7545. if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
  7546. if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
  7547. if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
  7548. if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
  7549. if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units();
  7550. if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
  7551. }
  7552. #if HAS_M206_COMMAND
  7553. /**
  7554. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  7555. *
  7556. * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
  7557. * *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
  7558. * *** In the next 1.2 release, it will simply be disabled by default.
  7559. */
  7560. inline void gcode_M206() {
  7561. LOOP_XYZ(i)
  7562. if (parser.seen(axis_codes[i]))
  7563. set_home_offset((AxisEnum)i, parser.value_linear_units());
  7564. #if ENABLED(MORGAN_SCARA)
  7565. if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta
  7566. if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi
  7567. #endif
  7568. report_current_position();
  7569. }
  7570. #endif // HAS_M206_COMMAND
  7571. #if ENABLED(DELTA)
  7572. /**
  7573. * M665: Set delta configurations
  7574. *
  7575. * H = delta height
  7576. * L = diagonal rod
  7577. * R = delta radius
  7578. * S = segments per second
  7579. * B = delta calibration radius
  7580. * X = Alpha (Tower 1) angle trim
  7581. * Y = Beta (Tower 2) angle trim
  7582. * Z = Rotate A and B by this angle
  7583. */
  7584. inline void gcode_M665() {
  7585. if (parser.seen('H')) {
  7586. home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
  7587. update_software_endstops(Z_AXIS);
  7588. }
  7589. if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
  7590. if (parser.seen('R')) delta_radius = parser.value_linear_units();
  7591. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7592. if (parser.seen('B')) delta_calibration_radius = parser.value_float();
  7593. if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
  7594. if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
  7595. if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
  7596. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  7597. }
  7598. /**
  7599. * M666: Set delta endstop adjustment
  7600. */
  7601. inline void gcode_M666() {
  7602. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7603. if (DEBUGGING(LEVELING)) {
  7604. SERIAL_ECHOLNPGM(">>> gcode_M666");
  7605. }
  7606. #endif
  7607. LOOP_XYZ(i) {
  7608. if (parser.seen(axis_codes[i])) {
  7609. if (parser.value_linear_units() * Z_HOME_DIR <= 0)
  7610. delta_endstop_adj[i] = parser.value_linear_units();
  7611. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7612. if (DEBUGGING(LEVELING)) {
  7613. SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
  7614. SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
  7615. }
  7616. #endif
  7617. }
  7618. }
  7619. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7620. if (DEBUGGING(LEVELING)) {
  7621. SERIAL_ECHOLNPGM("<<< gcode_M666");
  7622. }
  7623. #endif
  7624. }
  7625. #elif IS_SCARA
  7626. /**
  7627. * M665: Set SCARA settings
  7628. *
  7629. * Parameters:
  7630. *
  7631. * S[segments-per-second] - Segments-per-second
  7632. * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
  7633. * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
  7634. *
  7635. * A, P, and X are all aliases for the shoulder angle
  7636. * B, T, and Y are all aliases for the elbow angle
  7637. */
  7638. inline void gcode_M665() {
  7639. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7640. const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
  7641. const uint8_t sumAPX = hasA + hasP + hasX;
  7642. if (sumAPX == 1)
  7643. home_offset[A_AXIS] = parser.value_float();
  7644. else if (sumAPX > 1) {
  7645. SERIAL_ERROR_START();
  7646. SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
  7647. return;
  7648. }
  7649. const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
  7650. const uint8_t sumBTY = hasB + hasT + hasY;
  7651. if (sumBTY == 1)
  7652. home_offset[B_AXIS] = parser.value_float();
  7653. else if (sumBTY > 1) {
  7654. SERIAL_ERROR_START();
  7655. SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
  7656. return;
  7657. }
  7658. }
  7659. #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  7660. /**
  7661. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  7662. */
  7663. inline void gcode_M666() {
  7664. SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
  7665. #if ENABLED(X_DUAL_ENDSTOPS)
  7666. if (parser.seen('X')) x_endstop_adj = parser.value_linear_units();
  7667. SERIAL_ECHOPAIR(" X", x_endstop_adj);
  7668. #endif
  7669. #if ENABLED(Y_DUAL_ENDSTOPS)
  7670. if (parser.seen('Y')) y_endstop_adj = parser.value_linear_units();
  7671. SERIAL_ECHOPAIR(" Y", y_endstop_adj);
  7672. #endif
  7673. #if ENABLED(Z_DUAL_ENDSTOPS)
  7674. if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units();
  7675. SERIAL_ECHOPAIR(" Z", z_endstop_adj);
  7676. #endif
  7677. SERIAL_EOL();
  7678. }
  7679. #endif // !DELTA && Z_DUAL_ENDSTOPS
  7680. #if ENABLED(FWRETRACT)
  7681. /**
  7682. * M207: Set firmware retraction values
  7683. *
  7684. * S[+units] retract_length
  7685. * W[+units] swap_retract_length (multi-extruder)
  7686. * F[units/min] retract_feedrate_mm_s
  7687. * Z[units] retract_zlift
  7688. */
  7689. inline void gcode_M207() {
  7690. if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
  7691. if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7692. if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
  7693. if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
  7694. }
  7695. /**
  7696. * M208: Set firmware un-retraction values
  7697. *
  7698. * S[+units] retract_recover_length (in addition to M207 S*)
  7699. * W[+units] swap_retract_recover_length (multi-extruder)
  7700. * F[units/min] retract_recover_feedrate_mm_s
  7701. * R[units/min] swap_retract_recover_feedrate_mm_s
  7702. */
  7703. inline void gcode_M208() {
  7704. if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
  7705. if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7706. if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7707. if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
  7708. }
  7709. /**
  7710. * M209: Enable automatic retract (M209 S1)
  7711. * For slicers that don't support G10/11, reversed extrude-only
  7712. * moves will be classified as retraction.
  7713. */
  7714. inline void gcode_M209() {
  7715. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  7716. if (parser.seen('S')) {
  7717. autoretract_enabled = parser.value_bool();
  7718. for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  7719. }
  7720. }
  7721. }
  7722. #endif // FWRETRACT
  7723. /**
  7724. * M211: Enable, Disable, and/or Report software endstops
  7725. *
  7726. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  7727. */
  7728. inline void gcode_M211() {
  7729. SERIAL_ECHO_START();
  7730. #if HAS_SOFTWARE_ENDSTOPS
  7731. if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
  7732. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7733. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  7734. #else
  7735. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7736. SERIAL_ECHOPGM(MSG_OFF);
  7737. #endif
  7738. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  7739. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  7740. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  7741. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  7742. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  7743. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  7744. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  7745. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  7746. }
  7747. #if HOTENDS > 1
  7748. /**
  7749. * M218 - set hotend offset (in linear units)
  7750. *
  7751. * T<tool>
  7752. * X<xoffset>
  7753. * Y<yoffset>
  7754. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE
  7755. */
  7756. inline void gcode_M218() {
  7757. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  7758. if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
  7759. if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
  7760. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7761. if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
  7762. #endif
  7763. SERIAL_ECHO_START();
  7764. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  7765. HOTEND_LOOP() {
  7766. SERIAL_CHAR(' ');
  7767. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  7768. SERIAL_CHAR(',');
  7769. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  7770. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7771. SERIAL_CHAR(',');
  7772. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  7773. #endif
  7774. }
  7775. SERIAL_EOL();
  7776. }
  7777. #endif // HOTENDS > 1
  7778. /**
  7779. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  7780. */
  7781. inline void gcode_M220() {
  7782. if (parser.seenval('S')) feedrate_percentage = parser.value_int();
  7783. }
  7784. /**
  7785. * M221: Set extrusion percentage (M221 T0 S95)
  7786. */
  7787. inline void gcode_M221() {
  7788. if (get_target_extruder_from_command(221)) return;
  7789. if (parser.seenval('S'))
  7790. flow_percentage[target_extruder] = parser.value_int();
  7791. }
  7792. /**
  7793. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  7794. */
  7795. inline void gcode_M226() {
  7796. if (parser.seen('P')) {
  7797. const int pin_number = parser.value_int(),
  7798. pin_state = parser.intval('S', -1); // required pin state - default is inverted
  7799. if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) {
  7800. int target = LOW;
  7801. stepper.synchronize();
  7802. pinMode(pin_number, INPUT);
  7803. switch (pin_state) {
  7804. case 1:
  7805. target = HIGH;
  7806. break;
  7807. case 0:
  7808. target = LOW;
  7809. break;
  7810. case -1:
  7811. target = !digitalRead(pin_number);
  7812. break;
  7813. }
  7814. while (digitalRead(pin_number) != target) idle();
  7815. } // pin_state -1 0 1 && pin_number > -1
  7816. } // parser.seen('P')
  7817. }
  7818. #if ENABLED(EXPERIMENTAL_I2CBUS)
  7819. /**
  7820. * M260: Send data to a I2C slave device
  7821. *
  7822. * This is a PoC, the formating and arguments for the GCODE will
  7823. * change to be more compatible, the current proposal is:
  7824. *
  7825. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  7826. *
  7827. * M260 B<byte-1 value in base 10>
  7828. * M260 B<byte-2 value in base 10>
  7829. * M260 B<byte-3 value in base 10>
  7830. *
  7831. * M260 S1 ; Send the buffered data and reset the buffer
  7832. * M260 R1 ; Reset the buffer without sending data
  7833. *
  7834. */
  7835. inline void gcode_M260() {
  7836. // Set the target address
  7837. if (parser.seen('A')) i2c.address(parser.value_byte());
  7838. // Add a new byte to the buffer
  7839. if (parser.seen('B')) i2c.addbyte(parser.value_byte());
  7840. // Flush the buffer to the bus
  7841. if (parser.seen('S')) i2c.send();
  7842. // Reset and rewind the buffer
  7843. else if (parser.seen('R')) i2c.reset();
  7844. }
  7845. /**
  7846. * M261: Request X bytes from I2C slave device
  7847. *
  7848. * Usage: M261 A<slave device address base 10> B<number of bytes>
  7849. */
  7850. inline void gcode_M261() {
  7851. if (parser.seen('A')) i2c.address(parser.value_byte());
  7852. uint8_t bytes = parser.byteval('B', 1);
  7853. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  7854. i2c.relay(bytes);
  7855. }
  7856. else {
  7857. SERIAL_ERROR_START();
  7858. SERIAL_ERRORLN("Bad i2c request");
  7859. }
  7860. }
  7861. #endif // EXPERIMENTAL_I2CBUS
  7862. #if HAS_SERVOS
  7863. /**
  7864. * M280: Get or set servo position. P<index> [S<angle>]
  7865. */
  7866. inline void gcode_M280() {
  7867. if (!parser.seen('P')) return;
  7868. const int servo_index = parser.value_int();
  7869. if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
  7870. if (parser.seen('S'))
  7871. MOVE_SERVO(servo_index, parser.value_int());
  7872. else {
  7873. SERIAL_ECHO_START();
  7874. SERIAL_ECHOPAIR(" Servo ", servo_index);
  7875. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  7876. }
  7877. }
  7878. else {
  7879. SERIAL_ERROR_START();
  7880. SERIAL_ECHOPAIR("Servo ", servo_index);
  7881. SERIAL_ECHOLNPGM(" out of range");
  7882. }
  7883. }
  7884. #endif // HAS_SERVOS
  7885. #if ENABLED(BABYSTEPPING)
  7886. /**
  7887. * M290: Babystepping
  7888. */
  7889. inline void gcode_M290() {
  7890. #if ENABLED(BABYSTEP_XY)
  7891. for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
  7892. if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
  7893. float offs = parser.value_axis_units(a);
  7894. constrain(offs, -2, 2);
  7895. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7896. if (a == Z_AXIS) {
  7897. zprobe_zoffset += offs;
  7898. refresh_zprobe_zoffset(true); // 'true' to not babystep
  7899. }
  7900. #endif
  7901. thermalManager.babystep_axis(a, offs * planner.axis_steps_per_mm[a]);
  7902. }
  7903. #else
  7904. if (parser.seenval('Z') || parser.seenval('S')) {
  7905. float offs = parser.value_axis_units(Z_AXIS);
  7906. constrain(offs, -2, 2);
  7907. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7908. zprobe_zoffset += offs;
  7909. refresh_zprobe_zoffset(); // This will babystep the axis
  7910. #else
  7911. thermalManager.babystep_axis(Z_AXIS, parser.value_axis_units(Z_AXIS) * planner.axis_steps_per_mm[Z_AXIS]);
  7912. #endif
  7913. }
  7914. #endif
  7915. }
  7916. #endif // BABYSTEPPING
  7917. #if HAS_BUZZER
  7918. /**
  7919. * M300: Play beep sound S<frequency Hz> P<duration ms>
  7920. */
  7921. inline void gcode_M300() {
  7922. uint16_t const frequency = parser.ushortval('S', 260);
  7923. uint16_t duration = parser.ushortval('P', 1000);
  7924. // Limits the tone duration to 0-5 seconds.
  7925. NOMORE(duration, 5000);
  7926. BUZZ(duration, frequency);
  7927. }
  7928. #endif // HAS_BUZZER
  7929. #if ENABLED(PIDTEMP)
  7930. /**
  7931. * M301: Set PID parameters P I D (and optionally C, L)
  7932. *
  7933. * P[float] Kp term
  7934. * I[float] Ki term (unscaled)
  7935. * D[float] Kd term (unscaled)
  7936. *
  7937. * With PID_EXTRUSION_SCALING:
  7938. *
  7939. * C[float] Kc term
  7940. * L[float] LPQ length
  7941. */
  7942. inline void gcode_M301() {
  7943. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  7944. // default behaviour (omitting E parameter) is to update for extruder 0 only
  7945. const uint8_t e = parser.byteval('E'); // extruder being updated
  7946. if (e < HOTENDS) { // catch bad input value
  7947. if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
  7948. if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
  7949. if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
  7950. #if ENABLED(PID_EXTRUSION_SCALING)
  7951. if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
  7952. if (parser.seen('L')) lpq_len = parser.value_float();
  7953. NOMORE(lpq_len, LPQ_MAX_LEN);
  7954. #endif
  7955. thermalManager.updatePID();
  7956. SERIAL_ECHO_START();
  7957. #if ENABLED(PID_PARAMS_PER_HOTEND)
  7958. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  7959. #endif // PID_PARAMS_PER_HOTEND
  7960. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  7961. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  7962. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  7963. #if ENABLED(PID_EXTRUSION_SCALING)
  7964. //Kc does not have scaling applied above, or in resetting defaults
  7965. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  7966. #endif
  7967. SERIAL_EOL();
  7968. }
  7969. else {
  7970. SERIAL_ERROR_START();
  7971. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  7972. }
  7973. }
  7974. #endif // PIDTEMP
  7975. #if ENABLED(PIDTEMPBED)
  7976. inline void gcode_M304() {
  7977. if (parser.seen('P')) thermalManager.bedKp = parser.value_float();
  7978. if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float());
  7979. if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float());
  7980. thermalManager.updatePID();
  7981. SERIAL_ECHO_START();
  7982. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  7983. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  7984. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  7985. }
  7986. #endif // PIDTEMPBED
  7987. #if defined(CHDK) || HAS_PHOTOGRAPH
  7988. /**
  7989. * M240: Trigger a camera by emulating a Canon RC-1
  7990. * See http://www.doc-diy.net/photo/rc-1_hacked/
  7991. */
  7992. inline void gcode_M240() {
  7993. #ifdef CHDK
  7994. OUT_WRITE(CHDK, HIGH);
  7995. chdkHigh = millis();
  7996. chdkActive = true;
  7997. #elif HAS_PHOTOGRAPH
  7998. const uint8_t NUM_PULSES = 16;
  7999. const float PULSE_LENGTH = 0.01524;
  8000. for (int i = 0; i < NUM_PULSES; i++) {
  8001. WRITE(PHOTOGRAPH_PIN, HIGH);
  8002. _delay_ms(PULSE_LENGTH);
  8003. WRITE(PHOTOGRAPH_PIN, LOW);
  8004. _delay_ms(PULSE_LENGTH);
  8005. }
  8006. delay(7.33);
  8007. for (int i = 0; i < NUM_PULSES; i++) {
  8008. WRITE(PHOTOGRAPH_PIN, HIGH);
  8009. _delay_ms(PULSE_LENGTH);
  8010. WRITE(PHOTOGRAPH_PIN, LOW);
  8011. _delay_ms(PULSE_LENGTH);
  8012. }
  8013. #endif // !CHDK && HAS_PHOTOGRAPH
  8014. }
  8015. #endif // CHDK || PHOTOGRAPH_PIN
  8016. #if HAS_LCD_CONTRAST
  8017. /**
  8018. * M250: Read and optionally set the LCD contrast
  8019. */
  8020. inline void gcode_M250() {
  8021. if (parser.seen('C')) set_lcd_contrast(parser.value_int());
  8022. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  8023. SERIAL_PROTOCOL(lcd_contrast);
  8024. SERIAL_EOL();
  8025. }
  8026. #endif // HAS_LCD_CONTRAST
  8027. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8028. /**
  8029. * M302: Allow cold extrudes, or set the minimum extrude temperature
  8030. *
  8031. * S<temperature> sets the minimum extrude temperature
  8032. * P<bool> enables (1) or disables (0) cold extrusion
  8033. *
  8034. * Examples:
  8035. *
  8036. * M302 ; report current cold extrusion state
  8037. * M302 P0 ; enable cold extrusion checking
  8038. * M302 P1 ; disables cold extrusion checking
  8039. * M302 S0 ; always allow extrusion (disables checking)
  8040. * M302 S170 ; only allow extrusion above 170
  8041. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  8042. */
  8043. inline void gcode_M302() {
  8044. const bool seen_S = parser.seen('S');
  8045. if (seen_S) {
  8046. thermalManager.extrude_min_temp = parser.value_celsius();
  8047. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  8048. }
  8049. if (parser.seen('P'))
  8050. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool();
  8051. else if (!seen_S) {
  8052. // Report current state
  8053. SERIAL_ECHO_START();
  8054. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  8055. SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
  8056. SERIAL_ECHOLNPGM("C)");
  8057. }
  8058. }
  8059. #endif // PREVENT_COLD_EXTRUSION
  8060. /**
  8061. * M303: PID relay autotune
  8062. *
  8063. * S<temperature> sets the target temperature. (default 150C)
  8064. * E<extruder> (-1 for the bed) (default 0)
  8065. * C<cycles>
  8066. * U<bool> with a non-zero value will apply the result to current settings
  8067. */
  8068. inline void gcode_M303() {
  8069. #if HAS_PID_HEATING
  8070. const int e = parser.intval('E'), c = parser.intval('C', 5);
  8071. const bool u = parser.boolval('U');
  8072. int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
  8073. if (WITHIN(e, 0, HOTENDS - 1))
  8074. target_extruder = e;
  8075. #if DISABLED(BUSY_WHILE_HEATING)
  8076. KEEPALIVE_STATE(NOT_BUSY);
  8077. #endif
  8078. thermalManager.PID_autotune(temp, e, c, u);
  8079. #if DISABLED(BUSY_WHILE_HEATING)
  8080. KEEPALIVE_STATE(IN_HANDLER);
  8081. #endif
  8082. #else
  8083. SERIAL_ERROR_START();
  8084. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  8085. #endif
  8086. }
  8087. #if ENABLED(MORGAN_SCARA)
  8088. bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
  8089. if (IsRunning()) {
  8090. forward_kinematics_SCARA(delta_a, delta_b);
  8091. destination[X_AXIS] = cartes[X_AXIS];
  8092. destination[Y_AXIS] = cartes[Y_AXIS];
  8093. destination[Z_AXIS] = current_position[Z_AXIS];
  8094. prepare_move_to_destination();
  8095. return true;
  8096. }
  8097. return false;
  8098. }
  8099. /**
  8100. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  8101. */
  8102. inline bool gcode_M360() {
  8103. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  8104. return SCARA_move_to_cal(0, 120);
  8105. }
  8106. /**
  8107. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  8108. */
  8109. inline bool gcode_M361() {
  8110. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  8111. return SCARA_move_to_cal(90, 130);
  8112. }
  8113. /**
  8114. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  8115. */
  8116. inline bool gcode_M362() {
  8117. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  8118. return SCARA_move_to_cal(60, 180);
  8119. }
  8120. /**
  8121. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  8122. */
  8123. inline bool gcode_M363() {
  8124. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  8125. return SCARA_move_to_cal(50, 90);
  8126. }
  8127. /**
  8128. * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
  8129. */
  8130. inline bool gcode_M364() {
  8131. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  8132. return SCARA_move_to_cal(45, 135);
  8133. }
  8134. #endif // SCARA
  8135. #if ENABLED(EXT_SOLENOID)
  8136. void enable_solenoid(const uint8_t num) {
  8137. switch (num) {
  8138. case 0:
  8139. OUT_WRITE(SOL0_PIN, HIGH);
  8140. break;
  8141. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  8142. case 1:
  8143. OUT_WRITE(SOL1_PIN, HIGH);
  8144. break;
  8145. #endif
  8146. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  8147. case 2:
  8148. OUT_WRITE(SOL2_PIN, HIGH);
  8149. break;
  8150. #endif
  8151. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  8152. case 3:
  8153. OUT_WRITE(SOL3_PIN, HIGH);
  8154. break;
  8155. #endif
  8156. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  8157. case 4:
  8158. OUT_WRITE(SOL4_PIN, HIGH);
  8159. break;
  8160. #endif
  8161. default:
  8162. SERIAL_ECHO_START();
  8163. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  8164. break;
  8165. }
  8166. }
  8167. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  8168. void disable_all_solenoids() {
  8169. OUT_WRITE(SOL0_PIN, LOW);
  8170. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  8171. OUT_WRITE(SOL1_PIN, LOW);
  8172. #endif
  8173. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  8174. OUT_WRITE(SOL2_PIN, LOW);
  8175. #endif
  8176. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  8177. OUT_WRITE(SOL3_PIN, LOW);
  8178. #endif
  8179. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  8180. OUT_WRITE(SOL4_PIN, LOW);
  8181. #endif
  8182. }
  8183. /**
  8184. * M380: Enable solenoid on the active extruder
  8185. */
  8186. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  8187. /**
  8188. * M381: Disable all solenoids
  8189. */
  8190. inline void gcode_M381() { disable_all_solenoids(); }
  8191. #endif // EXT_SOLENOID
  8192. /**
  8193. * M400: Finish all moves
  8194. */
  8195. inline void gcode_M400() { stepper.synchronize(); }
  8196. #if HAS_BED_PROBE
  8197. /**
  8198. * M401: Engage Z Servo endstop if available
  8199. */
  8200. inline void gcode_M401() { DEPLOY_PROBE(); }
  8201. /**
  8202. * M402: Retract Z Servo endstop if enabled
  8203. */
  8204. inline void gcode_M402() { STOW_PROBE(); }
  8205. #endif // HAS_BED_PROBE
  8206. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  8207. /**
  8208. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  8209. */
  8210. inline void gcode_M404() {
  8211. if (parser.seen('W')) {
  8212. filament_width_nominal = parser.value_linear_units();
  8213. }
  8214. else {
  8215. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  8216. SERIAL_PROTOCOLLN(filament_width_nominal);
  8217. }
  8218. }
  8219. /**
  8220. * M405: Turn on filament sensor for control
  8221. */
  8222. inline void gcode_M405() {
  8223. // This is technically a linear measurement, but since it's quantized to centimeters and is a different
  8224. // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units().
  8225. if (parser.seen('D')) {
  8226. meas_delay_cm = parser.value_byte();
  8227. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  8228. }
  8229. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  8230. const uint8_t temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
  8231. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  8232. measurement_delay[i] = temp_ratio;
  8233. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  8234. }
  8235. filament_sensor = true;
  8236. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  8237. //SERIAL_PROTOCOL(filament_width_meas);
  8238. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  8239. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  8240. }
  8241. /**
  8242. * M406: Turn off filament sensor for control
  8243. */
  8244. inline void gcode_M406() {
  8245. filament_sensor = false;
  8246. calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value
  8247. }
  8248. /**
  8249. * M407: Get measured filament diameter on serial output
  8250. */
  8251. inline void gcode_M407() {
  8252. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  8253. SERIAL_PROTOCOLLN(filament_width_meas);
  8254. }
  8255. #endif // FILAMENT_WIDTH_SENSOR
  8256. void quickstop_stepper() {
  8257. stepper.quick_stop();
  8258. stepper.synchronize();
  8259. set_current_from_steppers_for_axis(ALL_AXES);
  8260. SYNC_PLAN_POSITION_KINEMATIC();
  8261. }
  8262. #if HAS_LEVELING
  8263. /**
  8264. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  8265. *
  8266. * S[bool] Turns leveling on or off
  8267. * Z[height] Sets the Z fade height (0 or none to disable)
  8268. * V[bool] Verbose - Print the leveling grid
  8269. *
  8270. * With AUTO_BED_LEVELING_UBL only:
  8271. *
  8272. * L[index] Load UBL mesh from index (0 is default)
  8273. */
  8274. inline void gcode_M420() {
  8275. #if ENABLED(AUTO_BED_LEVELING_UBL)
  8276. // L to load a mesh from the EEPROM
  8277. if (parser.seen('L')) {
  8278. #if ENABLED(EEPROM_SETTINGS)
  8279. const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
  8280. const int16_t a = settings.calc_num_meshes();
  8281. if (!a) {
  8282. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  8283. return;
  8284. }
  8285. if (!WITHIN(storage_slot, 0, a - 1)) {
  8286. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  8287. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  8288. return;
  8289. }
  8290. settings.load_mesh(storage_slot);
  8291. ubl.storage_slot = storage_slot;
  8292. #else
  8293. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  8294. return;
  8295. #endif
  8296. }
  8297. // L to load a mesh from the EEPROM
  8298. if (parser.seen('L') || parser.seen('V')) {
  8299. ubl.display_map(0); // Currently only supports one map type
  8300. SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
  8301. SERIAL_ECHOLNPAIR("ubl.storage_slot = ", ubl.storage_slot);
  8302. }
  8303. #endif // AUTO_BED_LEVELING_UBL
  8304. // V to print the matrix or mesh
  8305. if (parser.seen('V')) {
  8306. #if ABL_PLANAR
  8307. planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
  8308. #else
  8309. if (leveling_is_valid()) {
  8310. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8311. print_bilinear_leveling_grid();
  8312. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8313. print_bilinear_leveling_grid_virt();
  8314. #endif
  8315. #elif ENABLED(MESH_BED_LEVELING)
  8316. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  8317. mbl_mesh_report();
  8318. #endif
  8319. }
  8320. #endif
  8321. }
  8322. const bool to_enable = parser.boolval('S');
  8323. if (parser.seen('S'))
  8324. set_bed_leveling_enabled(to_enable);
  8325. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  8326. if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units());
  8327. #endif
  8328. const bool new_status = planner.leveling_active;
  8329. if (to_enable && !new_status) {
  8330. SERIAL_ERROR_START();
  8331. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  8332. }
  8333. SERIAL_ECHO_START();
  8334. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  8335. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  8336. SERIAL_ECHO_START();
  8337. SERIAL_ECHOPGM("Fade Height ");
  8338. if (planner.z_fade_height > 0.0)
  8339. SERIAL_ECHOLN(planner.z_fade_height);
  8340. else
  8341. SERIAL_ECHOLNPGM(MSG_OFF);
  8342. #endif
  8343. }
  8344. #endif
  8345. #if ENABLED(MESH_BED_LEVELING)
  8346. /**
  8347. * M421: Set a single Mesh Bed Leveling Z coordinate
  8348. *
  8349. * Usage:
  8350. * M421 X<linear> Y<linear> Z<linear>
  8351. * M421 X<linear> Y<linear> Q<offset>
  8352. * M421 I<xindex> J<yindex> Z<linear>
  8353. * M421 I<xindex> J<yindex> Q<offset>
  8354. */
  8355. inline void gcode_M421() {
  8356. const bool hasX = parser.seen('X'), hasI = parser.seen('I');
  8357. const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(parser.value_linear_units()) : -1;
  8358. const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
  8359. const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(parser.value_linear_units()) : -1;
  8360. const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
  8361. if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
  8362. SERIAL_ERROR_START();
  8363. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8364. }
  8365. else if (ix < 0 || iy < 0) {
  8366. SERIAL_ERROR_START();
  8367. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8368. }
  8369. else
  8370. mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
  8371. }
  8372. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8373. /**
  8374. * M421: Set a single Mesh Bed Leveling Z coordinate
  8375. *
  8376. * Usage:
  8377. * M421 I<xindex> J<yindex> Z<linear>
  8378. * M421 I<xindex> J<yindex> Q<offset>
  8379. */
  8380. inline void gcode_M421() {
  8381. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8382. const bool hasI = ix >= 0,
  8383. hasJ = iy >= 0,
  8384. hasZ = parser.seen('Z'),
  8385. hasQ = !hasZ && parser.seen('Q');
  8386. if (!hasI || !hasJ || !(hasZ || hasQ)) {
  8387. SERIAL_ERROR_START();
  8388. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8389. }
  8390. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8391. SERIAL_ERROR_START();
  8392. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8393. }
  8394. else {
  8395. z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
  8396. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8397. bed_level_virt_interpolate();
  8398. #endif
  8399. }
  8400. }
  8401. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  8402. /**
  8403. * M421: Set a single Mesh Bed Leveling Z coordinate
  8404. *
  8405. * Usage:
  8406. * M421 I<xindex> J<yindex> Z<linear>
  8407. * M421 I<xindex> J<yindex> Q<offset>
  8408. * M421 C Z<linear>
  8409. * M421 C Q<offset>
  8410. */
  8411. inline void gcode_M421() {
  8412. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8413. const bool hasI = ix >= 0,
  8414. hasJ = iy >= 0,
  8415. hasC = parser.seen('C'),
  8416. hasZ = parser.seen('Z'),
  8417. hasQ = !hasZ && parser.seen('Q');
  8418. if (hasC) {
  8419. const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL);
  8420. ix = location.x_index;
  8421. iy = location.y_index;
  8422. }
  8423. if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
  8424. SERIAL_ERROR_START();
  8425. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8426. }
  8427. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8428. SERIAL_ERROR_START();
  8429. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8430. }
  8431. else
  8432. ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
  8433. }
  8434. #endif // AUTO_BED_LEVELING_UBL
  8435. #if HAS_M206_COMMAND
  8436. /**
  8437. * M428: Set home_offset based on the distance between the
  8438. * current_position and the nearest "reference point."
  8439. * If an axis is past center its endstop position
  8440. * is the reference-point. Otherwise it uses 0. This allows
  8441. * the Z offset to be set near the bed when using a max endstop.
  8442. *
  8443. * M428 can't be used more than 2cm away from 0 or an endstop.
  8444. *
  8445. * Use M206 to set these values directly.
  8446. */
  8447. inline void gcode_M428() {
  8448. bool err = false;
  8449. LOOP_XYZ(i) {
  8450. if (axis_homed[i]) {
  8451. const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
  8452. diff = base - current_position[i];
  8453. if (WITHIN(diff, -20, 20)) {
  8454. set_home_offset((AxisEnum)i, diff);
  8455. }
  8456. else {
  8457. SERIAL_ERROR_START();
  8458. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  8459. LCD_ALERTMESSAGEPGM("Err: Too far!");
  8460. BUZZ(200, 40);
  8461. err = true;
  8462. break;
  8463. }
  8464. }
  8465. }
  8466. if (!err) {
  8467. report_current_position();
  8468. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  8469. BUZZ(100, 659);
  8470. BUZZ(100, 698);
  8471. }
  8472. }
  8473. #endif // HAS_M206_COMMAND
  8474. /**
  8475. * M500: Store settings in EEPROM
  8476. */
  8477. inline void gcode_M500() {
  8478. (void)settings.save();
  8479. }
  8480. /**
  8481. * M501: Read settings from EEPROM
  8482. */
  8483. inline void gcode_M501() {
  8484. (void)settings.load();
  8485. }
  8486. /**
  8487. * M502: Revert to default settings
  8488. */
  8489. inline void gcode_M502() {
  8490. (void)settings.reset();
  8491. }
  8492. #if DISABLED(DISABLE_M503)
  8493. /**
  8494. * M503: print settings currently in memory
  8495. */
  8496. inline void gcode_M503() {
  8497. (void)settings.report(parser.boolval('S'));
  8498. }
  8499. #endif
  8500. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  8501. /**
  8502. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  8503. */
  8504. inline void gcode_M540() {
  8505. if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool();
  8506. }
  8507. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  8508. #if HAS_BED_PROBE
  8509. void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
  8510. static float last_zoffset = NAN;
  8511. if (!isnan(last_zoffset)) {
  8512. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
  8513. const float diff = zprobe_zoffset - last_zoffset;
  8514. #endif
  8515. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8516. // Correct bilinear grid for new probe offset
  8517. if (diff) {
  8518. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  8519. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  8520. z_values[x][y] -= diff;
  8521. }
  8522. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8523. bed_level_virt_interpolate();
  8524. #endif
  8525. #endif
  8526. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  8527. if (!no_babystep && planner.leveling_active)
  8528. thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
  8529. #else
  8530. UNUSED(no_babystep);
  8531. #endif
  8532. #if ENABLED(DELTA) // correct the delta_height
  8533. home_offset[Z_AXIS] -= diff;
  8534. #endif
  8535. }
  8536. last_zoffset = zprobe_zoffset;
  8537. }
  8538. inline void gcode_M851() {
  8539. SERIAL_ECHO_START();
  8540. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
  8541. if (parser.seen('Z')) {
  8542. const float value = parser.value_linear_units();
  8543. if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
  8544. zprobe_zoffset = value;
  8545. refresh_zprobe_zoffset();
  8546. SERIAL_ECHO(zprobe_zoffset);
  8547. }
  8548. else
  8549. SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
  8550. }
  8551. else
  8552. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  8553. SERIAL_EOL();
  8554. }
  8555. #endif // HAS_BED_PROBE
  8556. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  8557. /**
  8558. * M600: Pause for filament change
  8559. *
  8560. * E[distance] - Retract the filament this far (negative value)
  8561. * Z[distance] - Move the Z axis by this distance
  8562. * X[position] - Move to this X position, with Y
  8563. * Y[position] - Move to this Y position, with X
  8564. * U[distance] - Retract distance for removal (negative value) (manual reload)
  8565. * L[distance] - Extrude distance for insertion (positive value) (manual reload)
  8566. * B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
  8567. *
  8568. * Default values are used for omitted arguments.
  8569. *
  8570. */
  8571. inline void gcode_M600() {
  8572. #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
  8573. // Don't allow filament change without homing first
  8574. if (axis_unhomed_error()) home_all_axes();
  8575. #endif
  8576. // Initial retract before move to filament change position
  8577. const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
  8578. #ifdef PAUSE_PARK_RETRACT_LENGTH
  8579. - (PAUSE_PARK_RETRACT_LENGTH)
  8580. #endif
  8581. ;
  8582. // Lift Z axis
  8583. const float z_lift = parser.linearval('Z', 0
  8584. #ifdef PAUSE_PARK_Z_ADD
  8585. + PAUSE_PARK_Z_ADD
  8586. #endif
  8587. );
  8588. // Move XY axes to filament exchange position
  8589. const float x_pos = parser.linearval('X', 0
  8590. #ifdef PAUSE_PARK_X_POS
  8591. + PAUSE_PARK_X_POS
  8592. #endif
  8593. );
  8594. const float y_pos = parser.linearval('Y', 0
  8595. #ifdef PAUSE_PARK_Y_POS
  8596. + PAUSE_PARK_Y_POS
  8597. #endif
  8598. );
  8599. // Unload filament
  8600. const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0
  8601. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  8602. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  8603. #endif
  8604. ;
  8605. // Load filament
  8606. const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  8607. #ifdef FILAMENT_CHANGE_LOAD_LENGTH
  8608. + FILAMENT_CHANGE_LOAD_LENGTH
  8609. #endif
  8610. ;
  8611. const int beep_count = parser.intval('B',
  8612. #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8613. FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8614. #else
  8615. -1
  8616. #endif
  8617. );
  8618. const bool job_running = print_job_timer.isRunning();
  8619. if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) {
  8620. wait_for_filament_reload(beep_count);
  8621. resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count);
  8622. }
  8623. // Resume the print job timer if it was running
  8624. if (job_running) print_job_timer.start();
  8625. }
  8626. #endif // ADVANCED_PAUSE_FEATURE
  8627. #if ENABLED(MK2_MULTIPLEXER)
  8628. inline void select_multiplexed_stepper(const uint8_t e) {
  8629. stepper.synchronize();
  8630. disable_e_steppers();
  8631. WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  8632. WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  8633. WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
  8634. safe_delay(100);
  8635. }
  8636. /**
  8637. * M702: Unload all extruders
  8638. */
  8639. inline void gcode_M702() {
  8640. for (uint8_t s = 0; s < E_STEPPERS; s++) {
  8641. select_multiplexed_stepper(e);
  8642. // TODO: standard unload filament function
  8643. // MK2 firmware behavior:
  8644. // - Make sure temperature is high enough
  8645. // - Raise Z to at least 15 to make room
  8646. // - Extrude 1cm of filament in 1 second
  8647. // - Under 230C quickly purge ~12mm, over 230C purge ~10mm
  8648. // - Change E max feedrate to 80, eject the filament from the tube. Sync.
  8649. // - Restore E max feedrate to 50
  8650. }
  8651. // Go back to the last active extruder
  8652. select_multiplexed_stepper(active_extruder);
  8653. disable_e_steppers();
  8654. }
  8655. #endif // MK2_MULTIPLEXER
  8656. #if ENABLED(DUAL_X_CARRIAGE)
  8657. /**
  8658. * M605: Set dual x-carriage movement mode
  8659. *
  8660. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  8661. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  8662. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  8663. * units x-offset and an optional differential hotend temperature of
  8664. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  8665. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  8666. *
  8667. * Note: the X axis should be homed after changing dual x-carriage mode.
  8668. */
  8669. inline void gcode_M605() {
  8670. stepper.synchronize();
  8671. if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
  8672. switch (dual_x_carriage_mode) {
  8673. case DXC_FULL_CONTROL_MODE:
  8674. case DXC_AUTO_PARK_MODE:
  8675. break;
  8676. case DXC_DUPLICATION_MODE:
  8677. if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0));
  8678. if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
  8679. SERIAL_ECHO_START();
  8680. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  8681. SERIAL_CHAR(' ');
  8682. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  8683. SERIAL_CHAR(',');
  8684. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  8685. SERIAL_CHAR(' ');
  8686. SERIAL_ECHO(duplicate_extruder_x_offset);
  8687. SERIAL_CHAR(',');
  8688. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  8689. break;
  8690. default:
  8691. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  8692. break;
  8693. }
  8694. active_extruder_parked = false;
  8695. extruder_duplication_enabled = false;
  8696. delayed_move_time = 0;
  8697. }
  8698. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  8699. inline void gcode_M605() {
  8700. stepper.synchronize();
  8701. extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
  8702. SERIAL_ECHO_START();
  8703. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  8704. }
  8705. #endif // DUAL_NOZZLE_DUPLICATION_MODE
  8706. #if ENABLED(LIN_ADVANCE)
  8707. /**
  8708. * M900: Set and/or Get advance K factor and WH/D ratio
  8709. *
  8710. * K<factor> Set advance K factor
  8711. * R<ratio> Set ratio directly (overrides WH/D)
  8712. * W<width> H<height> D<diam> Set ratio from WH/D
  8713. */
  8714. inline void gcode_M900() {
  8715. stepper.synchronize();
  8716. const float newK = parser.floatval('K', -1);
  8717. if (newK >= 0) planner.extruder_advance_k = newK;
  8718. float newR = parser.floatval('R', -1);
  8719. if (newR < 0) {
  8720. const float newD = parser.floatval('D', -1),
  8721. newW = parser.floatval('W', -1),
  8722. newH = parser.floatval('H', -1);
  8723. if (newD >= 0 && newW >= 0 && newH >= 0)
  8724. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  8725. }
  8726. if (newR >= 0) planner.advance_ed_ratio = newR;
  8727. SERIAL_ECHO_START();
  8728. SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
  8729. SERIAL_ECHOPGM(" E/D=");
  8730. const float ratio = planner.advance_ed_ratio;
  8731. if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
  8732. SERIAL_EOL();
  8733. }
  8734. #endif // LIN_ADVANCE
  8735. #if ENABLED(HAVE_TMC2130)
  8736. static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
  8737. SERIAL_CHAR(name);
  8738. SERIAL_ECHOPGM(" axis driver current: ");
  8739. SERIAL_ECHOLN(st.getCurrent());
  8740. }
  8741. static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
  8742. st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
  8743. tmc2130_get_current(st, name);
  8744. }
  8745. static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
  8746. SERIAL_CHAR(name);
  8747. SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
  8748. serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
  8749. SERIAL_EOL();
  8750. }
  8751. static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
  8752. st.clear_otpw();
  8753. SERIAL_CHAR(name);
  8754. SERIAL_ECHOLNPGM(" prewarn flag cleared");
  8755. }
  8756. static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
  8757. SERIAL_CHAR(name);
  8758. SERIAL_ECHOPGM(" stealthChop max speed set to ");
  8759. SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
  8760. }
  8761. static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
  8762. st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
  8763. tmc2130_get_pwmthrs(st, name, spmm);
  8764. }
  8765. static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
  8766. SERIAL_CHAR(name);
  8767. SERIAL_ECHOPGM(" driver homing sensitivity set to ");
  8768. SERIAL_ECHOLN(st.sgt());
  8769. }
  8770. static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
  8771. st.sgt(sgt_val);
  8772. tmc2130_get_sgt(st, name);
  8773. }
  8774. /**
  8775. * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  8776. * Report driver currents when no axis specified
  8777. *
  8778. * S1: Enable automatic current control
  8779. * S0: Disable
  8780. */
  8781. inline void gcode_M906() {
  8782. uint16_t values[XYZE];
  8783. LOOP_XYZE(i)
  8784. values[i] = parser.intval(axis_codes[i]);
  8785. #if ENABLED(X_IS_TMC2130)
  8786. if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
  8787. else tmc2130_get_current(stepperX, 'X');
  8788. #endif
  8789. #if ENABLED(Y_IS_TMC2130)
  8790. if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
  8791. else tmc2130_get_current(stepperY, 'Y');
  8792. #endif
  8793. #if ENABLED(Z_IS_TMC2130)
  8794. if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
  8795. else tmc2130_get_current(stepperZ, 'Z');
  8796. #endif
  8797. #if ENABLED(E0_IS_TMC2130)
  8798. if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
  8799. else tmc2130_get_current(stepperE0, 'E');
  8800. #endif
  8801. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  8802. if (parser.seen('S')) auto_current_control = parser.value_bool();
  8803. #endif
  8804. }
  8805. /**
  8806. * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
  8807. * The flag is held by the library and persist until manually cleared by M912
  8808. */
  8809. inline void gcode_M911() {
  8810. const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
  8811. reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
  8812. #if ENABLED(X_IS_TMC2130)
  8813. if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
  8814. #endif
  8815. #if ENABLED(Y_IS_TMC2130)
  8816. if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
  8817. #endif
  8818. #if ENABLED(Z_IS_TMC2130)
  8819. if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
  8820. #endif
  8821. #if ENABLED(E0_IS_TMC2130)
  8822. if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
  8823. #endif
  8824. }
  8825. /**
  8826. * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
  8827. */
  8828. inline void gcode_M912() {
  8829. const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
  8830. clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
  8831. #if ENABLED(X_IS_TMC2130)
  8832. if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
  8833. #endif
  8834. #if ENABLED(Y_IS_TMC2130)
  8835. if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
  8836. #endif
  8837. #if ENABLED(Z_IS_TMC2130)
  8838. if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
  8839. #endif
  8840. #if ENABLED(E0_IS_TMC2130)
  8841. if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
  8842. #endif
  8843. }
  8844. /**
  8845. * M913: Set HYBRID_THRESHOLD speed.
  8846. */
  8847. #if ENABLED(HYBRID_THRESHOLD)
  8848. inline void gcode_M913() {
  8849. uint16_t values[XYZE];
  8850. LOOP_XYZE(i)
  8851. values[i] = parser.intval(axis_codes[i]);
  8852. #if ENABLED(X_IS_TMC2130)
  8853. if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
  8854. else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
  8855. #endif
  8856. #if ENABLED(Y_IS_TMC2130)
  8857. if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
  8858. else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
  8859. #endif
  8860. #if ENABLED(Z_IS_TMC2130)
  8861. if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
  8862. else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
  8863. #endif
  8864. #if ENABLED(E0_IS_TMC2130)
  8865. if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
  8866. else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
  8867. #endif
  8868. }
  8869. #endif // HYBRID_THRESHOLD
  8870. /**
  8871. * M914: Set SENSORLESS_HOMING sensitivity.
  8872. */
  8873. #if ENABLED(SENSORLESS_HOMING)
  8874. inline void gcode_M914() {
  8875. #if ENABLED(X_IS_TMC2130)
  8876. if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
  8877. else tmc2130_get_sgt(stepperX, 'X');
  8878. #endif
  8879. #if ENABLED(Y_IS_TMC2130)
  8880. if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
  8881. else tmc2130_get_sgt(stepperY, 'Y');
  8882. #endif
  8883. }
  8884. #endif // SENSORLESS_HOMING
  8885. #endif // HAVE_TMC2130
  8886. /**
  8887. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  8888. */
  8889. inline void gcode_M907() {
  8890. #if HAS_DIGIPOTSS
  8891. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
  8892. if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
  8893. if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
  8894. #elif HAS_MOTOR_CURRENT_PWM
  8895. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  8896. if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
  8897. #endif
  8898. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  8899. if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
  8900. #endif
  8901. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  8902. if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
  8903. #endif
  8904. #endif
  8905. #if ENABLED(DIGIPOT_I2C)
  8906. // this one uses actual amps in floating point
  8907. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
  8908. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  8909. for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
  8910. #endif
  8911. #if ENABLED(DAC_STEPPER_CURRENT)
  8912. if (parser.seen('S')) {
  8913. const float dac_percent = parser.value_float();
  8914. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  8915. }
  8916. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
  8917. #endif
  8918. }
  8919. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  8920. /**
  8921. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  8922. */
  8923. inline void gcode_M908() {
  8924. #if HAS_DIGIPOTSS
  8925. stepper.digitalPotWrite(
  8926. parser.intval('P'),
  8927. parser.intval('S')
  8928. );
  8929. #endif
  8930. #ifdef DAC_STEPPER_CURRENT
  8931. dac_current_raw(
  8932. parser.byteval('P', -1),
  8933. parser.ushortval('S', 0)
  8934. );
  8935. #endif
  8936. }
  8937. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  8938. inline void gcode_M909() { dac_print_values(); }
  8939. inline void gcode_M910() { dac_commit_eeprom(); }
  8940. #endif
  8941. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  8942. #if HAS_MICROSTEPS
  8943. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  8944. inline void gcode_M350() {
  8945. if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte());
  8946. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
  8947. if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
  8948. stepper.microstep_readings();
  8949. }
  8950. /**
  8951. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  8952. * S# determines MS1 or MS2, X# sets the pin high/low.
  8953. */
  8954. inline void gcode_M351() {
  8955. if (parser.seenval('S')) switch (parser.value_byte()) {
  8956. case 1:
  8957. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1);
  8958. if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1);
  8959. break;
  8960. case 2:
  8961. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte());
  8962. if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte());
  8963. break;
  8964. }
  8965. stepper.microstep_readings();
  8966. }
  8967. #endif // HAS_MICROSTEPS
  8968. #if HAS_CASE_LIGHT
  8969. #ifndef INVERT_CASE_LIGHT
  8970. #define INVERT_CASE_LIGHT false
  8971. #endif
  8972. uint8_t case_light_brightness; // LCD routine wants INT
  8973. bool case_light_on;
  8974. void update_case_light() {
  8975. pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
  8976. if (case_light_on) {
  8977. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN))
  8978. analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness);
  8979. else
  8980. WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH);
  8981. }
  8982. else {
  8983. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN))
  8984. analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 : 0);
  8985. else
  8986. WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW);
  8987. }
  8988. }
  8989. #endif // HAS_CASE_LIGHT
  8990. /**
  8991. * M355: Turn case light on/off and set brightness
  8992. *
  8993. * P<byte> Set case light brightness (PWM pin required - ignored otherwise)
  8994. *
  8995. * S<bool> Set case light on/off
  8996. *
  8997. * When S turns on the light on a PWM pin then the current brightness level is used/restored
  8998. *
  8999. * M355 P200 S0 turns off the light & sets the brightness level
  9000. * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
  9001. */
  9002. inline void gcode_M355() {
  9003. #if HAS_CASE_LIGHT
  9004. uint8_t args = 0;
  9005. if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
  9006. if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
  9007. if (args) update_case_light();
  9008. // always report case light status
  9009. SERIAL_ECHO_START();
  9010. if (!case_light_on) {
  9011. SERIAL_ECHOLN("Case light: off");
  9012. }
  9013. else {
  9014. if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on");
  9015. else SERIAL_ECHOLNPAIR("Case light: ", (int)case_light_brightness);
  9016. }
  9017. #else
  9018. SERIAL_ERROR_START();
  9019. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  9020. #endif // HAS_CASE_LIGHT
  9021. }
  9022. #if ENABLED(MIXING_EXTRUDER)
  9023. /**
  9024. * M163: Set a single mix factor for a mixing extruder
  9025. * This is called "weight" by some systems.
  9026. *
  9027. * S[index] The channel index to set
  9028. * P[float] The mix value
  9029. *
  9030. */
  9031. inline void gcode_M163() {
  9032. const int mix_index = parser.intval('S');
  9033. if (mix_index < MIXING_STEPPERS) {
  9034. float mix_value = parser.floatval('P');
  9035. NOLESS(mix_value, 0.0);
  9036. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  9037. }
  9038. }
  9039. #if MIXING_VIRTUAL_TOOLS > 1
  9040. /**
  9041. * M164: Store the current mix factors as a virtual tool.
  9042. *
  9043. * S[index] The virtual tool to store
  9044. *
  9045. */
  9046. inline void gcode_M164() {
  9047. const int tool_index = parser.intval('S');
  9048. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  9049. normalize_mix();
  9050. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  9051. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  9052. }
  9053. }
  9054. #endif
  9055. #if ENABLED(DIRECT_MIXING_IN_G1)
  9056. /**
  9057. * M165: Set multiple mix factors for a mixing extruder.
  9058. * Factors that are left out will be set to 0.
  9059. * All factors together must add up to 1.0.
  9060. *
  9061. * A[factor] Mix factor for extruder stepper 1
  9062. * B[factor] Mix factor for extruder stepper 2
  9063. * C[factor] Mix factor for extruder stepper 3
  9064. * D[factor] Mix factor for extruder stepper 4
  9065. * H[factor] Mix factor for extruder stepper 5
  9066. * I[factor] Mix factor for extruder stepper 6
  9067. *
  9068. */
  9069. inline void gcode_M165() { gcode_get_mix(); }
  9070. #endif
  9071. #endif // MIXING_EXTRUDER
  9072. /**
  9073. * M999: Restart after being stopped
  9074. *
  9075. * Default behaviour is to flush the serial buffer and request
  9076. * a resend to the host starting on the last N line received.
  9077. *
  9078. * Sending "M999 S1" will resume printing without flushing the
  9079. * existing command buffer.
  9080. *
  9081. */
  9082. inline void gcode_M999() {
  9083. Running = true;
  9084. lcd_reset_alert_level();
  9085. if (parser.boolval('S')) return;
  9086. // gcode_LastN = Stopped_gcode_LastN;
  9087. FlushSerialRequestResend();
  9088. }
  9089. #if ENABLED(SWITCHING_EXTRUDER)
  9090. #if EXTRUDERS > 3
  9091. #define REQ_ANGLES 4
  9092. #define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
  9093. #else
  9094. #define REQ_ANGLES 2
  9095. #define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
  9096. #endif
  9097. inline void move_extruder_servo(const uint8_t e) {
  9098. constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  9099. static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
  9100. stepper.synchronize();
  9101. #if EXTRUDERS & 1
  9102. if (e < EXTRUDERS - 1)
  9103. #endif
  9104. {
  9105. MOVE_SERVO(_SERVO_NR, angles[e]);
  9106. safe_delay(500);
  9107. }
  9108. }
  9109. #endif // SWITCHING_EXTRUDER
  9110. #if ENABLED(SWITCHING_NOZZLE)
  9111. inline void move_nozzle_servo(const uint8_t e) {
  9112. const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
  9113. stepper.synchronize();
  9114. MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
  9115. safe_delay(500);
  9116. }
  9117. #endif
  9118. inline void invalid_extruder_error(const uint8_t e) {
  9119. SERIAL_ECHO_START();
  9120. SERIAL_CHAR('T');
  9121. SERIAL_ECHO_F(e, DEC);
  9122. SERIAL_CHAR(' ');
  9123. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  9124. }
  9125. #if ENABLED(PARKING_EXTRUDER)
  9126. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9127. #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  9128. #else
  9129. #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  9130. #endif
  9131. void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
  9132. switch (extruder_num) {
  9133. case 1: OUT_WRITE(SOL1_PIN, state); break;
  9134. default: OUT_WRITE(SOL0_PIN, state); break;
  9135. }
  9136. #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
  9137. dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
  9138. #endif
  9139. }
  9140. inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); }
  9141. inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); }
  9142. #endif // PARKING_EXTRUDER
  9143. #if HAS_FANMUX
  9144. void fanmux_switch(const uint8_t e) {
  9145. WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  9146. #if PIN_EXISTS(FANMUX1)
  9147. WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  9148. #if PIN_EXISTS(FANMUX2)
  9149. WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
  9150. #endif
  9151. #endif
  9152. }
  9153. FORCE_INLINE void fanmux_init(void) {
  9154. SET_OUTPUT(FANMUX0_PIN);
  9155. #if PIN_EXISTS(FANMUX1)
  9156. SET_OUTPUT(FANMUX1_PIN);
  9157. #if PIN_EXISTS(FANMUX2)
  9158. SET_OUTPUT(FANMUX2_PIN);
  9159. #endif
  9160. #endif
  9161. fanmux_switch(0);
  9162. }
  9163. #endif // HAS_FANMUX
  9164. /**
  9165. * Perform a tool-change, which may result in moving the
  9166. * previous tool out of the way and the new tool into place.
  9167. */
  9168. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  9169. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  9170. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  9171. return invalid_extruder_error(tmp_extruder);
  9172. // T0-Tnnn: Switch virtual tool by changing the mix
  9173. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  9174. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  9175. #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  9176. if (tmp_extruder >= EXTRUDERS)
  9177. return invalid_extruder_error(tmp_extruder);
  9178. #if HOTENDS > 1
  9179. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  9180. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  9181. if (tmp_extruder != active_extruder) {
  9182. if (!no_move && axis_unhomed_error()) {
  9183. no_move = true;
  9184. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9185. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
  9186. #endif
  9187. }
  9188. // Save current position to destination, for use later
  9189. set_destination_from_current();
  9190. #if ENABLED(DUAL_X_CARRIAGE)
  9191. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9192. if (DEBUGGING(LEVELING)) {
  9193. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  9194. switch (dual_x_carriage_mode) {
  9195. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  9196. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  9197. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  9198. }
  9199. }
  9200. #endif
  9201. const float xhome = x_home_pos(active_extruder);
  9202. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  9203. && IsRunning()
  9204. && (delayed_move_time || current_position[X_AXIS] != xhome)
  9205. ) {
  9206. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  9207. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  9208. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  9209. #endif
  9210. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9211. if (DEBUGGING(LEVELING)) {
  9212. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  9213. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  9214. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  9215. }
  9216. #endif
  9217. // Park old head: 1) raise 2) move to park position 3) lower
  9218. for (uint8_t i = 0; i < 3; i++)
  9219. planner.buffer_line(
  9220. i == 0 ? current_position[X_AXIS] : xhome,
  9221. current_position[Y_AXIS],
  9222. i == 2 ? current_position[Z_AXIS] : raised_z,
  9223. current_position[E_AXIS],
  9224. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  9225. active_extruder
  9226. );
  9227. stepper.synchronize();
  9228. }
  9229. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  9230. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  9231. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  9232. // Activate the new extruder ahead of calling set_axis_is_at_home!
  9233. active_extruder = tmp_extruder;
  9234. // This function resets the max/min values - the current position may be overwritten below.
  9235. set_axis_is_at_home(X_AXIS);
  9236. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9237. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  9238. #endif
  9239. // Only when auto-parking are carriages safe to move
  9240. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  9241. switch (dual_x_carriage_mode) {
  9242. case DXC_FULL_CONTROL_MODE:
  9243. // New current position is the position of the activated extruder
  9244. current_position[X_AXIS] = inactive_extruder_x_pos;
  9245. // Save the inactive extruder's position (from the old current_position)
  9246. inactive_extruder_x_pos = destination[X_AXIS];
  9247. break;
  9248. case DXC_AUTO_PARK_MODE:
  9249. // record raised toolhead position for use by unpark
  9250. COPY(raised_parked_position, current_position);
  9251. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  9252. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  9253. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  9254. #endif
  9255. active_extruder_parked = true;
  9256. delayed_move_time = 0;
  9257. break;
  9258. case DXC_DUPLICATION_MODE:
  9259. // If the new extruder is the left one, set it "parked"
  9260. // This triggers the second extruder to move into the duplication position
  9261. active_extruder_parked = (active_extruder == 0);
  9262. if (active_extruder_parked)
  9263. current_position[X_AXIS] = inactive_extruder_x_pos;
  9264. else
  9265. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  9266. inactive_extruder_x_pos = destination[X_AXIS];
  9267. extruder_duplication_enabled = false;
  9268. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9269. if (DEBUGGING(LEVELING)) {
  9270. SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
  9271. SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
  9272. }
  9273. #endif
  9274. break;
  9275. }
  9276. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9277. if (DEBUGGING(LEVELING)) {
  9278. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  9279. DEBUG_POS("New extruder (parked)", current_position);
  9280. }
  9281. #endif
  9282. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  9283. #else // !DUAL_X_CARRIAGE
  9284. #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
  9285. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  9286. float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
  9287. if (!no_move) {
  9288. const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
  9289. midpos = ((parkingposx[1] - parkingposx[0])/2) + parkingposx[0] + hotend_offset[X_AXIS][active_extruder],
  9290. grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
  9291. + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
  9292. /**
  9293. * Steps:
  9294. * 1. Raise Z-Axis to give enough clearance
  9295. * 2. Move to park position of old extruder
  9296. * 3. Disengage magnetic field, wait for delay
  9297. * 4. Move near new extruder
  9298. * 5. Engage magnetic field for new extruder
  9299. * 6. Move to parking incl. offset of new extruder
  9300. * 7. Lower Z-Axis
  9301. */
  9302. // STEP 1
  9303. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9304. SERIAL_ECHOLNPGM("Starting Autopark");
  9305. if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
  9306. #endif
  9307. current_position[Z_AXIS] += z_raise;
  9308. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9309. SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
  9310. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
  9311. #endif
  9312. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  9313. stepper.synchronize();
  9314. // STEP 2
  9315. current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
  9316. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9317. SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
  9318. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
  9319. #endif
  9320. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9321. stepper.synchronize();
  9322. // STEP 3
  9323. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9324. SERIAL_ECHOLNPGM("(3) Disengage magnet ");
  9325. #endif
  9326. pe_deactivate_magnet(active_extruder);
  9327. // STEP 4
  9328. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9329. SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
  9330. #endif
  9331. current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
  9332. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9333. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
  9334. #endif
  9335. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9336. stepper.synchronize();
  9337. // STEP 5
  9338. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9339. SERIAL_ECHOLNPGM("(5) Engage magnetic field");
  9340. #endif
  9341. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9342. pe_activate_magnet(active_extruder); //just save power for inverted magnets
  9343. #endif
  9344. pe_activate_magnet(tmp_extruder);
  9345. // STEP 6
  9346. current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
  9347. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9348. current_position[X_AXIS] = grabpos;
  9349. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9350. SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
  9351. if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
  9352. #endif
  9353. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
  9354. stepper.synchronize();
  9355. // Step 7
  9356. current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
  9357. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9358. SERIAL_ECHOLNPGM("(7) Move midway between hotends");
  9359. if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
  9360. #endif
  9361. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9362. stepper.synchronize();
  9363. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9364. SERIAL_ECHOLNPGM("Autopark done.");
  9365. #endif
  9366. }
  9367. else { // nomove == true
  9368. // Only engage magnetic field for new extruder
  9369. pe_activate_magnet(tmp_extruder);
  9370. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9371. pe_activate_magnet(active_extruder); // Just save power for inverted magnets
  9372. #endif
  9373. }
  9374. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
  9375. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9376. if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
  9377. #endif
  9378. #endif // dualParking extruder
  9379. #if ENABLED(SWITCHING_NOZZLE)
  9380. #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
  9381. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  9382. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  9383. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  9384. // Always raise by some amount (destination copied from current_position earlier)
  9385. current_position[Z_AXIS] += z_raise;
  9386. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  9387. move_nozzle_servo(tmp_extruder);
  9388. #endif
  9389. /**
  9390. * Set current_position to the position of the new nozzle.
  9391. * Offsets are based on linear distance, so we need to get
  9392. * the resulting position in coordinate space.
  9393. *
  9394. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  9395. * - With mesh leveling, update Z for the new position
  9396. * - Otherwise, just use the raw linear distance
  9397. *
  9398. * Software endstops are altered here too. Consider a case where:
  9399. * E0 at X=0 ... E1 at X=10
  9400. * When we switch to E1 now X=10, but E1 can't move left.
  9401. * To express this we apply the change in XY to the software endstops.
  9402. * E1 can move farther right than E0, so the right limit is extended.
  9403. *
  9404. * Note that we don't adjust the Z software endstops. Why not?
  9405. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  9406. * because the bed is 1mm lower at the new position. As long as
  9407. * the first nozzle is out of the way, the carriage should be
  9408. * allowed to move 1mm lower. This technically "breaks" the
  9409. * Z software endstop. But this is technically correct (and
  9410. * there is no viable alternative).
  9411. */
  9412. #if ABL_PLANAR
  9413. // Offset extruder, make sure to apply the bed level rotation matrix
  9414. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  9415. hotend_offset[Y_AXIS][tmp_extruder],
  9416. 0),
  9417. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  9418. hotend_offset[Y_AXIS][active_extruder],
  9419. 0),
  9420. offset_vec = tmp_offset_vec - act_offset_vec;
  9421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9422. if (DEBUGGING(LEVELING)) {
  9423. tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
  9424. act_offset_vec.debug(PSTR("act_offset_vec"));
  9425. offset_vec.debug(PSTR("offset_vec (BEFORE)"));
  9426. }
  9427. #endif
  9428. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  9429. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9430. if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
  9431. #endif
  9432. // Adjustments to the current position
  9433. const float xydiff[2] = { offset_vec.x, offset_vec.y };
  9434. current_position[Z_AXIS] += offset_vec.z;
  9435. #else // !ABL_PLANAR
  9436. const float xydiff[2] = {
  9437. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  9438. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  9439. };
  9440. #if ENABLED(MESH_BED_LEVELING)
  9441. if (planner.leveling_active) {
  9442. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9443. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  9444. #endif
  9445. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  9446. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  9447. z1 = current_position[Z_AXIS], z2 = z1;
  9448. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  9449. planner.apply_leveling(x2, y2, z2);
  9450. current_position[Z_AXIS] += z2 - z1;
  9451. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9452. if (DEBUGGING(LEVELING))
  9453. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  9454. #endif
  9455. }
  9456. #endif // MESH_BED_LEVELING
  9457. #endif // !HAS_ABL
  9458. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9459. if (DEBUGGING(LEVELING)) {
  9460. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  9461. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  9462. SERIAL_ECHOLNPGM(" }");
  9463. }
  9464. #endif
  9465. // The newly-selected extruder XY is actually at...
  9466. current_position[X_AXIS] += xydiff[X_AXIS];
  9467. current_position[Y_AXIS] += xydiff[Y_AXIS];
  9468. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(PARKING_EXTRUDER)
  9469. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  9470. #if HAS_POSITION_SHIFT
  9471. position_shift[i] += xydiff[i];
  9472. #endif
  9473. update_software_endstops((AxisEnum)i);
  9474. }
  9475. #endif
  9476. // Set the new active extruder
  9477. active_extruder = tmp_extruder;
  9478. #endif // !DUAL_X_CARRIAGE
  9479. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9480. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  9481. #endif
  9482. // Tell the planner the new "current position"
  9483. SYNC_PLAN_POSITION_KINEMATIC();
  9484. // Move to the "old position" (move the extruder into place)
  9485. if (!no_move && IsRunning()) {
  9486. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9487. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  9488. #endif
  9489. prepare_move_to_destination();
  9490. }
  9491. #if ENABLED(SWITCHING_NOZZLE)
  9492. // Move back down, if needed. (Including when the new tool is higher.)
  9493. if (z_raise != z_diff) {
  9494. destination[Z_AXIS] += z_diff;
  9495. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
  9496. prepare_move_to_destination();
  9497. }
  9498. #endif
  9499. } // (tmp_extruder != active_extruder)
  9500. stepper.synchronize();
  9501. #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
  9502. disable_all_solenoids();
  9503. enable_solenoid_on_active_extruder();
  9504. #endif // EXT_SOLENOID
  9505. feedrate_mm_s = old_feedrate_mm_s;
  9506. #else // HOTENDS <= 1
  9507. UNUSED(fr_mm_s);
  9508. UNUSED(no_move);
  9509. #if ENABLED(MK2_MULTIPLEXER)
  9510. if (tmp_extruder >= E_STEPPERS)
  9511. return invalid_extruder_error(tmp_extruder);
  9512. select_multiplexed_stepper(tmp_extruder);
  9513. #endif
  9514. // Set the new active extruder
  9515. active_extruder = tmp_extruder;
  9516. #endif // HOTENDS <= 1
  9517. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  9518. stepper.synchronize();
  9519. move_extruder_servo(active_extruder);
  9520. #endif
  9521. #if HAS_FANMUX
  9522. fanmux_switch(active_extruder);
  9523. #endif
  9524. SERIAL_ECHO_START();
  9525. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  9526. #endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  9527. }
  9528. /**
  9529. * T0-T3: Switch tool, usually switching extruders
  9530. *
  9531. * F[units/min] Set the movement feedrate
  9532. * S1 Don't move the tool in XY after change
  9533. */
  9534. inline void gcode_T(const uint8_t tmp_extruder) {
  9535. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9536. if (DEBUGGING(LEVELING)) {
  9537. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  9538. SERIAL_CHAR(')');
  9539. SERIAL_EOL();
  9540. DEBUG_POS("BEFORE", current_position);
  9541. }
  9542. #endif
  9543. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  9544. tool_change(tmp_extruder);
  9545. #elif HOTENDS > 1
  9546. tool_change(
  9547. tmp_extruder,
  9548. MMM_TO_MMS(parser.linearval('F')),
  9549. (tmp_extruder == active_extruder) || parser.boolval('S')
  9550. );
  9551. #endif
  9552. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9553. if (DEBUGGING(LEVELING)) {
  9554. DEBUG_POS("AFTER", current_position);
  9555. SERIAL_ECHOLNPGM("<<< gcode_T");
  9556. }
  9557. #endif
  9558. }
  9559. /**
  9560. * Process the parsed command and dispatch it to its handler
  9561. */
  9562. void process_parsed_command() {
  9563. KEEPALIVE_STATE(IN_HANDLER);
  9564. // Handle a known G, M, or T
  9565. switch (parser.command_letter) {
  9566. case 'G': switch (parser.codenum) {
  9567. // G0, G1
  9568. case 0:
  9569. case 1:
  9570. #if IS_SCARA
  9571. gcode_G0_G1(parser.codenum == 0);
  9572. #else
  9573. gcode_G0_G1();
  9574. #endif
  9575. break;
  9576. // G2, G3
  9577. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  9578. case 2: // G2: CW ARC
  9579. case 3: // G3: CCW ARC
  9580. gcode_G2_G3(parser.codenum == 2);
  9581. break;
  9582. #endif
  9583. // G4 Dwell
  9584. case 4:
  9585. gcode_G4();
  9586. break;
  9587. #if ENABLED(BEZIER_CURVE_SUPPORT)
  9588. case 5: // G5: Cubic B_spline
  9589. gcode_G5();
  9590. break;
  9591. #endif // BEZIER_CURVE_SUPPORT
  9592. #if ENABLED(FWRETRACT)
  9593. case 10: // G10: retract
  9594. gcode_G10();
  9595. break;
  9596. case 11: // G11: retract_recover
  9597. gcode_G11();
  9598. break;
  9599. #endif // FWRETRACT
  9600. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  9601. case 12:
  9602. gcode_G12(); // G12: Nozzle Clean
  9603. break;
  9604. #endif // NOZZLE_CLEAN_FEATURE
  9605. #if ENABLED(CNC_WORKSPACE_PLANES)
  9606. case 17: // G17: Select Plane XY
  9607. gcode_G17();
  9608. break;
  9609. case 18: // G18: Select Plane ZX
  9610. gcode_G18();
  9611. break;
  9612. case 19: // G19: Select Plane YZ
  9613. gcode_G19();
  9614. break;
  9615. #endif // CNC_WORKSPACE_PLANES
  9616. #if ENABLED(INCH_MODE_SUPPORT)
  9617. case 20: // G20: Inch Mode
  9618. gcode_G20();
  9619. break;
  9620. case 21: // G21: MM Mode
  9621. gcode_G21();
  9622. break;
  9623. #endif // INCH_MODE_SUPPORT
  9624. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  9625. case 26: // G26: Mesh Validation Pattern generation
  9626. gcode_G26();
  9627. break;
  9628. #endif // AUTO_BED_LEVELING_UBL
  9629. #if ENABLED(NOZZLE_PARK_FEATURE)
  9630. case 27: // G27: Nozzle Park
  9631. gcode_G27();
  9632. break;
  9633. #endif // NOZZLE_PARK_FEATURE
  9634. case 28: // G28: Home all axes, one at a time
  9635. gcode_G28(false);
  9636. break;
  9637. #if HAS_LEVELING
  9638. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
  9639. // or provides access to the UBL System if enabled.
  9640. gcode_G29();
  9641. break;
  9642. #endif // HAS_LEVELING
  9643. #if HAS_BED_PROBE
  9644. case 30: // G30 Single Z probe
  9645. gcode_G30();
  9646. break;
  9647. #if ENABLED(Z_PROBE_SLED)
  9648. case 31: // G31: dock the sled
  9649. gcode_G31();
  9650. break;
  9651. case 32: // G32: undock the sled
  9652. gcode_G32();
  9653. break;
  9654. #endif // Z_PROBE_SLED
  9655. #endif // HAS_BED_PROBE
  9656. #if PROBE_SELECTED
  9657. #if ENABLED(DELTA_AUTO_CALIBRATION)
  9658. case 33: // G33: Delta Auto-Calibration
  9659. gcode_G33();
  9660. break;
  9661. #endif // DELTA_AUTO_CALIBRATION
  9662. #endif // PROBE_SELECTED
  9663. #if ENABLED(G38_PROBE_TARGET)
  9664. case 38: // G38.2 & G38.3
  9665. if (parser.subcode == 2 || parser.subcode == 3)
  9666. gcode_G38(parser.subcode == 2);
  9667. break;
  9668. #endif
  9669. case 90: // G90
  9670. relative_mode = false;
  9671. break;
  9672. case 91: // G91
  9673. relative_mode = true;
  9674. break;
  9675. case 92: // G92
  9676. gcode_G92();
  9677. break;
  9678. #if HAS_MESH
  9679. case 42:
  9680. gcode_G42();
  9681. break;
  9682. #endif
  9683. #if ENABLED(DEBUG_GCODE_PARSER)
  9684. case 800:
  9685. parser.debug(); // GCode Parser Test for G
  9686. break;
  9687. #endif
  9688. }
  9689. break;
  9690. case 'M': switch (parser.codenum) {
  9691. #if HAS_RESUME_CONTINUE
  9692. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  9693. case 1: // M1: Conditional stop - Wait for user button press on LCD
  9694. gcode_M0_M1();
  9695. break;
  9696. #endif // ULTIPANEL
  9697. #if ENABLED(SPINDLE_LASER_ENABLE)
  9698. case 3:
  9699. gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
  9700. break; // synchronizes with movement commands
  9701. case 4:
  9702. gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
  9703. break; // synchronizes with movement commands
  9704. case 5:
  9705. gcode_M5(); // M5 - turn spindle/laser off
  9706. break; // synchronizes with movement commands
  9707. #endif
  9708. case 17: // M17: Enable all stepper motors
  9709. gcode_M17();
  9710. break;
  9711. #if ENABLED(SDSUPPORT)
  9712. case 20: // M20: list SD card
  9713. gcode_M20(); break;
  9714. case 21: // M21: init SD card
  9715. gcode_M21(); break;
  9716. case 22: // M22: release SD card
  9717. gcode_M22(); break;
  9718. case 23: // M23: Select file
  9719. gcode_M23(); break;
  9720. case 24: // M24: Start SD print
  9721. gcode_M24(); break;
  9722. case 25: // M25: Pause SD print
  9723. gcode_M25(); break;
  9724. case 26: // M26: Set SD index
  9725. gcode_M26(); break;
  9726. case 27: // M27: Get SD status
  9727. gcode_M27(); break;
  9728. case 28: // M28: Start SD write
  9729. gcode_M28(); break;
  9730. case 29: // M29: Stop SD write
  9731. gcode_M29(); break;
  9732. case 30: // M30 <filename> Delete File
  9733. gcode_M30(); break;
  9734. case 32: // M32: Select file and start SD print
  9735. gcode_M32(); break;
  9736. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  9737. case 33: // M33: Get the long full path to a file or folder
  9738. gcode_M33(); break;
  9739. #endif
  9740. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  9741. case 34: // M34: Set SD card sorting options
  9742. gcode_M34(); break;
  9743. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  9744. case 928: // M928: Start SD write
  9745. gcode_M928(); break;
  9746. #endif // SDSUPPORT
  9747. case 31: // M31: Report time since the start of SD print or last M109
  9748. gcode_M31(); break;
  9749. case 42: // M42: Change pin state
  9750. gcode_M42(); break;
  9751. #if ENABLED(PINS_DEBUGGING)
  9752. case 43: // M43: Read pin state
  9753. gcode_M43(); break;
  9754. #endif
  9755. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  9756. case 48: // M48: Z probe repeatability test
  9757. gcode_M48();
  9758. break;
  9759. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  9760. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  9761. case 49: // M49: Turn on or off G26 debug flag for verbose output
  9762. gcode_M49();
  9763. break;
  9764. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
  9765. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  9766. case 73: // M73: Set print progress percentage
  9767. gcode_M73(); break;
  9768. #endif
  9769. case 75: // M75: Start print timer
  9770. gcode_M75(); break;
  9771. case 76: // M76: Pause print timer
  9772. gcode_M76(); break;
  9773. case 77: // M77: Stop print timer
  9774. gcode_M77(); break;
  9775. #if ENABLED(PRINTCOUNTER)
  9776. case 78: // M78: Show print statistics
  9777. gcode_M78(); break;
  9778. #endif
  9779. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  9780. case 100: // M100: Free Memory Report
  9781. gcode_M100();
  9782. break;
  9783. #endif
  9784. case 104: // M104: Set hot end temperature
  9785. gcode_M104();
  9786. break;
  9787. case 110: // M110: Set Current Line Number
  9788. gcode_M110();
  9789. break;
  9790. case 111: // M111: Set debug level
  9791. gcode_M111();
  9792. break;
  9793. #if DISABLED(EMERGENCY_PARSER)
  9794. case 108: // M108: Cancel Waiting
  9795. gcode_M108();
  9796. break;
  9797. case 112: // M112: Emergency Stop
  9798. gcode_M112();
  9799. break;
  9800. case 410: // M410 quickstop - Abort all the planned moves.
  9801. gcode_M410();
  9802. break;
  9803. #endif
  9804. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  9805. case 113: // M113: Set Host Keepalive interval
  9806. gcode_M113();
  9807. break;
  9808. #endif
  9809. case 140: // M140: Set bed temperature
  9810. gcode_M140();
  9811. break;
  9812. case 105: // M105: Report current temperature
  9813. gcode_M105();
  9814. KEEPALIVE_STATE(NOT_BUSY);
  9815. return; // "ok" already printed
  9816. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  9817. case 155: // M155: Set temperature auto-report interval
  9818. gcode_M155();
  9819. break;
  9820. #endif
  9821. case 109: // M109: Wait for hotend temperature to reach target
  9822. gcode_M109();
  9823. break;
  9824. #if HAS_TEMP_BED
  9825. case 190: // M190: Wait for bed temperature to reach target
  9826. gcode_M190();
  9827. break;
  9828. #endif // HAS_TEMP_BED
  9829. #if FAN_COUNT > 0
  9830. case 106: // M106: Fan On
  9831. gcode_M106();
  9832. break;
  9833. case 107: // M107: Fan Off
  9834. gcode_M107();
  9835. break;
  9836. #endif // FAN_COUNT > 0
  9837. #if ENABLED(PARK_HEAD_ON_PAUSE)
  9838. case 125: // M125: Store current position and move to filament change position
  9839. gcode_M125(); break;
  9840. #endif
  9841. #if ENABLED(BARICUDA)
  9842. // PWM for HEATER_1_PIN
  9843. #if HAS_HEATER_1
  9844. case 126: // M126: valve open
  9845. gcode_M126();
  9846. break;
  9847. case 127: // M127: valve closed
  9848. gcode_M127();
  9849. break;
  9850. #endif // HAS_HEATER_1
  9851. // PWM for HEATER_2_PIN
  9852. #if HAS_HEATER_2
  9853. case 128: // M128: valve open
  9854. gcode_M128();
  9855. break;
  9856. case 129: // M129: valve closed
  9857. gcode_M129();
  9858. break;
  9859. #endif // HAS_HEATER_2
  9860. #endif // BARICUDA
  9861. #if HAS_POWER_SWITCH
  9862. case 80: // M80: Turn on Power Supply
  9863. gcode_M80();
  9864. break;
  9865. #endif // HAS_POWER_SWITCH
  9866. case 81: // M81: Turn off Power, including Power Supply, if possible
  9867. gcode_M81();
  9868. break;
  9869. case 82: // M82: Set E axis normal mode (same as other axes)
  9870. gcode_M82();
  9871. break;
  9872. case 83: // M83: Set E axis relative mode
  9873. gcode_M83();
  9874. break;
  9875. case 18: // M18 => M84
  9876. case 84: // M84: Disable all steppers or set timeout
  9877. gcode_M18_M84();
  9878. break;
  9879. case 85: // M85: Set inactivity stepper shutdown timeout
  9880. gcode_M85();
  9881. break;
  9882. case 92: // M92: Set the steps-per-unit for one or more axes
  9883. gcode_M92();
  9884. break;
  9885. case 114: // M114: Report current position
  9886. gcode_M114();
  9887. break;
  9888. case 115: // M115: Report capabilities
  9889. gcode_M115();
  9890. break;
  9891. case 117: // M117: Set LCD message text, if possible
  9892. gcode_M117();
  9893. break;
  9894. case 118: // M118: Display a message in the host console
  9895. gcode_M118();
  9896. break;
  9897. case 119: // M119: Report endstop states
  9898. gcode_M119();
  9899. break;
  9900. case 120: // M120: Enable endstops
  9901. gcode_M120();
  9902. break;
  9903. case 121: // M121: Disable endstops
  9904. gcode_M121();
  9905. break;
  9906. #if ENABLED(ULTIPANEL)
  9907. case 145: // M145: Set material heatup parameters
  9908. gcode_M145();
  9909. break;
  9910. #endif
  9911. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  9912. case 149: // M149: Set temperature units
  9913. gcode_M149();
  9914. break;
  9915. #endif
  9916. #if HAS_COLOR_LEDS
  9917. case 150: // M150: Set Status LED Color
  9918. gcode_M150();
  9919. break;
  9920. #endif // HAS_COLOR_LEDS
  9921. #if ENABLED(MIXING_EXTRUDER)
  9922. case 163: // M163: Set a component weight for mixing extruder
  9923. gcode_M163();
  9924. break;
  9925. #if MIXING_VIRTUAL_TOOLS > 1
  9926. case 164: // M164: Save current mix as a virtual extruder
  9927. gcode_M164();
  9928. break;
  9929. #endif
  9930. #if ENABLED(DIRECT_MIXING_IN_G1)
  9931. case 165: // M165: Set multiple mix weights
  9932. gcode_M165();
  9933. break;
  9934. #endif
  9935. #endif
  9936. case 200: // M200: Set filament diameter, E to cubic units
  9937. gcode_M200();
  9938. break;
  9939. case 201: // M201: Set max acceleration for print moves (units/s^2)
  9940. gcode_M201();
  9941. break;
  9942. #if 0 // Not used for Sprinter/grbl gen6
  9943. case 202: // M202
  9944. gcode_M202();
  9945. break;
  9946. #endif
  9947. case 203: // M203: Set max feedrate (units/sec)
  9948. gcode_M203();
  9949. break;
  9950. case 204: // M204: Set acceleration
  9951. gcode_M204();
  9952. break;
  9953. case 205: // M205: Set advanced settings
  9954. gcode_M205();
  9955. break;
  9956. #if HAS_M206_COMMAND
  9957. case 206: // M206: Set home offsets
  9958. gcode_M206();
  9959. break;
  9960. #endif
  9961. #if ENABLED(DELTA)
  9962. case 665: // M665: Set delta configurations
  9963. gcode_M665();
  9964. break;
  9965. #endif
  9966. #if ENABLED(DELTA) || ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  9967. case 666: // M666: Set delta or dual endstop adjustment
  9968. gcode_M666();
  9969. break;
  9970. #endif
  9971. #if ENABLED(FWRETRACT)
  9972. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  9973. gcode_M207();
  9974. break;
  9975. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  9976. gcode_M208();
  9977. break;
  9978. case 209: // M209: Turn Automatic Retract Detection on/off
  9979. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209();
  9980. break;
  9981. #endif // FWRETRACT
  9982. case 211: // M211: Enable, Disable, and/or Report software endstops
  9983. gcode_M211();
  9984. break;
  9985. #if HOTENDS > 1
  9986. case 218: // M218: Set a tool offset
  9987. gcode_M218();
  9988. break;
  9989. #endif // HOTENDS > 1
  9990. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  9991. gcode_M220();
  9992. break;
  9993. case 221: // M221: Set Flow Percentage
  9994. gcode_M221();
  9995. break;
  9996. case 226: // M226: Wait until a pin reaches a state
  9997. gcode_M226();
  9998. break;
  9999. #if HAS_SERVOS
  10000. case 280: // M280: Set servo position absolute
  10001. gcode_M280();
  10002. break;
  10003. #endif // HAS_SERVOS
  10004. #if ENABLED(BABYSTEPPING)
  10005. case 290: // M290: Babystepping
  10006. gcode_M290();
  10007. break;
  10008. #endif // BABYSTEPPING
  10009. #if HAS_BUZZER
  10010. case 300: // M300: Play beep tone
  10011. gcode_M300();
  10012. break;
  10013. #endif // HAS_BUZZER
  10014. #if ENABLED(PIDTEMP)
  10015. case 301: // M301: Set hotend PID parameters
  10016. gcode_M301();
  10017. break;
  10018. #endif // PIDTEMP
  10019. #if ENABLED(PIDTEMPBED)
  10020. case 304: // M304: Set bed PID parameters
  10021. gcode_M304();
  10022. break;
  10023. #endif // PIDTEMPBED
  10024. #if defined(CHDK) || HAS_PHOTOGRAPH
  10025. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  10026. gcode_M240();
  10027. break;
  10028. #endif // CHDK || PHOTOGRAPH_PIN
  10029. #if HAS_LCD_CONTRAST
  10030. case 250: // M250: Set LCD contrast
  10031. gcode_M250();
  10032. break;
  10033. #endif // HAS_LCD_CONTRAST
  10034. #if ENABLED(EXPERIMENTAL_I2CBUS)
  10035. case 260: // M260: Send data to an i2c slave
  10036. gcode_M260();
  10037. break;
  10038. case 261: // M261: Request data from an i2c slave
  10039. gcode_M261();
  10040. break;
  10041. #endif // EXPERIMENTAL_I2CBUS
  10042. #if ENABLED(PREVENT_COLD_EXTRUSION)
  10043. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  10044. gcode_M302();
  10045. break;
  10046. #endif // PREVENT_COLD_EXTRUSION
  10047. case 303: // M303: PID autotune
  10048. gcode_M303();
  10049. break;
  10050. #if ENABLED(MORGAN_SCARA)
  10051. case 360: // M360: SCARA Theta pos1
  10052. if (gcode_M360()) return;
  10053. break;
  10054. case 361: // M361: SCARA Theta pos2
  10055. if (gcode_M361()) return;
  10056. break;
  10057. case 362: // M362: SCARA Psi pos1
  10058. if (gcode_M362()) return;
  10059. break;
  10060. case 363: // M363: SCARA Psi pos2
  10061. if (gcode_M363()) return;
  10062. break;
  10063. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  10064. if (gcode_M364()) return;
  10065. break;
  10066. #endif // SCARA
  10067. case 400: // M400: Finish all moves
  10068. gcode_M400();
  10069. break;
  10070. #if HAS_BED_PROBE
  10071. case 401: // M401: Deploy probe
  10072. gcode_M401();
  10073. break;
  10074. case 402: // M402: Stow probe
  10075. gcode_M402();
  10076. break;
  10077. #endif // HAS_BED_PROBE
  10078. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  10079. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  10080. gcode_M404();
  10081. break;
  10082. case 405: // M405: Turn on filament sensor for control
  10083. gcode_M405();
  10084. break;
  10085. case 406: // M406: Turn off filament sensor for control
  10086. gcode_M406();
  10087. break;
  10088. case 407: // M407: Display measured filament diameter
  10089. gcode_M407();
  10090. break;
  10091. #endif // FILAMENT_WIDTH_SENSOR
  10092. #if HAS_LEVELING
  10093. case 420: // M420: Enable/Disable Bed Leveling
  10094. gcode_M420();
  10095. break;
  10096. #endif
  10097. #if HAS_MESH
  10098. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  10099. gcode_M421();
  10100. break;
  10101. #endif
  10102. #if HAS_M206_COMMAND
  10103. case 428: // M428: Apply current_position to home_offset
  10104. gcode_M428();
  10105. break;
  10106. #endif
  10107. case 500: // M500: Store settings in EEPROM
  10108. gcode_M500();
  10109. break;
  10110. case 501: // M501: Read settings from EEPROM
  10111. gcode_M501();
  10112. break;
  10113. case 502: // M502: Revert to default settings
  10114. gcode_M502();
  10115. break;
  10116. #if DISABLED(DISABLE_M503)
  10117. case 503: // M503: print settings currently in memory
  10118. gcode_M503();
  10119. break;
  10120. #endif
  10121. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  10122. case 540: // M540: Set abort on endstop hit for SD printing
  10123. gcode_M540();
  10124. break;
  10125. #endif
  10126. #if HAS_BED_PROBE
  10127. case 851: // M851: Set Z Probe Z Offset
  10128. gcode_M851();
  10129. break;
  10130. #endif // HAS_BED_PROBE
  10131. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  10132. case 600: // M600: Pause for filament change
  10133. gcode_M600();
  10134. break;
  10135. #endif // ADVANCED_PAUSE_FEATURE
  10136. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  10137. case 605: // M605: Set Dual X Carriage movement mode
  10138. gcode_M605();
  10139. break;
  10140. #endif // DUAL_X_CARRIAGE
  10141. #if ENABLED(MK2_MULTIPLEXER)
  10142. case 702: // M702: Unload all extruders
  10143. gcode_M702();
  10144. break;
  10145. #endif
  10146. #if ENABLED(LIN_ADVANCE)
  10147. case 900: // M900: Set advance K factor.
  10148. gcode_M900();
  10149. break;
  10150. #endif
  10151. #if ENABLED(HAVE_TMC2130)
  10152. case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
  10153. gcode_M906();
  10154. break;
  10155. #endif
  10156. case 907: // M907: Set digital trimpot motor current using axis codes.
  10157. gcode_M907();
  10158. break;
  10159. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  10160. case 908: // M908: Control digital trimpot directly.
  10161. gcode_M908();
  10162. break;
  10163. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  10164. case 909: // M909: Print digipot/DAC current value
  10165. gcode_M909();
  10166. break;
  10167. case 910: // M910: Commit digipot/DAC value to external EEPROM
  10168. gcode_M910();
  10169. break;
  10170. #endif
  10171. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  10172. #if ENABLED(HAVE_TMC2130)
  10173. case 911: // M911: Report TMC2130 prewarn triggered flags
  10174. gcode_M911();
  10175. break;
  10176. case 912: // M911: Clear TMC2130 prewarn triggered flags
  10177. gcode_M912();
  10178. break;
  10179. #if ENABLED(HYBRID_THRESHOLD)
  10180. case 913: // M913: Set HYBRID_THRESHOLD speed.
  10181. gcode_M913();
  10182. break;
  10183. #endif
  10184. #if ENABLED(SENSORLESS_HOMING)
  10185. case 914: // M914: Set SENSORLESS_HOMING sensitivity.
  10186. gcode_M914();
  10187. break;
  10188. #endif
  10189. #endif
  10190. #if HAS_MICROSTEPS
  10191. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  10192. gcode_M350();
  10193. break;
  10194. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  10195. gcode_M351();
  10196. break;
  10197. #endif // HAS_MICROSTEPS
  10198. case 355: // M355 set case light brightness
  10199. gcode_M355();
  10200. break;
  10201. #if ENABLED(DEBUG_GCODE_PARSER)
  10202. case 800:
  10203. parser.debug(); // GCode Parser Test for M
  10204. break;
  10205. #endif
  10206. #if ENABLED(I2C_POSITION_ENCODERS)
  10207. case 860: // M860 Report encoder module position
  10208. gcode_M860();
  10209. break;
  10210. case 861: // M861 Report encoder module status
  10211. gcode_M861();
  10212. break;
  10213. case 862: // M862 Perform axis test
  10214. gcode_M862();
  10215. break;
  10216. case 863: // M863 Calibrate steps/mm
  10217. gcode_M863();
  10218. break;
  10219. case 864: // M864 Change module address
  10220. gcode_M864();
  10221. break;
  10222. case 865: // M865 Check module firmware version
  10223. gcode_M865();
  10224. break;
  10225. case 866: // M866 Report axis error count
  10226. gcode_M866();
  10227. break;
  10228. case 867: // M867 Toggle error correction
  10229. gcode_M867();
  10230. break;
  10231. case 868: // M868 Set error correction threshold
  10232. gcode_M868();
  10233. break;
  10234. case 869: // M869 Report axis error
  10235. gcode_M869();
  10236. break;
  10237. #endif // I2C_POSITION_ENCODERS
  10238. case 999: // M999: Restart after being Stopped
  10239. gcode_M999();
  10240. break;
  10241. }
  10242. break;
  10243. case 'T':
  10244. gcode_T(parser.codenum);
  10245. break;
  10246. default: parser.unknown_command_error();
  10247. }
  10248. KEEPALIVE_STATE(NOT_BUSY);
  10249. ok_to_send();
  10250. }
  10251. void process_next_command() {
  10252. char * const current_command = command_queue[cmd_queue_index_r];
  10253. if (DEBUGGING(ECHO)) {
  10254. SERIAL_ECHO_START();
  10255. SERIAL_ECHOLN(current_command);
  10256. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  10257. SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
  10258. M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
  10259. #endif
  10260. }
  10261. // Parse the next command in the queue
  10262. parser.parse(current_command);
  10263. process_parsed_command();
  10264. }
  10265. /**
  10266. * Send a "Resend: nnn" message to the host to
  10267. * indicate that a command needs to be re-sent.
  10268. */
  10269. void FlushSerialRequestResend() {
  10270. //char command_queue[cmd_queue_index_r][100]="Resend:";
  10271. MYSERIAL.flush();
  10272. SERIAL_PROTOCOLPGM(MSG_RESEND);
  10273. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  10274. ok_to_send();
  10275. }
  10276. /**
  10277. * Send an "ok" message to the host, indicating
  10278. * that a command was successfully processed.
  10279. *
  10280. * If ADVANCED_OK is enabled also include:
  10281. * N<int> Line number of the command, if any
  10282. * P<int> Planner space remaining
  10283. * B<int> Block queue space remaining
  10284. */
  10285. void ok_to_send() {
  10286. refresh_cmd_timeout();
  10287. if (!send_ok[cmd_queue_index_r]) return;
  10288. SERIAL_PROTOCOLPGM(MSG_OK);
  10289. #if ENABLED(ADVANCED_OK)
  10290. char* p = command_queue[cmd_queue_index_r];
  10291. if (*p == 'N') {
  10292. SERIAL_PROTOCOL(' ');
  10293. SERIAL_ECHO(*p++);
  10294. while (NUMERIC_SIGNED(*p))
  10295. SERIAL_ECHO(*p++);
  10296. }
  10297. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  10298. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  10299. #endif
  10300. SERIAL_EOL();
  10301. }
  10302. #if HAS_SOFTWARE_ENDSTOPS
  10303. /**
  10304. * Constrain the given coordinates to the software endstops.
  10305. *
  10306. * For DELTA/SCARA the XY constraint is based on the smallest
  10307. * radius within the set software endstops.
  10308. */
  10309. void clamp_to_software_endstops(float target[XYZ]) {
  10310. if (!soft_endstops_enabled) return;
  10311. #if IS_KINEMATIC
  10312. const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
  10313. if (dist_2 > soft_endstop_radius_2) {
  10314. const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
  10315. target[X_AXIS] *= ratio;
  10316. target[Y_AXIS] *= ratio;
  10317. }
  10318. #else
  10319. #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
  10320. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  10321. #endif
  10322. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
  10323. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  10324. #endif
  10325. #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
  10326. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  10327. #endif
  10328. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
  10329. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  10330. #endif
  10331. #endif
  10332. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
  10333. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  10334. #endif
  10335. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
  10336. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  10337. #endif
  10338. }
  10339. #endif
  10340. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10341. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  10342. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  10343. #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
  10344. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  10345. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  10346. #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
  10347. #else
  10348. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  10349. #define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
  10350. #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
  10351. #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
  10352. #define ABL_BG_GRID(X,Y) z_values[X][Y]
  10353. #endif
  10354. // Get the Z adjustment for non-linear bed leveling
  10355. float bilinear_z_offset(const float raw[XYZ]) {
  10356. static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
  10357. last_x = -999.999, last_y = -999.999;
  10358. // Whole units for the grid line indices. Constrained within bounds.
  10359. static int8_t gridx, gridy, nextx, nexty,
  10360. last_gridx = -99, last_gridy = -99;
  10361. // XY relative to the probed area
  10362. const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
  10363. ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
  10364. #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
  10365. // Keep using the last grid box
  10366. #define FAR_EDGE_OR_BOX 2
  10367. #else
  10368. // Just use the grid far edge
  10369. #define FAR_EDGE_OR_BOX 1
  10370. #endif
  10371. if (last_x != rx) {
  10372. last_x = rx;
  10373. ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
  10374. const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
  10375. ratio_x -= gx; // Subtract whole to get the ratio within the grid box
  10376. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10377. // Beyond the grid maintain height at grid edges
  10378. NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
  10379. #endif
  10380. gridx = gx;
  10381. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
  10382. }
  10383. if (last_y != ry || last_gridx != gridx) {
  10384. if (last_y != ry) {
  10385. last_y = ry;
  10386. ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
  10387. const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
  10388. ratio_y -= gy;
  10389. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10390. // Beyond the grid maintain height at grid edges
  10391. NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
  10392. #endif
  10393. gridy = gy;
  10394. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  10395. }
  10396. if (last_gridx != gridx || last_gridy != gridy) {
  10397. last_gridx = gridx;
  10398. last_gridy = gridy;
  10399. // Z at the box corners
  10400. z1 = ABL_BG_GRID(gridx, gridy); // left-front
  10401. d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
  10402. z3 = ABL_BG_GRID(nextx, gridy); // right-front
  10403. d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
  10404. }
  10405. // Bilinear interpolate. Needed since ry or gridx has changed.
  10406. L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
  10407. const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
  10408. D = R - L;
  10409. }
  10410. const float offset = L + ratio_x * D; // the offset almost always changes
  10411. /*
  10412. static float last_offset = 0;
  10413. if (FABS(last_offset - offset) > 0.2) {
  10414. SERIAL_ECHOPGM("Sudden Shift at ");
  10415. SERIAL_ECHOPAIR("x=", rx);
  10416. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  10417. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  10418. SERIAL_ECHOPAIR(" y=", ry);
  10419. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  10420. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  10421. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  10422. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  10423. SERIAL_ECHOPAIR(" z1=", z1);
  10424. SERIAL_ECHOPAIR(" z2=", z2);
  10425. SERIAL_ECHOPAIR(" z3=", z3);
  10426. SERIAL_ECHOLNPAIR(" z4=", z4);
  10427. SERIAL_ECHOPAIR(" L=", L);
  10428. SERIAL_ECHOPAIR(" R=", R);
  10429. SERIAL_ECHOLNPAIR(" offset=", offset);
  10430. }
  10431. last_offset = offset;
  10432. //*/
  10433. return offset;
  10434. }
  10435. #endif // AUTO_BED_LEVELING_BILINEAR
  10436. #if ENABLED(DELTA)
  10437. /**
  10438. * Recalculate factors used for delta kinematics whenever
  10439. * settings have been changed (e.g., by M665).
  10440. */
  10441. void recalc_delta_settings(float radius, float diagonal_rod, float tower_angle_trim[ABC]) {
  10442. const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
  10443. drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
  10444. delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
  10445. delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
  10446. delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
  10447. delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
  10448. delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]); // back middle tower
  10449. delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]);
  10450. delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
  10451. delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
  10452. delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
  10453. }
  10454. #if ENABLED(DELTA_FAST_SQRT)
  10455. /**
  10456. * Fast inverse sqrt from Quake III Arena
  10457. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  10458. */
  10459. float Q_rsqrt(float number) {
  10460. long i;
  10461. float x2, y;
  10462. const float threehalfs = 1.5f;
  10463. x2 = number * 0.5f;
  10464. y = number;
  10465. i = * ( long * ) &y; // evil floating point bit level hacking
  10466. i = 0x5F3759DF - ( i >> 1 ); // what the f***?
  10467. y = * ( float * ) &i;
  10468. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  10469. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  10470. return y;
  10471. }
  10472. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  10473. #else
  10474. #define _SQRT(n) SQRT(n)
  10475. #endif
  10476. /**
  10477. * Delta Inverse Kinematics
  10478. *
  10479. * Calculate the tower positions for a given machine
  10480. * position, storing the result in the delta[] array.
  10481. *
  10482. * This is an expensive calculation, requiring 3 square
  10483. * roots per segmented linear move, and strains the limits
  10484. * of a Mega2560 with a Graphical Display.
  10485. *
  10486. * Suggested optimizations include:
  10487. *
  10488. * - Disable the home_offset (M206) and/or position_shift (G92)
  10489. * features to remove up to 12 float additions.
  10490. *
  10491. * - Use a fast-inverse-sqrt function and add the reciprocal.
  10492. * (see above)
  10493. */
  10494. // Macro to obtain the Z position of an individual tower
  10495. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  10496. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  10497. delta_tower[T][X_AXIS] - raw[X_AXIS], \
  10498. delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
  10499. ) \
  10500. )
  10501. #define DELTA_RAW_IK() do { \
  10502. delta[A_AXIS] = DELTA_Z(A_AXIS); \
  10503. delta[B_AXIS] = DELTA_Z(B_AXIS); \
  10504. delta[C_AXIS] = DELTA_Z(C_AXIS); \
  10505. }while(0)
  10506. #define DELTA_DEBUG() do { \
  10507. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  10508. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  10509. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  10510. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  10511. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  10512. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  10513. }while(0)
  10514. void inverse_kinematics(const float raw[XYZ]) {
  10515. DELTA_RAW_IK();
  10516. // DELTA_DEBUG();
  10517. }
  10518. /**
  10519. * Calculate the highest Z position where the
  10520. * effector has the full range of XY motion.
  10521. */
  10522. float delta_safe_distance_from_top() {
  10523. float cartesian[XYZ] = { 0, 0, 0 };
  10524. inverse_kinematics(cartesian);
  10525. float distance = delta[A_AXIS];
  10526. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  10527. inverse_kinematics(cartesian);
  10528. return FABS(distance - delta[A_AXIS]);
  10529. }
  10530. /**
  10531. * Delta Forward Kinematics
  10532. *
  10533. * See the Wikipedia article "Trilateration"
  10534. * https://en.wikipedia.org/wiki/Trilateration
  10535. *
  10536. * Establish a new coordinate system in the plane of the
  10537. * three carriage points. This system has its origin at
  10538. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  10539. * plane with a Z component of zero.
  10540. * We will define unit vectors in this coordinate system
  10541. * in our original coordinate system. Then when we calculate
  10542. * the Xnew, Ynew and Znew values, we can translate back into
  10543. * the original system by moving along those unit vectors
  10544. * by the corresponding values.
  10545. *
  10546. * Variable names matched to Marlin, c-version, and avoid the
  10547. * use of any vector library.
  10548. *
  10549. * by Andreas Hardtung 2016-06-07
  10550. * based on a Java function from "Delta Robot Kinematics V3"
  10551. * by Steve Graves
  10552. *
  10553. * The result is stored in the cartes[] array.
  10554. */
  10555. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  10556. // Create a vector in old coordinates along x axis of new coordinate
  10557. float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
  10558. // Get the Magnitude of vector.
  10559. float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  10560. // Create unit vector by dividing by magnitude.
  10561. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  10562. // Get the vector from the origin of the new system to the third point.
  10563. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
  10564. // Use the dot product to find the component of this vector on the X axis.
  10565. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  10566. // Create a vector along the x axis that represents the x component of p13.
  10567. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  10568. // Subtract the X component from the original vector leaving only Y. We use the
  10569. // variable that will be the unit vector after we scale it.
  10570. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  10571. // The magnitude of Y component
  10572. float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  10573. // Convert to a unit vector
  10574. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  10575. // The cross product of the unit x and y is the unit z
  10576. // float[] ez = vectorCrossProd(ex, ey);
  10577. float ez[3] = {
  10578. ex[1] * ey[2] - ex[2] * ey[1],
  10579. ex[2] * ey[0] - ex[0] * ey[2],
  10580. ex[0] * ey[1] - ex[1] * ey[0]
  10581. };
  10582. // We now have the d, i and j values defined in Wikipedia.
  10583. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  10584. float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
  10585. Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  10586. Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
  10587. // Start from the origin of the old coordinates and add vectors in the
  10588. // old coords that represent the Xnew, Ynew and Znew to find the point
  10589. // in the old system.
  10590. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  10591. cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  10592. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  10593. }
  10594. void forward_kinematics_DELTA(float point[ABC]) {
  10595. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  10596. }
  10597. #endif // DELTA
  10598. /**
  10599. * Get the stepper positions in the cartes[] array.
  10600. * Forward kinematics are applied for DELTA and SCARA.
  10601. *
  10602. * The result is in the current coordinate space with
  10603. * leveling applied. The coordinates need to be run through
  10604. * unapply_leveling to obtain machine coordinates suitable
  10605. * for current_position, etc.
  10606. */
  10607. void get_cartesian_from_steppers() {
  10608. #if ENABLED(DELTA)
  10609. forward_kinematics_DELTA(
  10610. stepper.get_axis_position_mm(A_AXIS),
  10611. stepper.get_axis_position_mm(B_AXIS),
  10612. stepper.get_axis_position_mm(C_AXIS)
  10613. );
  10614. #else
  10615. #if IS_SCARA
  10616. forward_kinematics_SCARA(
  10617. stepper.get_axis_position_degrees(A_AXIS),
  10618. stepper.get_axis_position_degrees(B_AXIS)
  10619. );
  10620. #else
  10621. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  10622. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  10623. #endif
  10624. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  10625. #endif
  10626. }
  10627. /**
  10628. * Set the current_position for an axis based on
  10629. * the stepper positions, removing any leveling that
  10630. * may have been applied.
  10631. */
  10632. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  10633. get_cartesian_from_steppers();
  10634. #if PLANNER_LEVELING
  10635. planner.unapply_leveling(cartes);
  10636. #endif
  10637. if (axis == ALL_AXES)
  10638. COPY(current_position, cartes);
  10639. else
  10640. current_position[axis] = cartes[axis];
  10641. }
  10642. #if ENABLED(MESH_BED_LEVELING)
  10643. /**
  10644. * Prepare a mesh-leveled linear move in a Cartesian setup,
  10645. * splitting the move where it crosses mesh borders.
  10646. */
  10647. void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
  10648. int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
  10649. cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
  10650. cx2 = mbl.cell_index_x(destination[X_AXIS]),
  10651. cy2 = mbl.cell_index_y(destination[Y_AXIS]);
  10652. NOMORE(cx1, GRID_MAX_POINTS_X - 2);
  10653. NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
  10654. NOMORE(cx2, GRID_MAX_POINTS_X - 2);
  10655. NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
  10656. if (cx1 == cx2 && cy1 == cy2) {
  10657. // Start and end on same mesh square
  10658. buffer_line_to_destination(fr_mm_s);
  10659. set_current_from_destination();
  10660. return;
  10661. }
  10662. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10663. float normalized_dist, end[XYZE];
  10664. // Split at the left/front border of the right/top square
  10665. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10666. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10667. COPY(end, destination);
  10668. destination[X_AXIS] = mbl.index_to_xpos[gcx];
  10669. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10670. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  10671. CBI(x_splits, gcx);
  10672. }
  10673. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10674. COPY(end, destination);
  10675. destination[Y_AXIS] = mbl.index_to_ypos[gcy];
  10676. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10677. destination[X_AXIS] = MBL_SEGMENT_END(X);
  10678. CBI(y_splits, gcy);
  10679. }
  10680. else {
  10681. // Already split on a border
  10682. buffer_line_to_destination(fr_mm_s);
  10683. set_current_from_destination();
  10684. return;
  10685. }
  10686. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  10687. destination[E_AXIS] = MBL_SEGMENT_END(E);
  10688. // Do the split and look for more borders
  10689. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10690. // Restore destination from stack
  10691. COPY(destination, end);
  10692. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10693. }
  10694. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  10695. #define CELL_INDEX(A,V) ((V - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
  10696. /**
  10697. * Prepare a bilinear-leveled linear move on Cartesian,
  10698. * splitting the move where it crosses grid borders.
  10699. */
  10700. void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  10701. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  10702. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  10703. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  10704. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  10705. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  10706. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  10707. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  10708. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  10709. if (cx1 == cx2 && cy1 == cy2) {
  10710. // Start and end on same mesh square
  10711. buffer_line_to_destination(fr_mm_s);
  10712. set_current_from_destination();
  10713. return;
  10714. }
  10715. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10716. float normalized_dist, end[XYZE];
  10717. // Split at the left/front border of the right/top square
  10718. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10719. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10720. COPY(end, destination);
  10721. destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
  10722. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10723. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  10724. CBI(x_splits, gcx);
  10725. }
  10726. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10727. COPY(end, destination);
  10728. destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
  10729. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10730. destination[X_AXIS] = LINE_SEGMENT_END(X);
  10731. CBI(y_splits, gcy);
  10732. }
  10733. else {
  10734. // Already split on a border
  10735. buffer_line_to_destination(fr_mm_s);
  10736. set_current_from_destination();
  10737. return;
  10738. }
  10739. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  10740. destination[E_AXIS] = LINE_SEGMENT_END(E);
  10741. // Do the split and look for more borders
  10742. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10743. // Restore destination from stack
  10744. COPY(destination, end);
  10745. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10746. }
  10747. #endif // AUTO_BED_LEVELING_BILINEAR
  10748. #if !UBL_DELTA
  10749. #if IS_KINEMATIC
  10750. /**
  10751. * Prepare a linear move in a DELTA or SCARA setup.
  10752. *
  10753. * This calls planner.buffer_line several times, adding
  10754. * small incremental moves for DELTA or SCARA.
  10755. *
  10756. * For Unified Bed Leveling (Delta or Segmented Cartesian)
  10757. * the ubl.prepare_segmented_line_to method replaces this.
  10758. */
  10759. inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
  10760. // Get the top feedrate of the move in the XY plane
  10761. const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  10762. // If the move is only in Z/E don't split up the move
  10763. if (rtarget[X_AXIS] == current_position[X_AXIS] && rtarget[Y_AXIS] == current_position[Y_AXIS]) {
  10764. planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
  10765. return false;
  10766. }
  10767. // Fail if attempting move outside printable radius
  10768. if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
  10769. // Get the cartesian distances moved in XYZE
  10770. const float difference[XYZE] = {
  10771. rtarget[X_AXIS] - current_position[X_AXIS],
  10772. rtarget[Y_AXIS] - current_position[Y_AXIS],
  10773. rtarget[Z_AXIS] - current_position[Z_AXIS],
  10774. rtarget[E_AXIS] - current_position[E_AXIS]
  10775. };
  10776. // Get the linear distance in XYZ
  10777. float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  10778. // If the move is very short, check the E move distance
  10779. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
  10780. // No E move either? Game over.
  10781. if (UNEAR_ZERO(cartesian_mm)) return true;
  10782. // Minimum number of seconds to move the given distance
  10783. const float seconds = cartesian_mm / _feedrate_mm_s;
  10784. // The number of segments-per-second times the duration
  10785. // gives the number of segments
  10786. uint16_t segments = delta_segments_per_second * seconds;
  10787. // For SCARA minimum segment size is 0.25mm
  10788. #if IS_SCARA
  10789. NOMORE(segments, cartesian_mm * 4);
  10790. #endif
  10791. // At least one segment is required
  10792. NOLESS(segments, 1);
  10793. // The approximate length of each segment
  10794. const float inv_segments = 1.0 / float(segments),
  10795. segment_distance[XYZE] = {
  10796. difference[X_AXIS] * inv_segments,
  10797. difference[Y_AXIS] * inv_segments,
  10798. difference[Z_AXIS] * inv_segments,
  10799. difference[E_AXIS] * inv_segments
  10800. };
  10801. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  10802. // SERIAL_ECHOPAIR(" seconds=", seconds);
  10803. // SERIAL_ECHOLNPAIR(" segments=", segments);
  10804. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10805. // SCARA needs to scale the feed rate from mm/s to degrees/s
  10806. const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
  10807. feed_factor = inv_segment_length * _feedrate_mm_s;
  10808. float oldA = stepper.get_axis_position_degrees(A_AXIS),
  10809. oldB = stepper.get_axis_position_degrees(B_AXIS);
  10810. #endif
  10811. // Get the raw current position as starting point
  10812. float raw[XYZE];
  10813. COPY(raw, current_position);
  10814. // Drop one segment so the last move is to the exact target.
  10815. // If there's only 1 segment, loops will be skipped entirely.
  10816. --segments;
  10817. // Calculate and execute the segments
  10818. for (uint16_t s = segments + 1; --s;) {
  10819. LOOP_XYZE(i) raw[i] += segment_distance[i];
  10820. #if ENABLED(DELTA)
  10821. DELTA_RAW_IK(); // Delta can inline its kinematics
  10822. #else
  10823. inverse_kinematics(raw);
  10824. #endif
  10825. ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
  10826. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10827. // For SCARA scale the feed rate from mm/s to degrees/s
  10828. // Use ratio between the length of the move and the larger angle change
  10829. const float adiff = abs(delta[A_AXIS] - oldA),
  10830. bdiff = abs(delta[B_AXIS] - oldB);
  10831. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10832. oldA = delta[A_AXIS];
  10833. oldB = delta[B_AXIS];
  10834. #else
  10835. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
  10836. #endif
  10837. }
  10838. // Since segment_distance is only approximate,
  10839. // the final move must be to the exact destination.
  10840. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10841. // For SCARA scale the feed rate from mm/s to degrees/s
  10842. // With segments > 1 length is 1 segment, otherwise total length
  10843. inverse_kinematics(rtarget);
  10844. ADJUST_DELTA(rtarget);
  10845. const float adiff = abs(delta[A_AXIS] - oldA),
  10846. bdiff = abs(delta[B_AXIS] - oldB);
  10847. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10848. #else
  10849. planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
  10850. #endif
  10851. return false;
  10852. }
  10853. #else // !IS_KINEMATIC
  10854. /**
  10855. * Prepare a linear move in a Cartesian setup.
  10856. *
  10857. * When a mesh-based leveling system is active, moves are segmented
  10858. * according to the configuration of the leveling system.
  10859. *
  10860. * Returns true if current_position[] was set to destination[]
  10861. */
  10862. inline bool prepare_move_to_destination_cartesian() {
  10863. #if HAS_MESH
  10864. if (planner.leveling_active) {
  10865. #if ENABLED(AUTO_BED_LEVELING_UBL)
  10866. ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
  10867. return true; // all moves, including Z-only moves.
  10868. #else
  10869. /**
  10870. * For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
  10871. * Otherwise fall through to do a direct single move.
  10872. */
  10873. if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
  10874. #if ENABLED(MESH_BED_LEVELING)
  10875. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10876. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10877. bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10878. #endif
  10879. return true;
  10880. }
  10881. #endif
  10882. }
  10883. #endif // HAS_MESH
  10884. buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10885. return false;
  10886. }
  10887. #endif // !IS_KINEMATIC
  10888. #endif // !UBL_DELTA
  10889. #if ENABLED(DUAL_X_CARRIAGE)
  10890. /**
  10891. * Prepare a linear move in a dual X axis setup
  10892. */
  10893. inline bool prepare_move_to_destination_dualx() {
  10894. if (active_extruder_parked) {
  10895. switch (dual_x_carriage_mode) {
  10896. case DXC_FULL_CONTROL_MODE:
  10897. break;
  10898. case DXC_AUTO_PARK_MODE:
  10899. if (current_position[E_AXIS] == destination[E_AXIS]) {
  10900. // This is a travel move (with no extrusion)
  10901. // Skip it, but keep track of the current position
  10902. // (so it can be used as the start of the next non-travel move)
  10903. if (delayed_move_time != 0xFFFFFFFFUL) {
  10904. set_current_from_destination();
  10905. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  10906. delayed_move_time = millis();
  10907. return true;
  10908. }
  10909. }
  10910. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  10911. for (uint8_t i = 0; i < 3; i++)
  10912. planner.buffer_line(
  10913. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  10914. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  10915. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  10916. current_position[E_AXIS],
  10917. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  10918. active_extruder
  10919. );
  10920. delayed_move_time = 0;
  10921. active_extruder_parked = false;
  10922. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10923. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
  10924. #endif
  10925. break;
  10926. case DXC_DUPLICATION_MODE:
  10927. if (active_extruder == 0) {
  10928. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10929. if (DEBUGGING(LEVELING)) {
  10930. SERIAL_ECHOPAIR("Set planner X", inactive_extruder_x_pos);
  10931. SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
  10932. }
  10933. #endif
  10934. // move duplicate extruder into correct duplication position.
  10935. planner.set_position_mm(
  10936. inactive_extruder_x_pos,
  10937. current_position[Y_AXIS],
  10938. current_position[Z_AXIS],
  10939. current_position[E_AXIS]
  10940. );
  10941. planner.buffer_line(
  10942. current_position[X_AXIS] + duplicate_extruder_x_offset,
  10943. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  10944. planner.max_feedrate_mm_s[X_AXIS], 1
  10945. );
  10946. SYNC_PLAN_POSITION_KINEMATIC();
  10947. stepper.synchronize();
  10948. extruder_duplication_enabled = true;
  10949. active_extruder_parked = false;
  10950. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10951. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
  10952. #endif
  10953. }
  10954. else {
  10955. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10956. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
  10957. #endif
  10958. }
  10959. break;
  10960. }
  10961. }
  10962. return prepare_move_to_destination_cartesian();
  10963. }
  10964. #endif // DUAL_X_CARRIAGE
  10965. /**
  10966. * Prepare a single move and get ready for the next one
  10967. *
  10968. * This may result in several calls to planner.buffer_line to
  10969. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  10970. */
  10971. void prepare_move_to_destination() {
  10972. clamp_to_software_endstops(destination);
  10973. refresh_cmd_timeout();
  10974. #if ENABLED(PREVENT_COLD_EXTRUSION)
  10975. if (!DEBUGGING(DRYRUN)) {
  10976. if (destination[E_AXIS] != current_position[E_AXIS]) {
  10977. if (thermalManager.tooColdToExtrude(active_extruder)) {
  10978. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10979. SERIAL_ECHO_START();
  10980. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  10981. }
  10982. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  10983. if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) {
  10984. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10985. SERIAL_ECHO_START();
  10986. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  10987. }
  10988. #endif
  10989. }
  10990. }
  10991. #endif
  10992. if (
  10993. #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
  10994. ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
  10995. #elif IS_KINEMATIC
  10996. prepare_kinematic_move_to(destination)
  10997. #elif ENABLED(DUAL_X_CARRIAGE)
  10998. prepare_move_to_destination_dualx()
  10999. #else
  11000. prepare_move_to_destination_cartesian()
  11001. #endif
  11002. ) return;
  11003. set_current_from_destination();
  11004. }
  11005. #if ENABLED(ARC_SUPPORT)
  11006. #if N_ARC_CORRECTION < 1
  11007. #undef N_ARC_CORRECTION
  11008. #define N_ARC_CORRECTION 1
  11009. #endif
  11010. /**
  11011. * Plan an arc in 2 dimensions
  11012. *
  11013. * The arc is approximated by generating many small linear segments.
  11014. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  11015. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  11016. * larger segments will tend to be more efficient. Your slicer should have
  11017. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  11018. */
  11019. void plan_arc(
  11020. float raw[XYZE], // Destination position
  11021. float *offset, // Center of rotation relative to current_position
  11022. uint8_t clockwise // Clockwise?
  11023. ) {
  11024. #if ENABLED(CNC_WORKSPACE_PLANES)
  11025. AxisEnum p_axis, q_axis, l_axis;
  11026. switch (workspace_plane) {
  11027. default:
  11028. case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
  11029. case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
  11030. case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
  11031. }
  11032. #else
  11033. constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
  11034. #endif
  11035. // Radius vector from center to current location
  11036. float r_P = -offset[0], r_Q = -offset[1];
  11037. const float radius = HYPOT(r_P, r_Q),
  11038. center_P = current_position[p_axis] - r_P,
  11039. center_Q = current_position[q_axis] - r_Q,
  11040. rt_X = raw[p_axis] - center_P,
  11041. rt_Y = raw[q_axis] - center_Q,
  11042. linear_travel = raw[l_axis] - current_position[l_axis],
  11043. extruder_travel = raw[E_AXIS] - current_position[E_AXIS];
  11044. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  11045. float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
  11046. if (angular_travel < 0) angular_travel += RADIANS(360);
  11047. if (clockwise) angular_travel -= RADIANS(360);
  11048. // Make a circle if the angular rotation is 0 and the target is current position
  11049. if (angular_travel == 0 && current_position[p_axis] == raw[p_axis] && current_position[q_axis] == raw[q_axis])
  11050. angular_travel = RADIANS(360);
  11051. const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
  11052. if (mm_of_travel < 0.001) return;
  11053. uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
  11054. if (segments == 0) segments = 1;
  11055. /**
  11056. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  11057. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  11058. * r_T = [cos(phi) -sin(phi);
  11059. * sin(phi) cos(phi)] * r ;
  11060. *
  11061. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  11062. * defined from the circle center to the initial position. Each line segment is formed by successive
  11063. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  11064. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  11065. * all double numbers are single precision on the Arduino. (True double precision will not have
  11066. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  11067. * tool precision in some cases. Therefore, arc path correction is implemented.
  11068. *
  11069. * Small angle approximation may be used to reduce computation overhead further. This approximation
  11070. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  11071. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  11072. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  11073. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  11074. * issue for CNC machines with the single precision Arduino calculations.
  11075. *
  11076. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  11077. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  11078. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  11079. * This is important when there are successive arc motions.
  11080. */
  11081. // Vector rotation matrix values
  11082. float arc_target[XYZE];
  11083. const float theta_per_segment = angular_travel / segments,
  11084. linear_per_segment = linear_travel / segments,
  11085. extruder_per_segment = extruder_travel / segments,
  11086. sin_T = theta_per_segment,
  11087. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  11088. // Initialize the linear axis
  11089. arc_target[l_axis] = current_position[l_axis];
  11090. // Initialize the extruder axis
  11091. arc_target[E_AXIS] = current_position[E_AXIS];
  11092. const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  11093. millis_t next_idle_ms = millis() + 200UL;
  11094. #if N_ARC_CORRECTION > 1
  11095. int8_t arc_recalc_count = N_ARC_CORRECTION;
  11096. #endif
  11097. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  11098. thermalManager.manage_heater();
  11099. if (ELAPSED(millis(), next_idle_ms)) {
  11100. next_idle_ms = millis() + 200UL;
  11101. idle();
  11102. }
  11103. #if N_ARC_CORRECTION > 1
  11104. if (--arc_recalc_count) {
  11105. // Apply vector rotation matrix to previous r_P / 1
  11106. const float r_new_Y = r_P * sin_T + r_Q * cos_T;
  11107. r_P = r_P * cos_T - r_Q * sin_T;
  11108. r_Q = r_new_Y;
  11109. }
  11110. else
  11111. #endif
  11112. {
  11113. #if N_ARC_CORRECTION > 1
  11114. arc_recalc_count = N_ARC_CORRECTION;
  11115. #endif
  11116. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  11117. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  11118. // To reduce stuttering, the sin and cos could be computed at different times.
  11119. // For now, compute both at the same time.
  11120. const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
  11121. r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
  11122. r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
  11123. }
  11124. // Update arc_target location
  11125. arc_target[p_axis] = center_P + r_P;
  11126. arc_target[q_axis] = center_Q + r_Q;
  11127. arc_target[l_axis] += linear_per_segment;
  11128. arc_target[E_AXIS] += extruder_per_segment;
  11129. clamp_to_software_endstops(arc_target);
  11130. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  11131. }
  11132. // Ensure last segment arrives at target location.
  11133. planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
  11134. // As far as the parser is concerned, the position is now == target. In reality the
  11135. // motion control system might still be processing the action and the real tool position
  11136. // in any intermediate location.
  11137. set_current_from_destination();
  11138. } // plan_arc
  11139. #endif // ARC_SUPPORT
  11140. #if ENABLED(BEZIER_CURVE_SUPPORT)
  11141. void plan_cubic_move(const float offset[4]) {
  11142. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  11143. // As far as the parser is concerned, the position is now == destination. In reality the
  11144. // motion control system might still be processing the action and the real tool position
  11145. // in any intermediate location.
  11146. set_current_from_destination();
  11147. }
  11148. #endif // BEZIER_CURVE_SUPPORT
  11149. #if ENABLED(USE_CONTROLLER_FAN)
  11150. void controllerFan() {
  11151. static millis_t lastMotorOn = 0, // Last time a motor was turned on
  11152. nextMotorCheck = 0; // Last time the state was checked
  11153. const millis_t ms = millis();
  11154. if (ELAPSED(ms, nextMotorCheck)) {
  11155. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  11156. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0
  11157. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  11158. #if E_STEPPERS > 1
  11159. || E1_ENABLE_READ == E_ENABLE_ON
  11160. #if HAS_X2_ENABLE
  11161. || X2_ENABLE_READ == X_ENABLE_ON
  11162. #endif
  11163. #if E_STEPPERS > 2
  11164. || E2_ENABLE_READ == E_ENABLE_ON
  11165. #if E_STEPPERS > 3
  11166. || E3_ENABLE_READ == E_ENABLE_ON
  11167. #if E_STEPPERS > 4
  11168. || E4_ENABLE_READ == E_ENABLE_ON
  11169. #endif // E_STEPPERS > 4
  11170. #endif // E_STEPPERS > 3
  11171. #endif // E_STEPPERS > 2
  11172. #endif // E_STEPPERS > 1
  11173. ) {
  11174. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  11175. }
  11176. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  11177. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  11178. // allows digital or PWM fan output to be used (see M42 handling)
  11179. WRITE(CONTROLLER_FAN_PIN, speed);
  11180. analogWrite(CONTROLLER_FAN_PIN, speed);
  11181. }
  11182. }
  11183. #endif // USE_CONTROLLER_FAN
  11184. #if ENABLED(MORGAN_SCARA)
  11185. /**
  11186. * Morgan SCARA Forward Kinematics. Results in cartes[].
  11187. * Maths and first version by QHARLEY.
  11188. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  11189. */
  11190. void forward_kinematics_SCARA(const float &a, const float &b) {
  11191. float a_sin = sin(RADIANS(a)) * L1,
  11192. a_cos = cos(RADIANS(a)) * L1,
  11193. b_sin = sin(RADIANS(b)) * L2,
  11194. b_cos = cos(RADIANS(b)) * L2;
  11195. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  11196. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  11197. /*
  11198. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  11199. SERIAL_ECHOPAIR(" b=", b);
  11200. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  11201. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  11202. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  11203. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  11204. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  11205. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  11206. //*/
  11207. }
  11208. /**
  11209. * Morgan SCARA Inverse Kinematics. Results in delta[].
  11210. *
  11211. * See http://forums.reprap.org/read.php?185,283327
  11212. *
  11213. * Maths and first version by QHARLEY.
  11214. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  11215. */
  11216. void inverse_kinematics(const float raw[XYZ]) {
  11217. static float C2, S2, SK1, SK2, THETA, PSI;
  11218. float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  11219. sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
  11220. if (L1 == L2)
  11221. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  11222. else
  11223. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  11224. S2 = SQRT(1 - sq(C2));
  11225. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  11226. SK1 = L1 + L2 * C2;
  11227. // Rotated Arm2 gives the distance from Arm1 to Arm2
  11228. SK2 = L2 * S2;
  11229. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  11230. THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
  11231. // Angle of Arm2
  11232. PSI = ATAN2(S2, C2);
  11233. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  11234. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  11235. delta[C_AXIS] = raw[Z_AXIS];
  11236. /*
  11237. DEBUG_POS("SCARA IK", raw);
  11238. DEBUG_POS("SCARA IK", delta);
  11239. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  11240. SERIAL_ECHOPAIR(",", sy);
  11241. SERIAL_ECHOPAIR(" C2=", C2);
  11242. SERIAL_ECHOPAIR(" S2=", S2);
  11243. SERIAL_ECHOPAIR(" Theta=", THETA);
  11244. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  11245. //*/
  11246. }
  11247. #endif // MORGAN_SCARA
  11248. #if ENABLED(TEMP_STAT_LEDS)
  11249. static bool red_led = false;
  11250. static millis_t next_status_led_update_ms = 0;
  11251. void handle_status_leds(void) {
  11252. if (ELAPSED(millis(), next_status_led_update_ms)) {
  11253. next_status_led_update_ms += 500; // Update every 0.5s
  11254. float max_temp = 0.0;
  11255. #if HAS_TEMP_BED
  11256. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  11257. #endif
  11258. HOTEND_LOOP()
  11259. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  11260. const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  11261. if (new_led != red_led) {
  11262. red_led = new_led;
  11263. #if PIN_EXISTS(STAT_LED_RED)
  11264. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  11265. #if PIN_EXISTS(STAT_LED_BLUE)
  11266. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  11267. #endif
  11268. #else
  11269. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  11270. #endif
  11271. }
  11272. }
  11273. }
  11274. #endif
  11275. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11276. void handle_filament_runout() {
  11277. if (!filament_ran_out) {
  11278. filament_ran_out = true;
  11279. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  11280. stepper.synchronize();
  11281. }
  11282. }
  11283. #endif // FILAMENT_RUNOUT_SENSOR
  11284. #if ENABLED(FAST_PWM_FAN)
  11285. void setPwmFrequency(uint8_t pin, int val) {
  11286. val &= 0x07;
  11287. switch (digitalPinToTimer(pin)) {
  11288. #ifdef TCCR0A
  11289. #if !AVR_AT90USB1286_FAMILY
  11290. case TIMER0A:
  11291. #endif
  11292. case TIMER0B:
  11293. //_SET_CS(0, val);
  11294. break;
  11295. #endif
  11296. #ifdef TCCR1A
  11297. case TIMER1A:
  11298. case TIMER1B:
  11299. //_SET_CS(1, val);
  11300. break;
  11301. #endif
  11302. #ifdef TCCR2
  11303. case TIMER2:
  11304. case TIMER2:
  11305. _SET_CS(2, val);
  11306. break;
  11307. #endif
  11308. #ifdef TCCR2A
  11309. case TIMER2A:
  11310. case TIMER2B:
  11311. _SET_CS(2, val);
  11312. break;
  11313. #endif
  11314. #ifdef TCCR3A
  11315. case TIMER3A:
  11316. case TIMER3B:
  11317. case TIMER3C:
  11318. _SET_CS(3, val);
  11319. break;
  11320. #endif
  11321. #ifdef TCCR4A
  11322. case TIMER4A:
  11323. case TIMER4B:
  11324. case TIMER4C:
  11325. _SET_CS(4, val);
  11326. break;
  11327. #endif
  11328. #ifdef TCCR5A
  11329. case TIMER5A:
  11330. case TIMER5B:
  11331. case TIMER5C:
  11332. _SET_CS(5, val);
  11333. break;
  11334. #endif
  11335. }
  11336. }
  11337. #endif // FAST_PWM_FAN
  11338. float calculate_volumetric_multiplier(const float diameter) {
  11339. if (!volumetric_enabled || diameter == 0) return 1.0;
  11340. return 1.0 / (M_PI * sq(diameter * 0.5));
  11341. }
  11342. void calculate_volumetric_multipliers() {
  11343. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  11344. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  11345. }
  11346. void enable_all_steppers() {
  11347. enable_X();
  11348. enable_Y();
  11349. enable_Z();
  11350. enable_E0();
  11351. enable_E1();
  11352. enable_E2();
  11353. enable_E3();
  11354. enable_E4();
  11355. }
  11356. void disable_e_steppers() {
  11357. disable_E0();
  11358. disable_E1();
  11359. disable_E2();
  11360. disable_E3();
  11361. disable_E4();
  11362. }
  11363. void disable_all_steppers() {
  11364. disable_X();
  11365. disable_Y();
  11366. disable_Z();
  11367. disable_e_steppers();
  11368. }
  11369. #if ENABLED(HAVE_TMC2130)
  11370. void automatic_current_control(TMC2130Stepper &st, String axisID) {
  11371. // Check otpw even if we don't use automatic control. Allows for flag inspection.
  11372. const bool is_otpw = st.checkOT();
  11373. // Report if a warning was triggered
  11374. static bool previous_otpw = false;
  11375. if (is_otpw && !previous_otpw) {
  11376. char timestamp[10];
  11377. duration_t elapsed = print_job_timer.duration();
  11378. const bool has_days = (elapsed.value > 60*60*24L);
  11379. (void)elapsed.toDigital(timestamp, has_days);
  11380. SERIAL_ECHO(timestamp);
  11381. SERIAL_ECHOPGM(": ");
  11382. SERIAL_ECHO(axisID);
  11383. SERIAL_ECHOLNPGM(" driver overtemperature warning!");
  11384. }
  11385. previous_otpw = is_otpw;
  11386. #if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
  11387. // Return if user has not enabled current control start with M906 S1.
  11388. if (!auto_current_control) return;
  11389. /**
  11390. * Decrease current if is_otpw is true.
  11391. * Bail out if driver is disabled.
  11392. * Increase current if OTPW has not been triggered yet.
  11393. */
  11394. uint16_t current = st.getCurrent();
  11395. if (is_otpw) {
  11396. st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
  11397. #if ENABLED(REPORT_CURRENT_CHANGE)
  11398. SERIAL_ECHO(axisID);
  11399. SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
  11400. #endif
  11401. }
  11402. else if (!st.isEnabled())
  11403. return;
  11404. else if (!is_otpw && !st.getOTPW()) {
  11405. current += CURRENT_STEP;
  11406. if (current <= AUTO_ADJUST_MAX) {
  11407. st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
  11408. #if ENABLED(REPORT_CURRENT_CHANGE)
  11409. SERIAL_ECHO(axisID);
  11410. SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
  11411. #endif
  11412. }
  11413. }
  11414. SERIAL_EOL();
  11415. #endif
  11416. }
  11417. void checkOverTemp() {
  11418. static millis_t next_cOT = 0;
  11419. if (ELAPSED(millis(), next_cOT)) {
  11420. next_cOT = millis() + 5000;
  11421. #if ENABLED(X_IS_TMC2130)
  11422. automatic_current_control(stepperX, "X");
  11423. #endif
  11424. #if ENABLED(Y_IS_TMC2130)
  11425. automatic_current_control(stepperY, "Y");
  11426. #endif
  11427. #if ENABLED(Z_IS_TMC2130)
  11428. automatic_current_control(stepperZ, "Z");
  11429. #endif
  11430. #if ENABLED(X2_IS_TMC2130)
  11431. automatic_current_control(stepperX2, "X2");
  11432. #endif
  11433. #if ENABLED(Y2_IS_TMC2130)
  11434. automatic_current_control(stepperY2, "Y2");
  11435. #endif
  11436. #if ENABLED(Z2_IS_TMC2130)
  11437. automatic_current_control(stepperZ2, "Z2");
  11438. #endif
  11439. #if ENABLED(E0_IS_TMC2130)
  11440. automatic_current_control(stepperE0, "E0");
  11441. #endif
  11442. #if ENABLED(E1_IS_TMC2130)
  11443. automatic_current_control(stepperE1, "E1");
  11444. #endif
  11445. #if ENABLED(E2_IS_TMC2130)
  11446. automatic_current_control(stepperE2, "E2");
  11447. #endif
  11448. #if ENABLED(E3_IS_TMC2130)
  11449. automatic_current_control(stepperE3, "E3");
  11450. #endif
  11451. #if ENABLED(E4_IS_TMC2130)
  11452. automatic_current_control(stepperE4, "E4");
  11453. #endif
  11454. }
  11455. }
  11456. #endif // HAVE_TMC2130
  11457. /**
  11458. * Manage several activities:
  11459. * - Check for Filament Runout
  11460. * - Keep the command buffer full
  11461. * - Check for maximum inactive time between commands
  11462. * - Check for maximum inactive time between stepper commands
  11463. * - Check if pin CHDK needs to go LOW
  11464. * - Check for KILL button held down
  11465. * - Check for HOME button held down
  11466. * - Check if cooling fan needs to be switched on
  11467. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  11468. */
  11469. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  11470. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11471. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  11472. handle_filament_runout();
  11473. #endif
  11474. if (commands_in_queue < BUFSIZE) get_available_commands();
  11475. const millis_t ms = millis();
  11476. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
  11477. SERIAL_ERROR_START();
  11478. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
  11479. kill(PSTR(MSG_KILLED));
  11480. }
  11481. // Prevent steppers timing-out in the middle of M600
  11482. #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
  11483. #define MOVE_AWAY_TEST !move_away_flag
  11484. #else
  11485. #define MOVE_AWAY_TEST true
  11486. #endif
  11487. if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  11488. && !ignore_stepper_queue && !planner.blocks_queued()) {
  11489. #if ENABLED(DISABLE_INACTIVE_X)
  11490. disable_X();
  11491. #endif
  11492. #if ENABLED(DISABLE_INACTIVE_Y)
  11493. disable_Y();
  11494. #endif
  11495. #if ENABLED(DISABLE_INACTIVE_Z)
  11496. disable_Z();
  11497. #endif
  11498. #if ENABLED(DISABLE_INACTIVE_E)
  11499. disable_e_steppers();
  11500. #endif
  11501. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  11502. ubl_lcd_map_control = defer_return_to_status = false;
  11503. #endif
  11504. }
  11505. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  11506. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  11507. chdkActive = false;
  11508. WRITE(CHDK, LOW);
  11509. }
  11510. #endif
  11511. #if HAS_KILL
  11512. // Check if the kill button was pressed and wait just in case it was an accidental
  11513. // key kill key press
  11514. // -------------------------------------------------------------------------------
  11515. static int killCount = 0; // make the inactivity button a bit less responsive
  11516. const int KILL_DELAY = 750;
  11517. if (!READ(KILL_PIN))
  11518. killCount++;
  11519. else if (killCount > 0)
  11520. killCount--;
  11521. // Exceeded threshold and we can confirm that it was not accidental
  11522. // KILL the machine
  11523. // ----------------------------------------------------------------
  11524. if (killCount >= KILL_DELAY) {
  11525. SERIAL_ERROR_START();
  11526. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  11527. kill(PSTR(MSG_KILLED));
  11528. }
  11529. #endif
  11530. #if HAS_HOME
  11531. // Check to see if we have to home, use poor man's debouncer
  11532. // ---------------------------------------------------------
  11533. static int homeDebounceCount = 0; // poor man's debouncing count
  11534. const int HOME_DEBOUNCE_DELAY = 2500;
  11535. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  11536. if (!homeDebounceCount) {
  11537. enqueue_and_echo_commands_P(PSTR("G28"));
  11538. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  11539. }
  11540. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  11541. homeDebounceCount++;
  11542. else
  11543. homeDebounceCount = 0;
  11544. }
  11545. #endif
  11546. #if ENABLED(USE_CONTROLLER_FAN)
  11547. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  11548. #endif
  11549. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  11550. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  11551. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  11552. #if ENABLED(SWITCHING_EXTRUDER)
  11553. const bool oldstatus = E0_ENABLE_READ;
  11554. enable_E0();
  11555. #else // !SWITCHING_EXTRUDER
  11556. bool oldstatus;
  11557. switch (active_extruder) {
  11558. default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  11559. #if E_STEPPERS > 1
  11560. case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  11561. #if E_STEPPERS > 2
  11562. case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  11563. #if E_STEPPERS > 3
  11564. case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
  11565. #if E_STEPPERS > 4
  11566. case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
  11567. #endif // E_STEPPERS > 4
  11568. #endif // E_STEPPERS > 3
  11569. #endif // E_STEPPERS > 2
  11570. #endif // E_STEPPERS > 1
  11571. }
  11572. #endif // !SWITCHING_EXTRUDER
  11573. previous_cmd_ms = ms; // refresh_cmd_timeout()
  11574. const float olde = current_position[E_AXIS];
  11575. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  11576. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  11577. current_position[E_AXIS] = olde;
  11578. planner.set_e_position_mm(olde);
  11579. stepper.synchronize();
  11580. #if ENABLED(SWITCHING_EXTRUDER)
  11581. E0_ENABLE_WRITE(oldstatus);
  11582. #else
  11583. switch (active_extruder) {
  11584. case 0: E0_ENABLE_WRITE(oldstatus); break;
  11585. #if E_STEPPERS > 1
  11586. case 1: E1_ENABLE_WRITE(oldstatus); break;
  11587. #if E_STEPPERS > 2
  11588. case 2: E2_ENABLE_WRITE(oldstatus); break;
  11589. #if E_STEPPERS > 3
  11590. case 3: E3_ENABLE_WRITE(oldstatus); break;
  11591. #if E_STEPPERS > 4
  11592. case 4: E4_ENABLE_WRITE(oldstatus); break;
  11593. #endif // E_STEPPERS > 4
  11594. #endif // E_STEPPERS > 3
  11595. #endif // E_STEPPERS > 2
  11596. #endif // E_STEPPERS > 1
  11597. }
  11598. #endif // !SWITCHING_EXTRUDER
  11599. }
  11600. #endif // EXTRUDER_RUNOUT_PREVENT
  11601. #if ENABLED(DUAL_X_CARRIAGE)
  11602. // handle delayed move timeout
  11603. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  11604. // travel moves have been received so enact them
  11605. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  11606. set_destination_from_current();
  11607. prepare_move_to_destination();
  11608. }
  11609. #endif
  11610. #if ENABLED(TEMP_STAT_LEDS)
  11611. handle_status_leds();
  11612. #endif
  11613. #if ENABLED(HAVE_TMC2130)
  11614. checkOverTemp();
  11615. #endif
  11616. planner.check_axes_activity();
  11617. }
  11618. /**
  11619. * Standard idle routine keeps the machine alive
  11620. */
  11621. void idle(
  11622. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11623. bool no_stepper_sleep/*=false*/
  11624. #endif
  11625. ) {
  11626. #if ENABLED(MAX7219_DEBUG)
  11627. Max7219_idle_tasks();
  11628. #endif // MAX7219_DEBUG
  11629. lcd_update();
  11630. host_keepalive();
  11631. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  11632. auto_report_temperatures();
  11633. #endif
  11634. manage_inactivity(
  11635. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11636. no_stepper_sleep
  11637. #endif
  11638. );
  11639. thermalManager.manage_heater();
  11640. #if ENABLED(PRINTCOUNTER)
  11641. print_job_timer.tick();
  11642. #endif
  11643. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  11644. buzzer.tick();
  11645. #endif
  11646. #if ENABLED(I2C_POSITION_ENCODERS)
  11647. if (planner.blocks_queued() &&
  11648. ( (blockBufferIndexRef != planner.block_buffer_head) ||
  11649. ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
  11650. blockBufferIndexRef = planner.block_buffer_head;
  11651. I2CPEM.update();
  11652. lastUpdateMillis = millis();
  11653. }
  11654. #endif
  11655. }
  11656. /**
  11657. * Kill all activity and lock the machine.
  11658. * After this the machine will need to be reset.
  11659. */
  11660. void kill(const char* lcd_msg) {
  11661. SERIAL_ERROR_START();
  11662. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  11663. thermalManager.disable_all_heaters();
  11664. disable_all_steppers();
  11665. #if ENABLED(ULTRA_LCD)
  11666. kill_screen(lcd_msg);
  11667. #else
  11668. UNUSED(lcd_msg);
  11669. #endif
  11670. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  11671. cli(); // Stop interrupts
  11672. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  11673. thermalManager.disable_all_heaters(); //turn off heaters again
  11674. #ifdef ACTION_ON_KILL
  11675. SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
  11676. #endif
  11677. #if HAS_POWER_SWITCH
  11678. SET_INPUT(PS_ON_PIN);
  11679. #endif
  11680. suicide();
  11681. while (1) {
  11682. #if ENABLED(USE_WATCHDOG)
  11683. watchdog_reset();
  11684. #endif
  11685. } // Wait for reset
  11686. }
  11687. /**
  11688. * Turn off heaters and stop the print in progress
  11689. * After a stop the machine may be resumed with M999
  11690. */
  11691. void stop() {
  11692. thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
  11693. #if ENABLED(PROBING_FANS_OFF)
  11694. if (fans_paused) fans_pause(false); // put things back the way they were
  11695. #endif
  11696. if (IsRunning()) {
  11697. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  11698. SERIAL_ERROR_START();
  11699. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  11700. LCD_MESSAGEPGM(MSG_STOPPED);
  11701. safe_delay(350); // allow enough time for messages to get out before stopping
  11702. Running = false;
  11703. }
  11704. }
  11705. /**
  11706. * Marlin entry-point: Set up before the program loop
  11707. * - Set up the kill pin, filament runout, power hold
  11708. * - Start the serial port
  11709. * - Print startup messages and diagnostics
  11710. * - Get EEPROM or default settings
  11711. * - Initialize managers for:
  11712. * • temperature
  11713. * • planner
  11714. * • watchdog
  11715. * • stepper
  11716. * • photo pin
  11717. * • servos
  11718. * • LCD controller
  11719. * • Digipot I2C
  11720. * • Z probe sled
  11721. * • status LEDs
  11722. */
  11723. void setup() {
  11724. #if ENABLED(MAX7219_DEBUG)
  11725. Max7219_init();
  11726. #endif
  11727. #ifdef DISABLE_JTAG
  11728. // Disable JTAG on AT90USB chips to free up pins for IO
  11729. MCUCR = 0x80;
  11730. MCUCR = 0x80;
  11731. #endif
  11732. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11733. setup_filrunoutpin();
  11734. #endif
  11735. setup_killpin();
  11736. setup_powerhold();
  11737. #if HAS_STEPPER_RESET
  11738. disableStepperDrivers();
  11739. #endif
  11740. MYSERIAL.begin(BAUDRATE);
  11741. SERIAL_PROTOCOLLNPGM("start");
  11742. SERIAL_ECHO_START();
  11743. // Check startup - does nothing if bootloader sets MCUSR to 0
  11744. byte mcu = MCUSR;
  11745. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  11746. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  11747. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  11748. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  11749. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  11750. MCUSR = 0;
  11751. SERIAL_ECHOPGM(MSG_MARLIN);
  11752. SERIAL_CHAR(' ');
  11753. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  11754. SERIAL_EOL();
  11755. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  11756. SERIAL_ECHO_START();
  11757. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  11758. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  11759. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  11760. SERIAL_ECHO_START();
  11761. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  11762. #endif
  11763. SERIAL_ECHO_START();
  11764. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  11765. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  11766. // Send "ok" after commands by default
  11767. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  11768. // Load data from EEPROM if available (or use defaults)
  11769. // This also updates variables in the planner, elsewhere
  11770. (void)settings.load();
  11771. #if HAS_M206_COMMAND
  11772. // Initialize current position based on home_offset
  11773. COPY(current_position, home_offset);
  11774. #else
  11775. ZERO(current_position);
  11776. #endif
  11777. // Vital to init stepper/planner equivalent for current_position
  11778. SYNC_PLAN_POSITION_KINEMATIC();
  11779. thermalManager.init(); // Initialize temperature loop
  11780. #if ENABLED(USE_WATCHDOG)
  11781. watchdog_init();
  11782. #endif
  11783. stepper.init(); // Initialize stepper, this enables interrupts!
  11784. servo_init();
  11785. #if HAS_PHOTOGRAPH
  11786. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  11787. #endif
  11788. #if HAS_CASE_LIGHT
  11789. case_light_on = CASE_LIGHT_DEFAULT_ON;
  11790. case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS;
  11791. update_case_light();
  11792. #endif
  11793. #if ENABLED(SPINDLE_LASER_ENABLE)
  11794. OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
  11795. #if SPINDLE_DIR_CHANGE
  11796. OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
  11797. #endif
  11798. #if ENABLED(SPINDLE_LASER_PWM)
  11799. SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
  11800. analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
  11801. #endif
  11802. #endif
  11803. #if HAS_BED_PROBE
  11804. endstops.enable_z_probe(false);
  11805. #endif
  11806. #if ENABLED(USE_CONTROLLER_FAN)
  11807. SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
  11808. #endif
  11809. #if HAS_STEPPER_RESET
  11810. enableStepperDrivers();
  11811. #endif
  11812. #if ENABLED(DIGIPOT_I2C)
  11813. digipot_i2c_init();
  11814. #endif
  11815. #if ENABLED(DAC_STEPPER_CURRENT)
  11816. dac_init();
  11817. #endif
  11818. #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
  11819. OUT_WRITE(SOL1_PIN, LOW); // turn it off
  11820. #endif
  11821. #if HAS_HOME
  11822. SET_INPUT_PULLUP(HOME_PIN);
  11823. #endif
  11824. #if PIN_EXISTS(STAT_LED_RED)
  11825. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  11826. #endif
  11827. #if PIN_EXISTS(STAT_LED_BLUE)
  11828. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  11829. #endif
  11830. #if ENABLED(NEOPIXEL_LED)
  11831. SET_OUTPUT(NEOPIXEL_PIN);
  11832. setup_neopixel();
  11833. #endif
  11834. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  11835. SET_OUTPUT(RGB_LED_R_PIN);
  11836. SET_OUTPUT(RGB_LED_G_PIN);
  11837. SET_OUTPUT(RGB_LED_B_PIN);
  11838. #if ENABLED(RGBW_LED)
  11839. SET_OUTPUT(RGB_LED_W_PIN);
  11840. #endif
  11841. #endif
  11842. #if ENABLED(MK2_MULTIPLEXER)
  11843. SET_OUTPUT(E_MUX0_PIN);
  11844. SET_OUTPUT(E_MUX1_PIN);
  11845. SET_OUTPUT(E_MUX2_PIN);
  11846. #endif
  11847. #if HAS_FANMUX
  11848. fanmux_init();
  11849. #endif
  11850. lcd_init();
  11851. #if ENABLED(SHOW_BOOTSCREEN)
  11852. lcd_bootscreen();
  11853. #if ENABLED(ULTRA_LCD) && DISABLED(SDSUPPORT)
  11854. lcd_init();
  11855. #endif
  11856. #endif
  11857. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  11858. // Initialize mixing to 100% color 1
  11859. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11860. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  11861. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  11862. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11863. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  11864. #endif
  11865. #if ENABLED(BLTOUCH)
  11866. // Make sure any BLTouch error condition is cleared
  11867. bltouch_command(BLTOUCH_RESET);
  11868. set_bltouch_deployed(true);
  11869. set_bltouch_deployed(false);
  11870. #endif
  11871. #if ENABLED(I2C_POSITION_ENCODERS)
  11872. I2CPEM.init();
  11873. #endif
  11874. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  11875. i2c.onReceive(i2c_on_receive);
  11876. i2c.onRequest(i2c_on_request);
  11877. #endif
  11878. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  11879. setup_endstop_interrupts();
  11880. #endif
  11881. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  11882. move_extruder_servo(0); // Initialize extruder servo
  11883. #endif
  11884. #if ENABLED(SWITCHING_NOZZLE)
  11885. move_nozzle_servo(0); // Initialize nozzle servo
  11886. #endif
  11887. #if ENABLED(PARKING_EXTRUDER)
  11888. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  11889. pe_activate_magnet(0);
  11890. pe_activate_magnet(1);
  11891. #else
  11892. pe_deactivate_magnet(0);
  11893. pe_deactivate_magnet(1);
  11894. #endif
  11895. #endif
  11896. #if ENABLED(MKS_12864OLED)
  11897. SET_OUTPUT(LCD_PINS_DC);
  11898. OUT_WRITE(LCD_PINS_RS, LOW);
  11899. delay(1000);
  11900. WRITE(LCD_PINS_RS, HIGH);
  11901. #endif
  11902. }
  11903. /**
  11904. * The main Marlin program loop
  11905. *
  11906. * - Save or log commands to SD
  11907. * - Process available commands (if not saving)
  11908. * - Call heater manager
  11909. * - Call inactivity manager
  11910. * - Call endstop manager
  11911. * - Call LCD update
  11912. */
  11913. void loop() {
  11914. if (commands_in_queue < BUFSIZE) get_available_commands();
  11915. #if ENABLED(SDSUPPORT)
  11916. card.checkautostart(false);
  11917. #endif
  11918. if (commands_in_queue) {
  11919. #if ENABLED(SDSUPPORT)
  11920. if (card.saving) {
  11921. char* command = command_queue[cmd_queue_index_r];
  11922. if (strstr_P(command, PSTR("M29"))) {
  11923. // M29 closes the file
  11924. card.closefile();
  11925. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  11926. #if ENABLED(SERIAL_STATS_DROPPED_RX)
  11927. SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
  11928. #endif
  11929. #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
  11930. SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
  11931. #endif
  11932. ok_to_send();
  11933. }
  11934. else {
  11935. // Write the string from the read buffer to SD
  11936. card.write_command(command);
  11937. if (card.logging)
  11938. process_next_command(); // The card is saving because it's logging
  11939. else
  11940. ok_to_send();
  11941. }
  11942. }
  11943. else
  11944. process_next_command();
  11945. #else
  11946. process_next_command();
  11947. #endif // SDSUPPORT
  11948. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  11949. if (commands_in_queue) {
  11950. --commands_in_queue;
  11951. if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
  11952. }
  11953. }
  11954. endstops.report_state();
  11955. idle();
  11956. }