My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Ви не можете вибрати більше 25 тем Теми мають розпочинатися з літери або цифри, можуть містити дефіси (-) і не повинні перевищувати 35 символів.

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 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
  53. * G11 - Retract recover filament according to settings of M208
  54. * G12 - Clean tool
  55. * G20 - Set input units to inches
  56. * G21 - Set input units to millimeters
  57. * G28 - Home one or more axes
  58. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  59. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  60. * G31 - Dock sled (Z_PROBE_SLED only)
  61. * G32 - Undock sled (Z_PROBE_SLED only)
  62. * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
  63. * G90 - Use Absolute Coordinates
  64. * G91 - Use Relative Coordinates
  65. * G92 - Set current position to coordinates given
  66. *
  67. * "M" Codes
  68. *
  69. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  70. * M1 - Same as M0
  71. * M17 - Enable/Power all stepper motors
  72. * M18 - Disable all stepper motors; same as M84
  73. * M20 - List SD card. (Requires SDSUPPORT)
  74. * M21 - Init SD card. (Requires SDSUPPORT)
  75. * M22 - Release SD card. (Requires SDSUPPORT)
  76. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  77. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  78. * M25 - Pause SD print. (Requires SDSUPPORT)
  79. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  80. * M27 - Report SD print status. (Requires SDSUPPORT)
  81. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  82. * M29 - Stop SD write. (Requires SDSUPPORT)
  83. * M30 - Delete file from SD: "M30 /path/file.gco"
  84. * M31 - Report time since last M109 or SD card start to serial.
  85. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  86. * Use P to run other files as sub-programs: "M32 P !filename#"
  87. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  88. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  89. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  90. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  91. * M43 - Monitor pins & report changes - report active pins
  92. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  93. * M75 - Start the print job timer.
  94. * M76 - Pause the print job timer.
  95. * M77 - Stop the print job timer.
  96. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  97. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY)
  98. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY)
  99. * M82 - Set E codes absolute (default).
  100. * M83 - Set E codes relative while in Absolute (G90) mode.
  101. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  102. * duration after which steppers should turn off. S0 disables the timeout.
  103. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  104. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  105. * M104 - Set extruder target temp.
  106. * M105 - Report current temperatures.
  107. * M106 - Fan on.
  108. * M107 - Fan off.
  109. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  110. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  111. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  112. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  113. * M110 - Set the current line number. (Used by host printing)
  114. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  115. * M112 - Emergency stop.
  116. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  117. * M114 - Report current position.
  118. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  119. * M117 - Display a message on the controller screen. (Requires an LCD)
  120. * M119 - Report endstops status.
  121. * M120 - Enable endstops detection.
  122. * M121 - Disable endstops detection.
  123. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  124. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  125. * M128 - EtoP Open. (Requires BARICUDA)
  126. * M129 - EtoP Closed. (Requires BARICUDA)
  127. * M140 - Set bed target temp. S<temp>
  128. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  129. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  130. * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM or RGB_LED)
  131. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  132. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  133. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  134. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  135. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  136. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  137. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  138. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  139. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  140. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  141. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  142. * M205 - Set advanced settings. Current units apply:
  143. S<print> T<travel> minimum speeds
  144. B<minimum segment time>
  145. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  146. * M206 - Set additional homing offset.
  147. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  148. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  149. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  150. Every normal extrude-only move will be classified as retract depending on the direction.
  151. * M211 - Enable, Disable, and/or Report software endstops: S<0|1>
  152. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  153. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  154. * M221 - Set Flow Percentage: "M221 S<percent>"
  155. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  156. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  157. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  158. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  159. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  160. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  161. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  162. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  163. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  164. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  165. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  166. * M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
  167. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  168. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  169. * M400 - Finish all moves.
  170. * M401 - Lower Z probe. (Requires a probe)
  171. * M402 - Raise Z probe. (Requires a probe)
  172. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  173. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  174. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  175. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  176. * M410 - Quickstop. Abort all planned moves.
  177. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  178. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING)
  179. * M428 - Set the home_offset based on the current_position. Nearest edge applies.
  180. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  181. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  182. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  183. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  184. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  185. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
  186. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s>" (Requires DELTA)
  187. * M666 - Set delta endstop adjustment. (Requires DELTA)
  188. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  189. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  190. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  191. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  192. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  193. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  194. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  195. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  196. *
  197. * ************ SCARA Specific - This can change to suit future G-code regulations
  198. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  199. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  200. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  201. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  202. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  203. * ************* SCARA End ***************
  204. *
  205. * ************ Custom codes - This can change to suit future G-code regulations
  206. * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
  207. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  208. * M999 - Restart after being stopped by error
  209. *
  210. * "T" Codes
  211. *
  212. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  213. *
  214. */
  215. #include "Marlin.h"
  216. #include "ultralcd.h"
  217. #include "planner.h"
  218. #include "stepper.h"
  219. #include "endstops.h"
  220. #include "temperature.h"
  221. #include "cardreader.h"
  222. #include "configuration_store.h"
  223. #include "language.h"
  224. #include "pins_arduino.h"
  225. #include "math.h"
  226. #include "nozzle.h"
  227. #include "duration_t.h"
  228. #include "types.h"
  229. #if HAS_ABL
  230. #include "vector_3.h"
  231. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  232. #include "qr_solve.h"
  233. #endif
  234. #elif ENABLED(MESH_BED_LEVELING)
  235. #include "mesh_bed_leveling.h"
  236. #endif
  237. #if ENABLED(BEZIER_CURVE_SUPPORT)
  238. #include "planner_bezier.h"
  239. #endif
  240. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  241. #include "buzzer.h"
  242. #endif
  243. #if ENABLED(USE_WATCHDOG)
  244. #include "watchdog.h"
  245. #endif
  246. #if ENABLED(BLINKM)
  247. #include "blinkm.h"
  248. #include "Wire.h"
  249. #endif
  250. #if HAS_SERVOS
  251. #include "servo.h"
  252. #endif
  253. #if HAS_DIGIPOTSS
  254. #include <SPI.h>
  255. #endif
  256. #if ENABLED(DAC_STEPPER_CURRENT)
  257. #include "stepper_dac.h"
  258. #endif
  259. #if ENABLED(EXPERIMENTAL_I2CBUS)
  260. #include "twibus.h"
  261. #endif
  262. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  263. #include "endstop_interrupts.h"
  264. #endif
  265. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  266. void gcode_M100();
  267. #endif
  268. #if ENABLED(SDSUPPORT)
  269. CardReader card;
  270. #endif
  271. #if ENABLED(EXPERIMENTAL_I2CBUS)
  272. TWIBus i2c;
  273. #endif
  274. #if ENABLED(G38_PROBE_TARGET)
  275. bool G38_move = false,
  276. G38_endstop_hit = false;
  277. #endif
  278. bool Running = true;
  279. uint8_t marlin_debug_flags = DEBUG_NONE;
  280. /**
  281. * Cartesian Current Position
  282. * Used to track the logical position as moves are queued.
  283. * Used by 'line_to_current_position' to do a move after changing it.
  284. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  285. */
  286. float current_position[XYZE] = { 0.0 };
  287. /**
  288. * Cartesian Destination
  289. * A temporary position, usually applied to 'current_position'.
  290. * Set with 'gcode_get_destination' or 'set_destination_to_current'.
  291. * 'line_to_destination' sets 'current_position' to 'destination'.
  292. */
  293. static float destination[XYZE] = { 0.0 };
  294. /**
  295. * axis_homed
  296. * Flags that each linear axis was homed.
  297. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  298. *
  299. * axis_known_position
  300. * Flags that the position is known in each linear axis. Set when homed.
  301. * Cleared whenever a stepper powers off, potentially losing its position.
  302. */
  303. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  304. /**
  305. * GCode line number handling. Hosts may opt to include line numbers when
  306. * sending commands to Marlin, and lines will be checked for sequentiality.
  307. * M110 N<int> sets the current line number.
  308. */
  309. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  310. /**
  311. * GCode Command Queue
  312. * A simple ring buffer of BUFSIZE command strings.
  313. *
  314. * Commands are copied into this buffer by the command injectors
  315. * (immediate, serial, sd card) and they are processed sequentially by
  316. * the main loop. The process_next_command function parses the next
  317. * command and hands off execution to individual handler functions.
  318. */
  319. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  320. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  321. cmd_queue_index_w = 0, // Ring buffer write position
  322. commands_in_queue = 0; // Count of commands in the queue
  323. /**
  324. * Current GCode Command
  325. * When a GCode handler is running, these will be set
  326. */
  327. static char *current_command, // The command currently being executed
  328. *current_command_args, // The address where arguments begin
  329. *seen_pointer; // Set by code_seen(), used by the code_value functions
  330. /**
  331. * Next Injected Command pointer. NULL if no commands are being injected.
  332. * Used by Marlin internally to ensure that commands initiated from within
  333. * are enqueued ahead of any pending serial or sd card commands.
  334. */
  335. static const char *injected_commands_P = NULL;
  336. #if ENABLED(INCH_MODE_SUPPORT)
  337. float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
  338. #endif
  339. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  340. TempUnit input_temp_units = TEMPUNIT_C;
  341. #endif
  342. /**
  343. * Feed rates are often configured with mm/m
  344. * but the planner and stepper like mm/s units.
  345. */
  346. float constexpr homing_feedrate_mm_s[] = {
  347. #if ENABLED(DELTA)
  348. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  349. #else
  350. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  351. #endif
  352. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  353. };
  354. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  355. int feedrate_percentage = 100, saved_feedrate_percentage,
  356. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  357. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  358. volumetric_enabled =
  359. #if ENABLED(VOLUMETRIC_DEFAULT_ON)
  360. true
  361. #else
  362. false
  363. #endif
  364. ;
  365. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
  366. volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  367. #if DISABLED(NO_WORKSPACE_OFFSETS)
  368. // The distance that XYZ has been offset by G92. Reset by G28.
  369. float position_shift[XYZ] = { 0 };
  370. // This offset is added to the configured home position.
  371. // Set by M206, M428, or menu item. Saved to EEPROM.
  372. float home_offset[XYZ] = { 0 };
  373. #endif
  374. // Software Endstops are based on the configured limits.
  375. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  376. bool soft_endstops_enabled = true;
  377. #endif
  378. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  379. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  380. #if FAN_COUNT > 0
  381. int fanSpeeds[FAN_COUNT] = { 0 };
  382. #endif
  383. // The active extruder (tool). Set with T<extruder> command.
  384. uint8_t active_extruder = 0;
  385. // Relative Mode. Enable with G91, disable with G90.
  386. static bool relative_mode = false;
  387. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  388. volatile bool wait_for_heatup = true;
  389. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  390. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  391. volatile bool wait_for_user = false;
  392. #endif
  393. const char errormagic[] PROGMEM = "Error:";
  394. const char echomagic[] PROGMEM = "echo:";
  395. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  396. // Number of characters read in the current line of serial input
  397. static int serial_count = 0;
  398. // Inactivity shutdown
  399. millis_t previous_cmd_ms = 0;
  400. static millis_t max_inactive_time = 0;
  401. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  402. // Print Job Timer
  403. #if ENABLED(PRINTCOUNTER)
  404. PrintCounter print_job_timer = PrintCounter();
  405. #else
  406. Stopwatch print_job_timer = Stopwatch();
  407. #endif
  408. // Buzzer - I2C on the LCD or a BEEPER_PIN
  409. #if ENABLED(LCD_USE_I2C_BUZZER)
  410. #define BUZZ(d,f) lcd_buzz(d, f)
  411. #elif PIN_EXISTS(BEEPER)
  412. Buzzer buzzer;
  413. #define BUZZ(d,f) buzzer.tone(d, f)
  414. #else
  415. #define BUZZ(d,f) NOOP
  416. #endif
  417. static uint8_t target_extruder;
  418. #if HAS_BED_PROBE
  419. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  420. #endif
  421. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  422. #if HAS_ABL
  423. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  424. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  425. #elif defined(XY_PROBE_SPEED)
  426. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  427. #else
  428. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  429. #endif
  430. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  431. #if ENABLED(DELTA)
  432. #define ADJUST_DELTA(V) \
  433. if (planner.abl_enabled) { \
  434. const float zadj = bilinear_z_offset(V); \
  435. delta[A_AXIS] += zadj; \
  436. delta[B_AXIS] += zadj; \
  437. delta[C_AXIS] += zadj; \
  438. }
  439. #else
  440. #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
  441. #endif
  442. #elif IS_KINEMATIC
  443. #define ADJUST_DELTA(V) NOOP
  444. #endif
  445. #if ENABLED(Z_DUAL_ENDSTOPS)
  446. float z_endstop_adj = 0;
  447. #endif
  448. // Extruder offsets
  449. #if HOTENDS > 1
  450. float hotend_offset[XYZ][HOTENDS];
  451. #endif
  452. #if HAS_Z_SERVO_ENDSTOP
  453. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  454. #endif
  455. #if ENABLED(BARICUDA)
  456. int baricuda_valve_pressure = 0;
  457. int baricuda_e_to_p_pressure = 0;
  458. #endif
  459. #if ENABLED(FWRETRACT)
  460. bool autoretract_enabled = false;
  461. bool retracted[EXTRUDERS] = { false };
  462. bool retracted_swap[EXTRUDERS] = { false };
  463. float retract_length = RETRACT_LENGTH;
  464. float retract_length_swap = RETRACT_LENGTH_SWAP;
  465. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  466. float retract_zlift = RETRACT_ZLIFT;
  467. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  468. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  469. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  470. #endif // FWRETRACT
  471. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  472. bool powersupply =
  473. #if ENABLED(PS_DEFAULT_OFF)
  474. false
  475. #else
  476. true
  477. #endif
  478. ;
  479. #endif
  480. #if HAS_CASE_LIGHT
  481. bool case_light_on =
  482. #if ENABLED(CASE_LIGHT_DEFAULT_ON)
  483. true
  484. #else
  485. false
  486. #endif
  487. ;
  488. #endif
  489. #if ENABLED(DELTA)
  490. #define SIN_60 0.8660254037844386
  491. #define COS_60 0.5
  492. float delta[ABC],
  493. endstop_adj[ABC] = { 0 };
  494. // these are the default values, can be overriden with M665
  495. float delta_radius = DELTA_RADIUS,
  496. delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
  497. delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
  498. delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
  499. delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
  500. delta_tower3_x = 0, // back middle tower
  501. delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
  502. delta_diagonal_rod = DELTA_DIAGONAL_ROD,
  503. delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
  504. delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
  505. delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
  506. delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
  507. delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
  508. delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
  509. delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
  510. delta_clip_start_height = Z_MAX_POS;
  511. float delta_safe_distance_from_top();
  512. #endif
  513. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  514. #define UNPROBED 9999.0f
  515. int bilinear_grid_spacing[2], bilinear_start[2];
  516. float bed_level_grid[ABL_GRID_MAX_POINTS_X][ABL_GRID_MAX_POINTS_Y];
  517. #endif
  518. #if IS_SCARA
  519. // Float constants for SCARA calculations
  520. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  521. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  522. L2_2 = sq(float(L2));
  523. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  524. delta[ABC];
  525. #endif
  526. float cartes[XYZ] = { 0 };
  527. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  528. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  529. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
  530. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  531. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  532. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  533. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  534. #endif
  535. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  536. static bool filament_ran_out = false;
  537. #endif
  538. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  539. FilamentChangeMenuResponse filament_change_menu_response;
  540. #endif
  541. #if ENABLED(MIXING_EXTRUDER)
  542. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  543. #if MIXING_VIRTUAL_TOOLS > 1
  544. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  545. #endif
  546. #endif
  547. static bool send_ok[BUFSIZE];
  548. #if HAS_SERVOS
  549. Servo servo[NUM_SERVOS];
  550. #define MOVE_SERVO(I, P) servo[I].move(P)
  551. #if HAS_Z_SERVO_ENDSTOP
  552. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  553. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  554. #endif
  555. #endif
  556. #ifdef CHDK
  557. millis_t chdkHigh = 0;
  558. bool chdkActive = false;
  559. #endif
  560. #if ENABLED(PID_EXTRUSION_SCALING)
  561. int lpq_len = 20;
  562. #endif
  563. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  564. static MarlinBusyState busy_state = NOT_BUSY;
  565. static millis_t next_busy_signal_ms = 0;
  566. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  567. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  568. #else
  569. #define host_keepalive() ;
  570. #define KEEPALIVE_STATE(n) ;
  571. #endif // HOST_KEEPALIVE_FEATURE
  572. #define DEFINE_PGM_READ_ANY(type, reader) \
  573. static inline type pgm_read_any(const type *p) \
  574. { return pgm_read_##reader##_near(p); }
  575. DEFINE_PGM_READ_ANY(float, float)
  576. DEFINE_PGM_READ_ANY(signed char, byte)
  577. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  578. static const PROGMEM type array##_P[XYZ] = \
  579. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  580. static inline type array(int axis) \
  581. { return pgm_read_any(&array##_P[axis]); }
  582. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS)
  583. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS)
  584. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS)
  585. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH)
  586. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM)
  587. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR)
  588. /**
  589. * ***************************************************************************
  590. * ******************************** FUNCTIONS ********************************
  591. * ***************************************************************************
  592. */
  593. void stop();
  594. void get_available_commands();
  595. void process_next_command();
  596. void prepare_move_to_destination();
  597. void get_cartesian_from_steppers();
  598. void set_current_from_steppers_for_axis(const AxisEnum axis);
  599. #if ENABLED(ARC_SUPPORT)
  600. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  601. #endif
  602. #if ENABLED(BEZIER_CURVE_SUPPORT)
  603. void plan_cubic_move(const float offset[4]);
  604. #endif
  605. void serial_echopair_P(const char* s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  606. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  607. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  608. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  609. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  610. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  611. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  612. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  613. static void report_current_position();
  614. #if ENABLED(DEBUG_LEVELING_FEATURE)
  615. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  616. serialprintPGM(prefix);
  617. SERIAL_ECHOPAIR("(", x);
  618. SERIAL_ECHOPAIR(", ", y);
  619. SERIAL_ECHOPAIR(", ", z);
  620. SERIAL_ECHOPGM(")");
  621. if (suffix) serialprintPGM(suffix);
  622. else SERIAL_EOL;
  623. }
  624. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  625. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  626. }
  627. #if HAS_ABL
  628. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  629. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  630. }
  631. #endif
  632. #define DEBUG_POS(SUFFIX,VAR) do { \
  633. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  634. #endif
  635. /**
  636. * sync_plan_position
  637. *
  638. * Set the planner/stepper positions directly from current_position with
  639. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  640. */
  641. inline void sync_plan_position() {
  642. #if ENABLED(DEBUG_LEVELING_FEATURE)
  643. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  644. #endif
  645. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  646. }
  647. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  648. #if IS_KINEMATIC
  649. inline void sync_plan_position_kinematic() {
  650. #if ENABLED(DEBUG_LEVELING_FEATURE)
  651. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  652. #endif
  653. planner.set_position_mm_kinematic(current_position);
  654. }
  655. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  656. #else
  657. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  658. #endif
  659. #if ENABLED(SDSUPPORT)
  660. #include "SdFatUtil.h"
  661. int freeMemory() { return SdFatUtil::FreeRam(); }
  662. #else
  663. extern "C" {
  664. extern char __bss_end;
  665. extern char __heap_start;
  666. extern void* __brkval;
  667. int freeMemory() {
  668. int free_memory;
  669. if ((int)__brkval == 0)
  670. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  671. else
  672. free_memory = ((int)&free_memory) - ((int)__brkval);
  673. return free_memory;
  674. }
  675. }
  676. #endif //!SDSUPPORT
  677. #if ENABLED(DIGIPOT_I2C)
  678. extern void digipot_i2c_set_current(int channel, float current);
  679. extern void digipot_i2c_init();
  680. #endif
  681. /**
  682. * Inject the next "immediate" command, when possible.
  683. * Return true if any immediate commands remain to inject.
  684. */
  685. static bool drain_injected_commands_P() {
  686. if (injected_commands_P != NULL) {
  687. size_t i = 0;
  688. char c, cmd[30];
  689. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  690. cmd[sizeof(cmd) - 1] = '\0';
  691. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  692. cmd[i] = '\0';
  693. if (enqueue_and_echo_command(cmd)) { // success?
  694. if (c) // newline char?
  695. injected_commands_P += i + 1; // advance to the next command
  696. else
  697. injected_commands_P = NULL; // nul char? no more commands
  698. }
  699. }
  700. return (injected_commands_P != NULL); // return whether any more remain
  701. }
  702. /**
  703. * Record one or many commands to run from program memory.
  704. * Aborts the current queue, if any.
  705. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  706. */
  707. void enqueue_and_echo_commands_P(const char* pgcode) {
  708. injected_commands_P = pgcode;
  709. drain_injected_commands_P(); // first command executed asap (when possible)
  710. }
  711. void clear_command_queue() {
  712. cmd_queue_index_r = cmd_queue_index_w;
  713. commands_in_queue = 0;
  714. }
  715. /**
  716. * Once a new command is in the ring buffer, call this to commit it
  717. */
  718. inline void _commit_command(bool say_ok) {
  719. send_ok[cmd_queue_index_w] = say_ok;
  720. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  721. commands_in_queue++;
  722. }
  723. /**
  724. * Copy a command directly into the main command buffer, from RAM.
  725. * Returns true if successfully adds the command
  726. */
  727. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  728. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  729. strcpy(command_queue[cmd_queue_index_w], cmd);
  730. _commit_command(say_ok);
  731. return true;
  732. }
  733. void enqueue_and_echo_command_now(const char* cmd) {
  734. while (!enqueue_and_echo_command(cmd)) idle();
  735. }
  736. /**
  737. * Enqueue with Serial Echo
  738. */
  739. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  740. if (_enqueuecommand(cmd, say_ok)) {
  741. SERIAL_ECHO_START;
  742. SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
  743. SERIAL_CHAR('"');
  744. SERIAL_EOL;
  745. return true;
  746. }
  747. return false;
  748. }
  749. void setup_killpin() {
  750. #if HAS_KILL
  751. SET_INPUT(KILL_PIN);
  752. WRITE(KILL_PIN, HIGH);
  753. #endif
  754. }
  755. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  756. void setup_filrunoutpin() {
  757. SET_INPUT(FIL_RUNOUT_PIN);
  758. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  759. WRITE(FIL_RUNOUT_PIN, HIGH);
  760. #endif
  761. }
  762. #endif
  763. // Set home pin
  764. void setup_homepin(void) {
  765. #if HAS_HOME
  766. SET_INPUT(HOME_PIN);
  767. WRITE(HOME_PIN, HIGH);
  768. #endif
  769. }
  770. void setup_powerhold() {
  771. #if HAS_SUICIDE
  772. OUT_WRITE(SUICIDE_PIN, HIGH);
  773. #endif
  774. #if HAS_POWER_SWITCH
  775. #if ENABLED(PS_DEFAULT_OFF)
  776. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  777. #else
  778. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  779. #endif
  780. #endif
  781. }
  782. void suicide() {
  783. #if HAS_SUICIDE
  784. OUT_WRITE(SUICIDE_PIN, LOW);
  785. #endif
  786. }
  787. void servo_init() {
  788. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  789. servo[0].attach(SERVO0_PIN);
  790. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  791. #endif
  792. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  793. servo[1].attach(SERVO1_PIN);
  794. servo[1].detach();
  795. #endif
  796. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  797. servo[2].attach(SERVO2_PIN);
  798. servo[2].detach();
  799. #endif
  800. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  801. servo[3].attach(SERVO3_PIN);
  802. servo[3].detach();
  803. #endif
  804. #if HAS_Z_SERVO_ENDSTOP
  805. /**
  806. * Set position of Z Servo Endstop
  807. *
  808. * The servo might be deployed and positioned too low to stow
  809. * when starting up the machine or rebooting the board.
  810. * There's no way to know where the nozzle is positioned until
  811. * homing has been done - no homing with z-probe without init!
  812. *
  813. */
  814. STOW_Z_SERVO();
  815. #endif
  816. }
  817. /**
  818. * Stepper Reset (RigidBoard, et.al.)
  819. */
  820. #if HAS_STEPPER_RESET
  821. void disableStepperDrivers() {
  822. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  823. }
  824. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  825. #endif
  826. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  827. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  828. i2c.receive(bytes);
  829. }
  830. void i2c_on_request() { // just send dummy data for now
  831. i2c.reply("Hello World!\n");
  832. }
  833. #endif
  834. void gcode_line_error(const char* err, bool doFlush = true) {
  835. SERIAL_ERROR_START;
  836. serialprintPGM(err);
  837. SERIAL_ERRORLN(gcode_LastN);
  838. //Serial.println(gcode_N);
  839. if (doFlush) FlushSerialRequestResend();
  840. serial_count = 0;
  841. }
  842. inline void get_serial_commands() {
  843. static char serial_line_buffer[MAX_CMD_SIZE];
  844. static bool serial_comment_mode = false;
  845. // If the command buffer is empty for too long,
  846. // send "wait" to indicate Marlin is still waiting.
  847. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  848. static millis_t last_command_time = 0;
  849. millis_t ms = millis();
  850. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  851. SERIAL_ECHOLNPGM(MSG_WAIT);
  852. last_command_time = ms;
  853. }
  854. #endif
  855. /**
  856. * Loop while serial characters are incoming and the queue is not full
  857. */
  858. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  859. char serial_char = MYSERIAL.read();
  860. /**
  861. * If the character ends the line
  862. */
  863. if (serial_char == '\n' || serial_char == '\r') {
  864. serial_comment_mode = false; // end of line == end of comment
  865. if (!serial_count) continue; // skip empty lines
  866. serial_line_buffer[serial_count] = 0; // terminate string
  867. serial_count = 0; //reset buffer
  868. char* command = serial_line_buffer;
  869. while (*command == ' ') command++; // skip any leading spaces
  870. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  871. char* apos = strchr(command, '*');
  872. if (npos) {
  873. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  874. if (M110) {
  875. char* n2pos = strchr(command + 4, 'N');
  876. if (n2pos) npos = n2pos;
  877. }
  878. gcode_N = strtol(npos + 1, NULL, 10);
  879. if (gcode_N != gcode_LastN + 1 && !M110) {
  880. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  881. return;
  882. }
  883. if (apos) {
  884. byte checksum = 0, count = 0;
  885. while (command[count] != '*') checksum ^= command[count++];
  886. if (strtol(apos + 1, NULL, 10) != checksum) {
  887. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  888. return;
  889. }
  890. // if no errors, continue parsing
  891. }
  892. else {
  893. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  894. return;
  895. }
  896. gcode_LastN = gcode_N;
  897. // if no errors, continue parsing
  898. }
  899. else if (apos) { // No '*' without 'N'
  900. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  901. return;
  902. }
  903. // Movement commands alert when stopped
  904. if (IsStopped()) {
  905. char* gpos = strchr(command, 'G');
  906. if (gpos) {
  907. int codenum = strtol(gpos + 1, NULL, 10);
  908. switch (codenum) {
  909. case 0:
  910. case 1:
  911. case 2:
  912. case 3:
  913. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  914. LCD_MESSAGEPGM(MSG_STOPPED);
  915. break;
  916. }
  917. }
  918. }
  919. #if DISABLED(EMERGENCY_PARSER)
  920. // If command was e-stop process now
  921. if (strcmp(command, "M108") == 0) {
  922. wait_for_heatup = false;
  923. #if ENABLED(ULTIPANEL)
  924. wait_for_user = false;
  925. #endif
  926. }
  927. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  928. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  929. #endif
  930. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  931. last_command_time = ms;
  932. #endif
  933. // Add the command to the queue
  934. _enqueuecommand(serial_line_buffer, true);
  935. }
  936. else if (serial_count >= MAX_CMD_SIZE - 1) {
  937. // Keep fetching, but ignore normal characters beyond the max length
  938. // The command will be injected when EOL is reached
  939. }
  940. else if (serial_char == '\\') { // Handle escapes
  941. if (MYSERIAL.available() > 0) {
  942. // if we have one more character, copy it over
  943. serial_char = MYSERIAL.read();
  944. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  945. }
  946. // otherwise do nothing
  947. }
  948. else { // it's not a newline, carriage return or escape char
  949. if (serial_char == ';') serial_comment_mode = true;
  950. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  951. }
  952. } // queue has space, serial has data
  953. }
  954. #if ENABLED(SDSUPPORT)
  955. inline void get_sdcard_commands() {
  956. static bool stop_buffering = false,
  957. sd_comment_mode = false;
  958. if (!card.sdprinting) return;
  959. /**
  960. * '#' stops reading from SD to the buffer prematurely, so procedural
  961. * macro calls are possible. If it occurs, stop_buffering is triggered
  962. * and the buffer is run dry; this character _can_ occur in serial com
  963. * due to checksums, however, no checksums are used in SD printing.
  964. */
  965. if (commands_in_queue == 0) stop_buffering = false;
  966. uint16_t sd_count = 0;
  967. bool card_eof = card.eof();
  968. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  969. int16_t n = card.get();
  970. char sd_char = (char)n;
  971. card_eof = card.eof();
  972. if (card_eof || n == -1
  973. || sd_char == '\n' || sd_char == '\r'
  974. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  975. ) {
  976. if (card_eof) {
  977. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  978. card.printingHasFinished();
  979. card.checkautostart(true);
  980. }
  981. else if (n == -1) {
  982. SERIAL_ERROR_START;
  983. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  984. }
  985. if (sd_char == '#') stop_buffering = true;
  986. sd_comment_mode = false; //for new command
  987. if (!sd_count) continue; //skip empty lines
  988. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  989. sd_count = 0; //clear buffer
  990. _commit_command(false);
  991. }
  992. else if (sd_count >= MAX_CMD_SIZE - 1) {
  993. /**
  994. * Keep fetching, but ignore normal characters beyond the max length
  995. * The command will be injected when EOL is reached
  996. */
  997. }
  998. else {
  999. if (sd_char == ';') sd_comment_mode = true;
  1000. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1001. }
  1002. }
  1003. }
  1004. #endif // SDSUPPORT
  1005. /**
  1006. * Add to the circular command queue the next command from:
  1007. * - The command-injection queue (injected_commands_P)
  1008. * - The active serial input (usually USB)
  1009. * - The SD card file being actively printed
  1010. */
  1011. void get_available_commands() {
  1012. // if any immediate commands remain, don't get other commands yet
  1013. if (drain_injected_commands_P()) return;
  1014. get_serial_commands();
  1015. #if ENABLED(SDSUPPORT)
  1016. get_sdcard_commands();
  1017. #endif
  1018. }
  1019. inline bool code_has_value() {
  1020. int i = 1;
  1021. char c = seen_pointer[i];
  1022. while (c == ' ') c = seen_pointer[++i];
  1023. if (c == '-' || c == '+') c = seen_pointer[++i];
  1024. if (c == '.') c = seen_pointer[++i];
  1025. return NUMERIC(c);
  1026. }
  1027. inline float code_value_float() {
  1028. char* e = strchr(seen_pointer, 'E');
  1029. if (!e) return strtod(seen_pointer + 1, NULL);
  1030. *e = 0;
  1031. float ret = strtod(seen_pointer + 1, NULL);
  1032. *e = 'E';
  1033. return ret;
  1034. }
  1035. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1036. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1037. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1038. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1039. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1040. inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  1041. #if ENABLED(INCH_MODE_SUPPORT)
  1042. inline void set_input_linear_units(LinearUnit units) {
  1043. switch (units) {
  1044. case LINEARUNIT_INCH:
  1045. linear_unit_factor = 25.4;
  1046. break;
  1047. case LINEARUNIT_MM:
  1048. default:
  1049. linear_unit_factor = 1.0;
  1050. break;
  1051. }
  1052. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1053. }
  1054. inline float axis_unit_factor(int axis) {
  1055. return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1056. }
  1057. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1058. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  1059. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  1060. #else
  1061. inline float code_value_linear_units() { return code_value_float(); }
  1062. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  1063. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  1064. #endif
  1065. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1066. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1067. float code_value_temp_abs() {
  1068. switch (input_temp_units) {
  1069. case TEMPUNIT_C:
  1070. return code_value_float();
  1071. case TEMPUNIT_F:
  1072. return (code_value_float() - 32) * 0.5555555556;
  1073. case TEMPUNIT_K:
  1074. return code_value_float() - 272.15;
  1075. default:
  1076. return code_value_float();
  1077. }
  1078. }
  1079. float code_value_temp_diff() {
  1080. switch (input_temp_units) {
  1081. case TEMPUNIT_C:
  1082. case TEMPUNIT_K:
  1083. return code_value_float();
  1084. case TEMPUNIT_F:
  1085. return code_value_float() * 0.5555555556;
  1086. default:
  1087. return code_value_float();
  1088. }
  1089. }
  1090. #else
  1091. float code_value_temp_abs() { return code_value_float(); }
  1092. float code_value_temp_diff() { return code_value_float(); }
  1093. #endif
  1094. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1095. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1096. bool code_seen(char code) {
  1097. seen_pointer = strchr(current_command_args, code);
  1098. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1099. }
  1100. /**
  1101. * Set target_extruder from the T parameter or the active_extruder
  1102. *
  1103. * Returns TRUE if the target is invalid
  1104. */
  1105. bool get_target_extruder_from_command(int code) {
  1106. if (code_seen('T')) {
  1107. if (code_value_byte() >= EXTRUDERS) {
  1108. SERIAL_ECHO_START;
  1109. SERIAL_CHAR('M');
  1110. SERIAL_ECHO(code);
  1111. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1112. return true;
  1113. }
  1114. target_extruder = code_value_byte();
  1115. }
  1116. else
  1117. target_extruder = active_extruder;
  1118. return false;
  1119. }
  1120. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1121. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1122. #endif
  1123. #if ENABLED(DUAL_X_CARRIAGE)
  1124. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1125. static float x_home_pos(const int extruder) {
  1126. if (extruder == 0)
  1127. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1128. else
  1129. /**
  1130. * In dual carriage mode the extruder offset provides an override of the
  1131. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1132. * This allows soft recalibration of the second extruder home position
  1133. * without firmware reflash (through the M218 command).
  1134. */
  1135. return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
  1136. }
  1137. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1138. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1139. static bool active_extruder_parked = false; // used in mode 1 & 2
  1140. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1141. static millis_t delayed_move_time = 0; // used in mode 1
  1142. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1143. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1144. #endif // DUAL_X_CARRIAGE
  1145. #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE) || ENABLED(DELTA)
  1146. /**
  1147. * Software endstops can be used to monitor the open end of
  1148. * an axis that has a hardware endstop on the other end. Or
  1149. * they can prevent axes from moving past endstops and grinding.
  1150. *
  1151. * To keep doing their job as the coordinate system changes,
  1152. * the software endstop positions must be refreshed to remain
  1153. * at the same positions relative to the machine.
  1154. */
  1155. void update_software_endstops(const AxisEnum axis) {
  1156. const float offs = LOGICAL_POSITION(0, axis);
  1157. #if ENABLED(DUAL_X_CARRIAGE)
  1158. if (axis == X_AXIS) {
  1159. // In Dual X mode hotend_offset[X] is T1's home position
  1160. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1161. if (active_extruder != 0) {
  1162. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1163. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1164. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1165. }
  1166. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1167. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1168. // but not so far to the right that T1 would move past the end
  1169. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1170. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1171. }
  1172. else {
  1173. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1174. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1175. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1176. }
  1177. }
  1178. #else
  1179. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1180. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1181. #endif
  1182. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1183. if (DEBUGGING(LEVELING)) {
  1184. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1185. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1186. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1187. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1188. #endif
  1189. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1190. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1191. }
  1192. #endif
  1193. #if ENABLED(DELTA)
  1194. if (axis == Z_AXIS)
  1195. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1196. #endif
  1197. }
  1198. #endif // NO_WORKSPACE_OFFSETS
  1199. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1200. /**
  1201. * Change the home offset for an axis, update the current
  1202. * position and the software endstops to retain the same
  1203. * relative distance to the new home.
  1204. *
  1205. * Since this changes the current_position, code should
  1206. * call sync_plan_position soon after this.
  1207. */
  1208. static void set_home_offset(AxisEnum axis, float v) {
  1209. current_position[axis] += v - home_offset[axis];
  1210. home_offset[axis] = v;
  1211. update_software_endstops(axis);
  1212. }
  1213. #endif // NO_WORKSPACE_OFFSETS
  1214. /**
  1215. * Set an axis' current position to its home position (after homing).
  1216. *
  1217. * For Core and Cartesian robots this applies one-to-one when an
  1218. * individual axis has been homed.
  1219. *
  1220. * DELTA should wait until all homing is done before setting the XYZ
  1221. * current_position to home, because homing is a single operation.
  1222. * In the case where the axis positions are already known and previously
  1223. * homed, DELTA could home to X or Y individually by moving either one
  1224. * to the center. However, homing Z always homes XY and Z.
  1225. *
  1226. * SCARA should wait until all XY homing is done before setting the XY
  1227. * current_position to home, because neither X nor Y is at home until
  1228. * both are at home. Z can however be homed individually.
  1229. *
  1230. * Callers must sync the planner position after calling this!
  1231. */
  1232. static void set_axis_is_at_home(AxisEnum axis) {
  1233. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1234. if (DEBUGGING(LEVELING)) {
  1235. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1236. SERIAL_CHAR(')');
  1237. SERIAL_EOL;
  1238. }
  1239. #endif
  1240. axis_known_position[axis] = axis_homed[axis] = true;
  1241. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1242. position_shift[axis] = 0;
  1243. update_software_endstops(axis);
  1244. #endif
  1245. #if ENABLED(DUAL_X_CARRIAGE)
  1246. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1247. current_position[X_AXIS] = x_home_pos(active_extruder);
  1248. return;
  1249. }
  1250. #endif
  1251. #if ENABLED(MORGAN_SCARA)
  1252. /**
  1253. * Morgan SCARA homes XY at the same time
  1254. */
  1255. if (axis == X_AXIS || axis == Y_AXIS) {
  1256. float homeposition[XYZ];
  1257. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
  1258. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1259. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1260. /**
  1261. * Get Home position SCARA arm angles using inverse kinematics,
  1262. * and calculate homing offset using forward kinematics
  1263. */
  1264. inverse_kinematics(homeposition);
  1265. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1266. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1267. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1268. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1269. /**
  1270. * SCARA home positions are based on configuration since the actual
  1271. * limits are determined by the inverse kinematic transform.
  1272. */
  1273. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1274. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1275. }
  1276. else
  1277. #endif
  1278. {
  1279. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1280. }
  1281. /**
  1282. * Z Probe Z Homing? Account for the probe's Z offset.
  1283. */
  1284. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1285. if (axis == Z_AXIS) {
  1286. #if HOMING_Z_WITH_PROBE
  1287. current_position[Z_AXIS] -= zprobe_zoffset;
  1288. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1289. if (DEBUGGING(LEVELING)) {
  1290. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1291. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1292. }
  1293. #endif
  1294. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1295. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1296. #endif
  1297. }
  1298. #endif
  1299. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1300. if (DEBUGGING(LEVELING)) {
  1301. #if DISABLED(NO_WORKSPACE_OFFSETS)
  1302. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1303. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1304. #endif
  1305. DEBUG_POS("", current_position);
  1306. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1307. SERIAL_CHAR(')');
  1308. SERIAL_EOL;
  1309. }
  1310. #endif
  1311. }
  1312. /**
  1313. * Some planner shorthand inline functions
  1314. */
  1315. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1316. int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1317. int hbd = homing_bump_divisor[axis];
  1318. if (hbd < 1) {
  1319. hbd = 10;
  1320. SERIAL_ECHO_START;
  1321. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1322. }
  1323. return homing_feedrate_mm_s[axis] / hbd;
  1324. }
  1325. //
  1326. // line_to_current_position
  1327. // Move the planner to the current position from wherever it last moved
  1328. // (or from wherever it has been told it is located).
  1329. //
  1330. inline void line_to_current_position() {
  1331. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1332. }
  1333. //
  1334. // line_to_destination
  1335. // Move the planner, not necessarily synced with current_position
  1336. //
  1337. inline void line_to_destination(float fr_mm_s) {
  1338. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1339. }
  1340. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1341. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1342. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1343. #if IS_KINEMATIC
  1344. /**
  1345. * Calculate delta, start a line, and set current_position to destination
  1346. */
  1347. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1348. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1349. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1350. #endif
  1351. if ( current_position[X_AXIS] == destination[X_AXIS]
  1352. && current_position[Y_AXIS] == destination[Y_AXIS]
  1353. && current_position[Z_AXIS] == destination[Z_AXIS]
  1354. && current_position[E_AXIS] == destination[E_AXIS]
  1355. ) return;
  1356. refresh_cmd_timeout();
  1357. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1358. set_current_to_destination();
  1359. }
  1360. #endif // IS_KINEMATIC
  1361. /**
  1362. * Plan a move to (X, Y, Z) and set the current_position
  1363. * The final current_position may not be the one that was requested
  1364. */
  1365. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1366. const float old_feedrate_mm_s = feedrate_mm_s;
  1367. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1368. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1369. #endif
  1370. #if ENABLED(DELTA)
  1371. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1372. set_destination_to_current(); // sync destination at the start
  1373. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1374. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1375. #endif
  1376. // when in the danger zone
  1377. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1378. if (z > delta_clip_start_height) { // staying in the danger zone
  1379. destination[X_AXIS] = x; // move directly (uninterpolated)
  1380. destination[Y_AXIS] = y;
  1381. destination[Z_AXIS] = z;
  1382. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1383. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1384. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1385. #endif
  1386. return;
  1387. }
  1388. else {
  1389. destination[Z_AXIS] = delta_clip_start_height;
  1390. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1391. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1392. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1393. #endif
  1394. }
  1395. }
  1396. if (z > current_position[Z_AXIS]) { // raising?
  1397. destination[Z_AXIS] = z;
  1398. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1399. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1400. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1401. #endif
  1402. }
  1403. destination[X_AXIS] = x;
  1404. destination[Y_AXIS] = y;
  1405. prepare_move_to_destination(); // set_current_to_destination
  1406. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1407. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1408. #endif
  1409. if (z < current_position[Z_AXIS]) { // lowering?
  1410. destination[Z_AXIS] = z;
  1411. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1412. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1413. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1414. #endif
  1415. }
  1416. #elif IS_SCARA
  1417. set_destination_to_current();
  1418. // If Z needs to raise, do it before moving XY
  1419. if (destination[Z_AXIS] < z) {
  1420. destination[Z_AXIS] = z;
  1421. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1422. }
  1423. destination[X_AXIS] = x;
  1424. destination[Y_AXIS] = y;
  1425. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1426. // If Z needs to lower, do it after moving XY
  1427. if (destination[Z_AXIS] > z) {
  1428. destination[Z_AXIS] = z;
  1429. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1430. }
  1431. #else
  1432. // If Z needs to raise, do it before moving XY
  1433. if (current_position[Z_AXIS] < z) {
  1434. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1435. current_position[Z_AXIS] = z;
  1436. line_to_current_position();
  1437. }
  1438. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1439. current_position[X_AXIS] = x;
  1440. current_position[Y_AXIS] = y;
  1441. line_to_current_position();
  1442. // If Z needs to lower, do it after moving XY
  1443. if (current_position[Z_AXIS] > z) {
  1444. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1445. current_position[Z_AXIS] = z;
  1446. line_to_current_position();
  1447. }
  1448. #endif
  1449. stepper.synchronize();
  1450. feedrate_mm_s = old_feedrate_mm_s;
  1451. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1452. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1453. #endif
  1454. }
  1455. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1456. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1457. }
  1458. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1459. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1460. }
  1461. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1462. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1463. }
  1464. //
  1465. // Prepare to do endstop or probe moves
  1466. // with custom feedrates.
  1467. //
  1468. // - Save current feedrates
  1469. // - Reset the rate multiplier
  1470. // - Reset the command timeout
  1471. // - Enable the endstops (for endstop moves)
  1472. //
  1473. static void setup_for_endstop_or_probe_move() {
  1474. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1475. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1476. #endif
  1477. saved_feedrate_mm_s = feedrate_mm_s;
  1478. saved_feedrate_percentage = feedrate_percentage;
  1479. feedrate_percentage = 100;
  1480. refresh_cmd_timeout();
  1481. }
  1482. static void clean_up_after_endstop_or_probe_move() {
  1483. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1484. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1485. #endif
  1486. feedrate_mm_s = saved_feedrate_mm_s;
  1487. feedrate_percentage = saved_feedrate_percentage;
  1488. refresh_cmd_timeout();
  1489. }
  1490. #if HAS_BED_PROBE
  1491. /**
  1492. * Raise Z to a minimum height to make room for a probe to move
  1493. */
  1494. inline void do_probe_raise(float z_raise) {
  1495. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1496. if (DEBUGGING(LEVELING)) {
  1497. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1498. SERIAL_CHAR(')');
  1499. SERIAL_EOL;
  1500. }
  1501. #endif
  1502. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1503. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1504. if (z_dest > current_position[Z_AXIS])
  1505. do_blocking_move_to_z(z_dest);
  1506. }
  1507. #endif //HAS_BED_PROBE
  1508. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1509. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1510. const bool xx = x && !axis_homed[X_AXIS],
  1511. yy = y && !axis_homed[Y_AXIS],
  1512. zz = z && !axis_homed[Z_AXIS];
  1513. if (xx || yy || zz) {
  1514. SERIAL_ECHO_START;
  1515. SERIAL_ECHOPGM(MSG_HOME " ");
  1516. if (xx) SERIAL_ECHOPGM(MSG_X);
  1517. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1518. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1519. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1520. #if ENABLED(ULTRA_LCD)
  1521. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1522. strcat_P(message, PSTR(MSG_HOME " "));
  1523. if (xx) strcat_P(message, PSTR(MSG_X));
  1524. if (yy) strcat_P(message, PSTR(MSG_Y));
  1525. if (zz) strcat_P(message, PSTR(MSG_Z));
  1526. strcat_P(message, PSTR(" " MSG_FIRST));
  1527. lcd_setstatus(message);
  1528. #endif
  1529. return true;
  1530. }
  1531. return false;
  1532. }
  1533. #endif
  1534. #if ENABLED(Z_PROBE_SLED)
  1535. #ifndef SLED_DOCKING_OFFSET
  1536. #define SLED_DOCKING_OFFSET 0
  1537. #endif
  1538. /**
  1539. * Method to dock/undock a sled designed by Charles Bell.
  1540. *
  1541. * stow[in] If false, move to MAX_X and engage the solenoid
  1542. * If true, move to MAX_X and release the solenoid
  1543. */
  1544. static void dock_sled(bool stow) {
  1545. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1546. if (DEBUGGING(LEVELING)) {
  1547. SERIAL_ECHOPAIR("dock_sled(", stow);
  1548. SERIAL_CHAR(')');
  1549. SERIAL_EOL;
  1550. }
  1551. #endif
  1552. // Dock sled a bit closer to ensure proper capturing
  1553. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1554. #if PIN_EXISTS(SLED)
  1555. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1556. #endif
  1557. }
  1558. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1559. void run_deploy_moves_script() {
  1560. #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)
  1561. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1562. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1563. #endif
  1564. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1565. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1566. #endif
  1567. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1568. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1569. #endif
  1570. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1571. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1572. #endif
  1573. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1574. #endif
  1575. #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)
  1576. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1577. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1578. #endif
  1579. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1580. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1581. #endif
  1582. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1583. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1584. #endif
  1585. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1586. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1587. #endif
  1588. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1589. #endif
  1590. #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)
  1591. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1592. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1593. #endif
  1594. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1595. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1596. #endif
  1597. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1598. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1599. #endif
  1600. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1601. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1602. #endif
  1603. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1604. #endif
  1605. #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)
  1606. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1607. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1608. #endif
  1609. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1610. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1611. #endif
  1612. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1613. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1614. #endif
  1615. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1616. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1617. #endif
  1618. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1619. #endif
  1620. #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)
  1621. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1622. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1623. #endif
  1624. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1625. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1626. #endif
  1627. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1628. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1629. #endif
  1630. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1631. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1632. #endif
  1633. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1634. #endif
  1635. }
  1636. void run_stow_moves_script() {
  1637. #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)
  1638. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1639. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1640. #endif
  1641. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1642. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1643. #endif
  1644. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1645. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1646. #endif
  1647. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1648. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1649. #endif
  1650. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1651. #endif
  1652. #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)
  1653. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1654. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1655. #endif
  1656. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1657. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1658. #endif
  1659. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1660. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1661. #endif
  1662. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1663. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1664. #endif
  1665. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1666. #endif
  1667. #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)
  1668. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1669. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1670. #endif
  1671. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1672. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1673. #endif
  1674. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1675. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1676. #endif
  1677. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1678. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1679. #endif
  1680. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1681. #endif
  1682. #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)
  1683. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1684. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1685. #endif
  1686. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1687. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1688. #endif
  1689. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1690. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1691. #endif
  1692. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1693. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1694. #endif
  1695. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1696. #endif
  1697. #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)
  1698. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1699. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1700. #endif
  1701. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1702. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1703. #endif
  1704. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1705. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1706. #endif
  1707. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1708. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1709. #endif
  1710. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1711. #endif
  1712. }
  1713. #endif
  1714. #if HAS_BED_PROBE
  1715. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1716. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1717. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1718. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1719. #else
  1720. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1721. #endif
  1722. #endif
  1723. #define DEPLOY_PROBE() set_probe_deployed(true)
  1724. #define STOW_PROBE() set_probe_deployed(false)
  1725. #if ENABLED(BLTOUCH)
  1726. void bltouch_command(int angle) {
  1727. servo[Z_ENDSTOP_SERVO_NR].move(angle); // Give the BL-Touch the command and wait
  1728. safe_delay(375);
  1729. }
  1730. FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
  1731. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1732. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1733. if (DEBUGGING(LEVELING)) {
  1734. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1735. SERIAL_CHAR(')');
  1736. SERIAL_EOL;
  1737. }
  1738. #endif
  1739. }
  1740. #endif
  1741. // returns false for ok and true for failure
  1742. static bool set_probe_deployed(bool deploy) {
  1743. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1744. if (DEBUGGING(LEVELING)) {
  1745. DEBUG_POS("set_probe_deployed", current_position);
  1746. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1747. }
  1748. #endif
  1749. if (endstops.z_probe_enabled == deploy) return false;
  1750. // Make room for probe
  1751. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1752. // When deploying make sure BLTOUCH is not already triggered
  1753. #if ENABLED(BLTOUCH)
  1754. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1755. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1756. set_bltouch_deployed(true); // Also needs to deploy and stow to
  1757. set_bltouch_deployed(false); // clear the triggered condition.
  1758. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1759. stop(); // punt!
  1760. return true;
  1761. }
  1762. }
  1763. #elif ENABLED(Z_PROBE_SLED)
  1764. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1765. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1766. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1767. #endif
  1768. const float oldXpos = current_position[X_AXIS],
  1769. oldYpos = current_position[Y_AXIS];
  1770. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1771. // If endstop is already false, the Z probe is deployed
  1772. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1773. // Would a goto be less ugly?
  1774. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1775. // for a triggered when stowed manual probe.
  1776. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1777. // otherwise an Allen-Key probe can't be stowed.
  1778. #endif
  1779. #if ENABLED(Z_PROBE_SLED)
  1780. dock_sled(!deploy);
  1781. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1782. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1783. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1784. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1785. #endif
  1786. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1787. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1788. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1789. if (IsRunning()) {
  1790. SERIAL_ERROR_START;
  1791. SERIAL_ERRORLNPGM("Z-Probe failed");
  1792. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1793. }
  1794. stop();
  1795. return true;
  1796. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1797. #endif
  1798. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1799. endstops.enable_z_probe(deploy);
  1800. return false;
  1801. }
  1802. static void do_probe_move(float z, float fr_mm_m) {
  1803. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1804. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1805. #endif
  1806. // Deploy BLTouch at the start of any probe
  1807. #if ENABLED(BLTOUCH)
  1808. set_bltouch_deployed(true);
  1809. #endif
  1810. // Move down until probe triggered
  1811. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1812. // Retract BLTouch immediately after a probe
  1813. #if ENABLED(BLTOUCH)
  1814. set_bltouch_deployed(false);
  1815. #endif
  1816. // Clear endstop flags
  1817. endstops.hit_on_purpose();
  1818. // Get Z where the steppers were interrupted
  1819. set_current_from_steppers_for_axis(Z_AXIS);
  1820. // Tell the planner where we actually are
  1821. SYNC_PLAN_POSITION_KINEMATIC();
  1822. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1823. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1824. #endif
  1825. }
  1826. // Do a single Z probe and return with current_position[Z_AXIS]
  1827. // at the height where the probe triggered.
  1828. static float run_z_probe() {
  1829. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1830. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1831. #endif
  1832. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1833. refresh_cmd_timeout();
  1834. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1835. // Do a first probe at the fast speed
  1836. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1837. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1838. float first_probe_z = current_position[Z_AXIS];
  1839. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  1840. #endif
  1841. // move up by the bump distance
  1842. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1843. #else
  1844. // If the nozzle is above the travel height then
  1845. // move down quickly before doing the slow probe
  1846. float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
  1847. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  1848. if (z < current_position[Z_AXIS])
  1849. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1850. #endif
  1851. // move down slowly to find bed
  1852. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1853. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1854. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1855. #endif
  1856. // Debug: compare probe heights
  1857. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  1858. if (DEBUGGING(LEVELING)) {
  1859. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  1860. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  1861. }
  1862. #endif
  1863. return current_position[Z_AXIS];
  1864. }
  1865. //
  1866. // - Move to the given XY
  1867. // - Deploy the probe, if not already deployed
  1868. // - Probe the bed, get the Z position
  1869. // - Depending on the 'stow' flag
  1870. // - Stow the probe, or
  1871. // - Raise to the BETWEEN height
  1872. // - Return the probed Z position
  1873. //
  1874. static float probe_pt(const float &x, const float &y, const bool stow = true, const int verbose_level = 1) {
  1875. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1876. if (DEBUGGING(LEVELING)) {
  1877. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1878. SERIAL_ECHOPAIR(", ", y);
  1879. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  1880. SERIAL_ECHOLNPGM("stow)");
  1881. DEBUG_POS("", current_position);
  1882. }
  1883. #endif
  1884. const float old_feedrate_mm_s = feedrate_mm_s;
  1885. #if ENABLED(DELTA)
  1886. if (current_position[Z_AXIS] > delta_clip_start_height)
  1887. do_blocking_move_to_z(delta_clip_start_height);
  1888. #endif
  1889. // Ensure a minimum height before moving the probe
  1890. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1891. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1892. // Move the probe to the given XY
  1893. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1894. if (DEPLOY_PROBE()) return NAN;
  1895. const float measured_z = run_z_probe();
  1896. if (!stow)
  1897. do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  1898. else
  1899. if (STOW_PROBE()) return NAN;
  1900. if (verbose_level > 2) {
  1901. SERIAL_PROTOCOLPGM("Bed X: ");
  1902. SERIAL_PROTOCOL_F(x, 3);
  1903. SERIAL_PROTOCOLPGM(" Y: ");
  1904. SERIAL_PROTOCOL_F(y, 3);
  1905. SERIAL_PROTOCOLPGM(" Z: ");
  1906. SERIAL_PROTOCOL_F(measured_z - -zprobe_zoffset + 0.0001, 3);
  1907. SERIAL_EOL;
  1908. }
  1909. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1910. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1911. #endif
  1912. feedrate_mm_s = old_feedrate_mm_s;
  1913. return measured_z;
  1914. }
  1915. #endif // HAS_BED_PROBE
  1916. #if PLANNER_LEVELING
  1917. /**
  1918. * Turn bed leveling on or off, fixing the current
  1919. * position as-needed.
  1920. *
  1921. * Disable: Current position = physical position
  1922. * Enable: Current position = "unleveled" physical position
  1923. */
  1924. void set_bed_leveling_enabled(bool enable/*=true*/) {
  1925. #if ENABLED(MESH_BED_LEVELING)
  1926. if (enable != mbl.active()) {
  1927. if (!enable)
  1928. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  1929. mbl.set_active(enable && mbl.has_mesh());
  1930. if (enable) planner.unapply_leveling(current_position);
  1931. }
  1932. #elif HAS_ABL
  1933. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  1934. const bool can_change = (!enable || (bilinear_grid_spacing[0] && bilinear_grid_spacing[1]));
  1935. #else
  1936. constexpr bool can_change = true;
  1937. #endif
  1938. if (can_change && enable != planner.abl_enabled) {
  1939. planner.abl_enabled = enable;
  1940. if (!enable)
  1941. set_current_from_steppers_for_axis(
  1942. #if ABL_PLANAR
  1943. ALL_AXES
  1944. #else
  1945. Z_AXIS
  1946. #endif
  1947. );
  1948. else
  1949. planner.unapply_leveling(current_position);
  1950. }
  1951. #endif
  1952. }
  1953. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  1954. void set_z_fade_height(const float zfh) {
  1955. planner.z_fade_height = zfh;
  1956. planner.inverse_z_fade_height = RECIPROCAL(zfh);
  1957. if (
  1958. #if ENABLED(MESH_BED_LEVELING)
  1959. mbl.active()
  1960. #else
  1961. planner.abl_enabled
  1962. #endif
  1963. ) {
  1964. set_current_from_steppers_for_axis(
  1965. #if ABL_PLANAR
  1966. ALL_AXES
  1967. #else
  1968. Z_AXIS
  1969. #endif
  1970. );
  1971. }
  1972. }
  1973. #endif // LEVELING_FADE_HEIGHT
  1974. /**
  1975. * Reset calibration results to zero.
  1976. */
  1977. void reset_bed_level() {
  1978. set_bed_leveling_enabled(false);
  1979. #if ENABLED(MESH_BED_LEVELING)
  1980. if (mbl.has_mesh()) {
  1981. mbl.reset();
  1982. mbl.set_has_mesh(false);
  1983. }
  1984. #else
  1985. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1986. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  1987. #endif
  1988. #if ABL_PLANAR
  1989. planner.bed_level_matrix.set_to_identity();
  1990. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  1991. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  1992. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  1993. for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++)
  1994. for (uint8_t y = 0; y < ABL_GRID_MAX_POINTS_Y; y++)
  1995. bed_level_grid[x][y] = UNPROBED;
  1996. #endif
  1997. #endif
  1998. }
  1999. #endif // PLANNER_LEVELING
  2000. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2001. /**
  2002. * Extrapolate a single point from its neighbors
  2003. */
  2004. static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
  2005. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2006. if (DEBUGGING(LEVELING)) {
  2007. SERIAL_ECHOPGM("Extrapolate [");
  2008. if (x < 10) SERIAL_CHAR(' ');
  2009. SERIAL_ECHO((int)x);
  2010. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2011. SERIAL_CHAR(' ');
  2012. if (y < 10) SERIAL_CHAR(' ');
  2013. SERIAL_ECHO((int)y);
  2014. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2015. SERIAL_CHAR(']');
  2016. }
  2017. #endif
  2018. if (bed_level_grid[x][y] != UNPROBED) {
  2019. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2020. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2021. #endif
  2022. return; // Don't overwrite good values.
  2023. }
  2024. SERIAL_EOL;
  2025. // Get X neighbors, Y neighbors, and XY neighbors
  2026. float a1 = bed_level_grid[x + xdir][y], a2 = bed_level_grid[x + xdir * 2][y],
  2027. b1 = bed_level_grid[x][y + ydir], b2 = bed_level_grid[x][y + ydir * 2],
  2028. c1 = bed_level_grid[x + xdir][y + ydir], c2 = bed_level_grid[x + xdir * 2][y + ydir * 2];
  2029. // Treat far unprobed points as zero, near as equal to far
  2030. if (a2 == UNPROBED) a2 = 0.0; if (a1 == UNPROBED) a1 = a2;
  2031. if (b2 == UNPROBED) b2 = 0.0; if (b1 == UNPROBED) b1 = b2;
  2032. if (c2 == UNPROBED) c2 = 0.0; if (c1 == UNPROBED) c1 = c2;
  2033. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2034. // Take the average instead of the median
  2035. bed_level_grid[x][y] = (a + b + c) / 3.0;
  2036. // Median is robust (ignores outliers).
  2037. // bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2038. // : ((c < b) ? b : (a < c) ? a : c);
  2039. }
  2040. //Enable this if your SCARA uses 180° of total area
  2041. //#define EXTRAPOLATE_FROM_EDGE
  2042. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2043. #if ABL_GRID_MAX_POINTS_X < ABL_GRID_MAX_POINTS_Y
  2044. #define HALF_IN_X
  2045. #elif ABL_GRID_MAX_POINTS_Y < ABL_GRID_MAX_POINTS_X
  2046. #define HALF_IN_Y
  2047. #endif
  2048. #endif
  2049. /**
  2050. * Fill in the unprobed points (corners of circular print surface)
  2051. * using linear extrapolation, away from the center.
  2052. */
  2053. static void extrapolate_unprobed_bed_level() {
  2054. #ifdef HALF_IN_X
  2055. const uint8_t ctrx2 = 0, xlen = ABL_GRID_MAX_POINTS_X - 1;
  2056. #else
  2057. const uint8_t ctrx1 = (ABL_GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2058. ctrx2 = ABL_GRID_MAX_POINTS_X / 2, // right-of-center
  2059. xlen = ctrx1;
  2060. #endif
  2061. #ifdef HALF_IN_Y
  2062. const uint8_t ctry2 = 0, ylen = ABL_GRID_MAX_POINTS_Y - 1;
  2063. #else
  2064. const uint8_t ctry1 = (ABL_GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2065. ctry2 = ABL_GRID_MAX_POINTS_Y / 2, // bottom-of-center
  2066. ylen = ctry1;
  2067. #endif
  2068. for (uint8_t xo = 0; xo <= xlen; xo++)
  2069. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2070. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2071. #ifndef HALF_IN_X
  2072. const uint8_t x1 = ctrx1 - xo;
  2073. #endif
  2074. #ifndef HALF_IN_Y
  2075. const uint8_t y1 = ctry1 - yo;
  2076. #ifndef HALF_IN_X
  2077. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2078. #endif
  2079. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2080. #endif
  2081. #ifndef HALF_IN_X
  2082. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2083. #endif
  2084. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2085. }
  2086. }
  2087. /**
  2088. * Print calibration results for plotting or manual frame adjustment.
  2089. */
  2090. static void print_bilinear_leveling_grid() {
  2091. SERIAL_ECHOPGM("Bilinear Leveling Grid:\n ");
  2092. for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++) {
  2093. SERIAL_PROTOCOLPGM(" ");
  2094. if (x < 10) SERIAL_PROTOCOLCHAR(' ');
  2095. SERIAL_PROTOCOL((int)x);
  2096. }
  2097. SERIAL_EOL;
  2098. for (uint8_t y = 0; y < ABL_GRID_MAX_POINTS_Y; y++) {
  2099. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2100. SERIAL_PROTOCOL((int)y);
  2101. for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++) {
  2102. SERIAL_PROTOCOLCHAR(' ');
  2103. float offset = bed_level_grid[x][y];
  2104. if (offset != UNPROBED) {
  2105. if (offset > 0) SERIAL_CHAR('+');
  2106. SERIAL_PROTOCOL_F(offset, 2);
  2107. }
  2108. else
  2109. SERIAL_PROTOCOLPGM(" ====");
  2110. }
  2111. SERIAL_EOL;
  2112. }
  2113. SERIAL_EOL;
  2114. }
  2115. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2116. #define ABL_GRID_POINTS_VIRT_X (ABL_GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2117. #define ABL_GRID_POINTS_VIRT_Y (ABL_GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2118. #define ABL_TEMP_POINTS_X (ABL_GRID_MAX_POINTS_X + 2)
  2119. #define ABL_TEMP_POINTS_Y (ABL_GRID_MAX_POINTS_Y + 2)
  2120. float bed_level_grid_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2121. int bilinear_grid_spacing_virt[2] = { 0 };
  2122. static void bed_level_virt_print() {
  2123. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2124. for (uint8_t x = 0; x < ABL_GRID_POINTS_VIRT_X; x++) {
  2125. SERIAL_PROTOCOLPGM(" ");
  2126. if (x < 10) SERIAL_PROTOCOLCHAR(' ');
  2127. SERIAL_PROTOCOL((int)x);
  2128. }
  2129. SERIAL_EOL;
  2130. for (uint8_t y = 0; y < ABL_GRID_POINTS_VIRT_Y; y++) {
  2131. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2132. SERIAL_PROTOCOL((int)y);
  2133. for (uint8_t x = 0; x < ABL_GRID_POINTS_VIRT_X; x++) {
  2134. SERIAL_PROTOCOLCHAR(' ');
  2135. float offset = bed_level_grid_virt[x][y];
  2136. if (offset != UNPROBED) {
  2137. if (offset >= 0) SERIAL_CHAR('+');
  2138. SERIAL_PROTOCOL_F(offset, 5);
  2139. }
  2140. else
  2141. SERIAL_PROTOCOLPGM(" ====");
  2142. }
  2143. SERIAL_EOL;
  2144. }
  2145. SERIAL_EOL;
  2146. }
  2147. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2148. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2149. uint8_t ep = 0, ip = 1;
  2150. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2151. if (x) {
  2152. ep = ABL_GRID_MAX_POINTS_X - 1;
  2153. ip = ABL_GRID_MAX_POINTS_X - 2;
  2154. }
  2155. if (y > 0 && y < ABL_TEMP_POINTS_Y - 1)
  2156. return LINEAR_EXTRAPOLATION(
  2157. bed_level_grid[ep][y - 1],
  2158. bed_level_grid[ip][y - 1]
  2159. );
  2160. else
  2161. return LINEAR_EXTRAPOLATION(
  2162. bed_level_virt_coord(ep + 1, y),
  2163. bed_level_virt_coord(ip + 1, y)
  2164. );
  2165. }
  2166. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2167. if (y) {
  2168. ep = ABL_GRID_MAX_POINTS_Y - 1;
  2169. ip = ABL_GRID_MAX_POINTS_Y - 2;
  2170. }
  2171. if (x > 0 && x < ABL_TEMP_POINTS_X - 1)
  2172. return LINEAR_EXTRAPOLATION(
  2173. bed_level_grid[x - 1][ep],
  2174. bed_level_grid[x - 1][ip]
  2175. );
  2176. else
  2177. return LINEAR_EXTRAPOLATION(
  2178. bed_level_virt_coord(x, ep + 1),
  2179. bed_level_virt_coord(x, ip + 1)
  2180. );
  2181. }
  2182. return bed_level_grid[x - 1][y - 1];
  2183. }
  2184. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2185. return (
  2186. p[i-1] * -t * sq(1 - t)
  2187. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2188. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2189. - p[i+2] * sq(t) * (1 - t)
  2190. ) * 0.5;
  2191. }
  2192. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2193. float row[4], column[4];
  2194. for (uint8_t i = 0; i < 4; i++) {
  2195. for (uint8_t j = 0; j < 4; j++) {
  2196. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2197. }
  2198. row[i] = bed_level_virt_cmr(column, 1, ty);
  2199. }
  2200. return bed_level_virt_cmr(row, 1, tx);
  2201. }
  2202. void bed_level_virt_interpolate() {
  2203. for (uint8_t y = 0; y < ABL_GRID_MAX_POINTS_Y; y++)
  2204. for (uint8_t x = 0; x < ABL_GRID_MAX_POINTS_X; x++)
  2205. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2206. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2207. if ((ty && y == ABL_GRID_MAX_POINTS_Y - 1) || (tx && x == ABL_GRID_MAX_POINTS_X - 1))
  2208. continue;
  2209. bed_level_grid_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2210. bed_level_virt_2cmr(
  2211. x + 1,
  2212. y + 1,
  2213. (float)tx / (BILINEAR_SUBDIVISIONS),
  2214. (float)ty / (BILINEAR_SUBDIVISIONS)
  2215. );
  2216. }
  2217. }
  2218. #endif // ABL_BILINEAR_SUBDIVISION
  2219. #endif // AUTO_BED_LEVELING_BILINEAR
  2220. /**
  2221. * Home an individual linear axis
  2222. */
  2223. static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
  2224. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2225. if (DEBUGGING(LEVELING)) {
  2226. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2227. SERIAL_ECHOPAIR(", ", distance);
  2228. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2229. SERIAL_CHAR(')');
  2230. SERIAL_EOL;
  2231. }
  2232. #endif
  2233. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2234. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2235. if (deploy_bltouch) set_bltouch_deployed(true);
  2236. #endif
  2237. // Tell the planner we're at Z=0
  2238. current_position[axis] = 0;
  2239. #if IS_SCARA
  2240. SYNC_PLAN_POSITION_KINEMATIC();
  2241. current_position[axis] = distance;
  2242. inverse_kinematics(current_position);
  2243. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2244. #else
  2245. sync_plan_position();
  2246. current_position[axis] = distance;
  2247. 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_mm_s[axis], active_extruder);
  2248. #endif
  2249. stepper.synchronize();
  2250. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2251. if (deploy_bltouch) set_bltouch_deployed(false);
  2252. #endif
  2253. endstops.hit_on_purpose();
  2254. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2255. if (DEBUGGING(LEVELING)) {
  2256. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2257. SERIAL_CHAR(')');
  2258. SERIAL_EOL;
  2259. }
  2260. #endif
  2261. }
  2262. /**
  2263. * Home an individual "raw axis" to its endstop.
  2264. * This applies to XYZ on Cartesian and Core robots, and
  2265. * to the individual ABC steppers on DELTA and SCARA.
  2266. *
  2267. * At the end of the procedure the axis is marked as
  2268. * homed and the current position of that axis is updated.
  2269. * Kinematic robots should wait till all axes are homed
  2270. * before updating the current position.
  2271. */
  2272. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2273. static void homeaxis(const AxisEnum axis) {
  2274. #if IS_SCARA
  2275. // Only Z homing (with probe) is permitted
  2276. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2277. #else
  2278. #define CAN_HOME(A) \
  2279. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2280. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2281. #endif
  2282. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2283. if (DEBUGGING(LEVELING)) {
  2284. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2285. SERIAL_CHAR(')');
  2286. SERIAL_EOL;
  2287. }
  2288. #endif
  2289. const int axis_home_dir =
  2290. #if ENABLED(DUAL_X_CARRIAGE)
  2291. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2292. #endif
  2293. home_dir(axis);
  2294. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2295. #if HOMING_Z_WITH_PROBE
  2296. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2297. #endif
  2298. // Set a flag for Z motor locking
  2299. #if ENABLED(Z_DUAL_ENDSTOPS)
  2300. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2301. #endif
  2302. // Fast move towards endstop until triggered
  2303. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2304. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2305. #endif
  2306. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2307. // When homing Z with probe respect probe clearance
  2308. const float bump = axis_home_dir * (
  2309. #if HOMING_Z_WITH_PROBE
  2310. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2311. #endif
  2312. home_bump_mm(axis)
  2313. );
  2314. // If a second homing move is configured...
  2315. if (bump) {
  2316. // Move away from the endstop by the axis HOME_BUMP_MM
  2317. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2318. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2319. #endif
  2320. do_homing_move(axis, -bump);
  2321. // Slow move towards endstop until triggered
  2322. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2323. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2324. #endif
  2325. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2326. }
  2327. #if ENABLED(Z_DUAL_ENDSTOPS)
  2328. if (axis == Z_AXIS) {
  2329. float adj = fabs(z_endstop_adj);
  2330. bool lockZ1;
  2331. if (axis_home_dir > 0) {
  2332. adj = -adj;
  2333. lockZ1 = (z_endstop_adj > 0);
  2334. }
  2335. else
  2336. lockZ1 = (z_endstop_adj < 0);
  2337. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2338. // Move to the adjusted endstop height
  2339. do_homing_move(axis, adj);
  2340. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2341. stepper.set_homing_flag(false);
  2342. } // Z_AXIS
  2343. #endif
  2344. #if IS_SCARA
  2345. set_axis_is_at_home(axis);
  2346. SYNC_PLAN_POSITION_KINEMATIC();
  2347. #elif ENABLED(DELTA)
  2348. // Delta has already moved all three towers up in G28
  2349. // so here it re-homes each tower in turn.
  2350. // Delta homing treats the axes as normal linear axes.
  2351. // retrace by the amount specified in endstop_adj
  2352. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  2353. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2354. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
  2355. #endif
  2356. do_homing_move(axis, endstop_adj[axis]);
  2357. }
  2358. #else
  2359. // For cartesian/core machines,
  2360. // set the axis to its home position
  2361. set_axis_is_at_home(axis);
  2362. sync_plan_position();
  2363. destination[axis] = current_position[axis];
  2364. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2365. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2366. #endif
  2367. #endif
  2368. // Put away the Z probe
  2369. #if HOMING_Z_WITH_PROBE
  2370. if (axis == Z_AXIS && STOW_PROBE()) return;
  2371. #endif
  2372. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2373. if (DEBUGGING(LEVELING)) {
  2374. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2375. SERIAL_CHAR(')');
  2376. SERIAL_EOL;
  2377. }
  2378. #endif
  2379. } // homeaxis()
  2380. #if ENABLED(FWRETRACT)
  2381. void retract(const bool retracting, const bool swapping = false) {
  2382. static float hop_height;
  2383. if (retracting == retracted[active_extruder]) return;
  2384. const float old_feedrate_mm_s = feedrate_mm_s;
  2385. set_destination_to_current();
  2386. if (retracting) {
  2387. feedrate_mm_s = retract_feedrate_mm_s;
  2388. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2389. sync_plan_position_e();
  2390. prepare_move_to_destination();
  2391. if (retract_zlift > 0.01) {
  2392. hop_height = current_position[Z_AXIS];
  2393. // Pretend current position is lower
  2394. current_position[Z_AXIS] -= retract_zlift;
  2395. SYNC_PLAN_POSITION_KINEMATIC();
  2396. // Raise up to the old current_position
  2397. prepare_move_to_destination();
  2398. }
  2399. }
  2400. else {
  2401. // If the height hasn't been altered, undo the Z hop
  2402. if (retract_zlift > 0.01 && hop_height == current_position[Z_AXIS]) {
  2403. // Pretend current position is higher. Z will lower on the next move
  2404. current_position[Z_AXIS] += retract_zlift;
  2405. SYNC_PLAN_POSITION_KINEMATIC();
  2406. }
  2407. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2408. const float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2409. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2410. sync_plan_position_e();
  2411. // Lower Z and recover E
  2412. prepare_move_to_destination();
  2413. }
  2414. feedrate_mm_s = old_feedrate_mm_s;
  2415. retracted[active_extruder] = retracting;
  2416. } // retract()
  2417. #endif // FWRETRACT
  2418. #if ENABLED(MIXING_EXTRUDER)
  2419. void normalize_mix() {
  2420. float mix_total = 0.0;
  2421. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2422. // Scale all values if they don't add up to ~1.0
  2423. if (!NEAR(mix_total, 1.0)) {
  2424. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2425. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2426. }
  2427. }
  2428. #if ENABLED(DIRECT_MIXING_IN_G1)
  2429. // Get mixing parameters from the GCode
  2430. // The total "must" be 1.0 (but it will be normalized)
  2431. // If no mix factors are given, the old mix is preserved
  2432. void gcode_get_mix() {
  2433. const char* mixing_codes = "ABCDHI";
  2434. byte mix_bits = 0;
  2435. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2436. if (code_seen(mixing_codes[i])) {
  2437. SBI(mix_bits, i);
  2438. float v = code_value_float();
  2439. NOLESS(v, 0.0);
  2440. mixing_factor[i] = RECIPROCAL(v);
  2441. }
  2442. }
  2443. // If any mixing factors were included, clear the rest
  2444. // If none were included, preserve the last mix
  2445. if (mix_bits) {
  2446. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2447. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2448. normalize_mix();
  2449. }
  2450. }
  2451. #endif
  2452. #endif
  2453. /**
  2454. * ***************************************************************************
  2455. * ***************************** G-CODE HANDLING *****************************
  2456. * ***************************************************************************
  2457. */
  2458. /**
  2459. * Set XYZE destination and feedrate from the current GCode command
  2460. *
  2461. * - Set destination from included axis codes
  2462. * - Set to current for missing axis codes
  2463. * - Set the feedrate, if included
  2464. */
  2465. void gcode_get_destination() {
  2466. LOOP_XYZE(i) {
  2467. if (code_seen(axis_codes[i]))
  2468. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2469. else
  2470. destination[i] = current_position[i];
  2471. }
  2472. if (code_seen('F') && code_value_linear_units() > 0.0)
  2473. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2474. #if ENABLED(PRINTCOUNTER)
  2475. if (!DEBUGGING(DRYRUN))
  2476. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2477. #endif
  2478. // Get ABCDHI mixing factors
  2479. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2480. gcode_get_mix();
  2481. #endif
  2482. }
  2483. void unknown_command_error() {
  2484. SERIAL_ECHO_START;
  2485. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2486. SERIAL_CHAR('"');
  2487. SERIAL_EOL;
  2488. }
  2489. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2490. /**
  2491. * Output a "busy" message at regular intervals
  2492. * while the machine is not accepting commands.
  2493. */
  2494. void host_keepalive() {
  2495. const millis_t ms = millis();
  2496. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2497. if (PENDING(ms, next_busy_signal_ms)) return;
  2498. switch (busy_state) {
  2499. case IN_HANDLER:
  2500. case IN_PROCESS:
  2501. SERIAL_ECHO_START;
  2502. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2503. break;
  2504. case PAUSED_FOR_USER:
  2505. SERIAL_ECHO_START;
  2506. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2507. break;
  2508. case PAUSED_FOR_INPUT:
  2509. SERIAL_ECHO_START;
  2510. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2511. break;
  2512. default:
  2513. break;
  2514. }
  2515. }
  2516. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2517. }
  2518. #endif //HOST_KEEPALIVE_FEATURE
  2519. bool position_is_reachable(float target[XYZ]
  2520. #if HAS_BED_PROBE
  2521. , bool by_probe=false
  2522. #endif
  2523. ) {
  2524. float dx = RAW_X_POSITION(target[X_AXIS]),
  2525. dy = RAW_Y_POSITION(target[Y_AXIS]);
  2526. #if HAS_BED_PROBE
  2527. if (by_probe) {
  2528. dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2529. dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2530. }
  2531. #endif
  2532. #if IS_SCARA
  2533. #if MIDDLE_DEAD_ZONE_R > 0
  2534. const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
  2535. return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
  2536. #else
  2537. return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
  2538. #endif
  2539. #elif ENABLED(DELTA)
  2540. return HYPOT2(dx, dy) <= sq((float)(DELTA_PRINTABLE_RADIUS));
  2541. #else
  2542. const float dz = RAW_Z_POSITION(target[Z_AXIS]);
  2543. return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
  2544. && dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
  2545. && dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
  2546. #endif
  2547. }
  2548. /**************************************************
  2549. ***************** GCode Handlers *****************
  2550. **************************************************/
  2551. /**
  2552. * G0, G1: Coordinated movement of X Y Z E axes
  2553. */
  2554. inline void gcode_G0_G1(
  2555. #if IS_SCARA
  2556. bool fast_move=false
  2557. #endif
  2558. ) {
  2559. if (IsRunning()) {
  2560. gcode_get_destination(); // For X Y Z E F
  2561. #if ENABLED(FWRETRACT)
  2562. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2563. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2564. // Is this move an attempt to retract or recover?
  2565. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2566. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2567. sync_plan_position_e(); // AND from the planner
  2568. retract(!retracted[active_extruder]);
  2569. return;
  2570. }
  2571. }
  2572. #endif //FWRETRACT
  2573. #if IS_SCARA
  2574. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2575. #else
  2576. prepare_move_to_destination();
  2577. #endif
  2578. }
  2579. }
  2580. /**
  2581. * G2: Clockwise Arc
  2582. * G3: Counterclockwise Arc
  2583. *
  2584. * This command has two forms: IJ-form and R-form.
  2585. *
  2586. * - I specifies an X offset. J specifies a Y offset.
  2587. * At least one of the IJ parameters is required.
  2588. * X and Y can be omitted to do a complete circle.
  2589. * The given XY is not error-checked. The arc ends
  2590. * based on the angle of the destination.
  2591. * Mixing I or J with R will throw an error.
  2592. *
  2593. * - R specifies the radius. X or Y is required.
  2594. * Omitting both X and Y will throw an error.
  2595. * X or Y must differ from the current XY.
  2596. * Mixing R with I or J will throw an error.
  2597. *
  2598. * Examples:
  2599. *
  2600. * G2 I10 ; CW circle centered at X+10
  2601. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2602. */
  2603. #if ENABLED(ARC_SUPPORT)
  2604. inline void gcode_G2_G3(bool clockwise) {
  2605. if (IsRunning()) {
  2606. #if ENABLED(SF_ARC_FIX)
  2607. const bool relative_mode_backup = relative_mode;
  2608. relative_mode = true;
  2609. #endif
  2610. gcode_get_destination();
  2611. #if ENABLED(SF_ARC_FIX)
  2612. relative_mode = relative_mode_backup;
  2613. #endif
  2614. float arc_offset[2] = { 0.0, 0.0 };
  2615. if (code_seen('R')) {
  2616. const float r = code_value_axis_units(X_AXIS),
  2617. x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
  2618. x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
  2619. if (r && (x2 != x1 || y2 != y1)) {
  2620. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  2621. dx = x2 - x1, dy = y2 - y1, // X and Y differences
  2622. d = HYPOT(dx, dy), // Linear distance between the points
  2623. h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2624. mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
  2625. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2626. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2627. arc_offset[X_AXIS] = cx - x1;
  2628. arc_offset[Y_AXIS] = cy - y1;
  2629. }
  2630. }
  2631. else {
  2632. if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
  2633. if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
  2634. }
  2635. if (arc_offset[0] || arc_offset[1]) {
  2636. // Send an arc to the planner
  2637. plan_arc(destination, arc_offset, clockwise);
  2638. refresh_cmd_timeout();
  2639. }
  2640. else {
  2641. // Bad arguments
  2642. SERIAL_ERROR_START;
  2643. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2644. }
  2645. }
  2646. }
  2647. #endif
  2648. /**
  2649. * G4: Dwell S<seconds> or P<milliseconds>
  2650. */
  2651. inline void gcode_G4() {
  2652. millis_t dwell_ms = 0;
  2653. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2654. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2655. stepper.synchronize();
  2656. refresh_cmd_timeout();
  2657. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2658. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2659. while (PENDING(millis(), dwell_ms)) idle();
  2660. }
  2661. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2662. /**
  2663. * Parameters interpreted according to:
  2664. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2665. * However I, J omission is not supported at this point; all
  2666. * parameters can be omitted and default to zero.
  2667. */
  2668. /**
  2669. * G5: Cubic B-spline
  2670. */
  2671. inline void gcode_G5() {
  2672. if (IsRunning()) {
  2673. gcode_get_destination();
  2674. const float offset[] = {
  2675. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2676. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2677. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2678. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2679. };
  2680. plan_cubic_move(offset);
  2681. }
  2682. }
  2683. #endif // BEZIER_CURVE_SUPPORT
  2684. #if ENABLED(FWRETRACT)
  2685. /**
  2686. * G10 - Retract filament according to settings of M207
  2687. * G11 - Recover filament according to settings of M208
  2688. */
  2689. inline void gcode_G10_G11(bool doRetract=false) {
  2690. #if EXTRUDERS > 1
  2691. if (doRetract) {
  2692. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2693. }
  2694. #endif
  2695. retract(doRetract
  2696. #if EXTRUDERS > 1
  2697. , retracted_swap[active_extruder]
  2698. #endif
  2699. );
  2700. }
  2701. #endif //FWRETRACT
  2702. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2703. /**
  2704. * G12: Clean the nozzle
  2705. */
  2706. inline void gcode_G12() {
  2707. // Don't allow nozzle cleaning without homing first
  2708. if (axis_unhomed_error(true, true, true)) { return; }
  2709. const uint8_t pattern = code_seen('P') ? code_value_ushort() : 0,
  2710. strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES,
  2711. objects = code_seen('T') ? code_value_ushort() : NOZZLE_CLEAN_TRIANGLES;
  2712. Nozzle::clean(pattern, strokes, objects);
  2713. }
  2714. #endif
  2715. #if ENABLED(INCH_MODE_SUPPORT)
  2716. /**
  2717. * G20: Set input mode to inches
  2718. */
  2719. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2720. /**
  2721. * G21: Set input mode to millimeters
  2722. */
  2723. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2724. #endif
  2725. #if ENABLED(NOZZLE_PARK_FEATURE)
  2726. /**
  2727. * G27: Park the nozzle
  2728. */
  2729. inline void gcode_G27() {
  2730. // Don't allow nozzle parking without homing first
  2731. if (axis_unhomed_error(true, true, true)) return;
  2732. Nozzle::park(code_seen('P') ? code_value_ushort() : 0);
  2733. }
  2734. #endif // NOZZLE_PARK_FEATURE
  2735. #if ENABLED(QUICK_HOME)
  2736. static void quick_home_xy() {
  2737. // Pretend the current position is 0,0
  2738. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2739. sync_plan_position();
  2740. const int x_axis_home_dir =
  2741. #if ENABLED(DUAL_X_CARRIAGE)
  2742. x_home_dir(active_extruder)
  2743. #else
  2744. home_dir(X_AXIS)
  2745. #endif
  2746. ;
  2747. const float mlx = max_length(X_AXIS),
  2748. mly = max_length(Y_AXIS),
  2749. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2750. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2751. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2752. endstops.hit_on_purpose(); // clear endstop hit flags
  2753. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2754. }
  2755. #endif // QUICK_HOME
  2756. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2757. void log_machine_info() {
  2758. SERIAL_ECHOPGM("Machine Type: ");
  2759. #if ENABLED(DELTA)
  2760. SERIAL_ECHOLNPGM("Delta");
  2761. #elif IS_SCARA
  2762. SERIAL_ECHOLNPGM("SCARA");
  2763. #elif IS_CORE
  2764. SERIAL_ECHOLNPGM("Core");
  2765. #else
  2766. SERIAL_ECHOLNPGM("Cartesian");
  2767. #endif
  2768. SERIAL_ECHOPGM("Probe: ");
  2769. #if ENABLED(FIX_MOUNTED_PROBE)
  2770. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2771. #elif ENABLED(BLTOUCH)
  2772. SERIAL_ECHOLNPGM("BLTOUCH");
  2773. #elif HAS_Z_SERVO_ENDSTOP
  2774. SERIAL_ECHOLNPGM("SERVO PROBE");
  2775. #elif ENABLED(Z_PROBE_SLED)
  2776. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2777. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2778. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2779. #else
  2780. SERIAL_ECHOLNPGM("NONE");
  2781. #endif
  2782. #if HAS_BED_PROBE
  2783. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2784. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2785. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2786. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2787. SERIAL_ECHOPGM(" (Right");
  2788. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2789. SERIAL_ECHOPGM(" (Left");
  2790. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2791. SERIAL_ECHOPGM(" (Middle");
  2792. #else
  2793. SERIAL_ECHOPGM(" (Aligned With");
  2794. #endif
  2795. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2796. SERIAL_ECHOPGM("-Back");
  2797. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2798. SERIAL_ECHOPGM("-Front");
  2799. #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2800. SERIAL_ECHOPGM("-Center");
  2801. #endif
  2802. if (zprobe_zoffset < 0)
  2803. SERIAL_ECHOPGM(" & Below");
  2804. else if (zprobe_zoffset > 0)
  2805. SERIAL_ECHOPGM(" & Above");
  2806. else
  2807. SERIAL_ECHOPGM(" & Same Z as");
  2808. SERIAL_ECHOLNPGM(" Nozzle)");
  2809. #endif
  2810. #if HAS_ABL
  2811. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  2812. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2813. SERIAL_ECHOPGM("LINEAR");
  2814. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2815. SERIAL_ECHOPGM("BILINEAR");
  2816. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  2817. SERIAL_ECHOPGM("3POINT");
  2818. #endif
  2819. if (planner.abl_enabled) {
  2820. SERIAL_ECHOLNPGM(" (enabled)");
  2821. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
  2822. float diff[XYZ] = {
  2823. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  2824. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  2825. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  2826. };
  2827. SERIAL_ECHOPGM("ABL Adjustment X");
  2828. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  2829. SERIAL_ECHO(diff[X_AXIS]);
  2830. SERIAL_ECHOPGM(" Y");
  2831. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  2832. SERIAL_ECHO(diff[Y_AXIS]);
  2833. SERIAL_ECHOPGM(" Z");
  2834. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  2835. SERIAL_ECHO(diff[Z_AXIS]);
  2836. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2837. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  2838. #endif
  2839. }
  2840. SERIAL_EOL;
  2841. #elif ENABLED(MESH_BED_LEVELING)
  2842. SERIAL_ECHOPGM("Mesh Bed Leveling");
  2843. if (mbl.active()) {
  2844. float lz = current_position[Z_AXIS];
  2845. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
  2846. SERIAL_ECHOLNPGM(" (enabled)");
  2847. SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
  2848. }
  2849. SERIAL_EOL;
  2850. #endif
  2851. }
  2852. #endif // DEBUG_LEVELING_FEATURE
  2853. #if ENABLED(DELTA)
  2854. /**
  2855. * A delta can only safely home all axes at the same time
  2856. * This is like quick_home_xy() but for 3 towers.
  2857. */
  2858. inline void home_delta() {
  2859. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2860. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  2861. #endif
  2862. // Init the current position of all carriages to 0,0,0
  2863. ZERO(current_position);
  2864. sync_plan_position();
  2865. // Move all carriages together linearly until an endstop is hit.
  2866. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2867. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2868. line_to_current_position();
  2869. stepper.synchronize();
  2870. endstops.hit_on_purpose(); // clear endstop hit flags
  2871. // At least one carriage has reached the top.
  2872. // Now re-home each carriage separately.
  2873. HOMEAXIS(A);
  2874. HOMEAXIS(B);
  2875. HOMEAXIS(C);
  2876. // Set all carriages to their home positions
  2877. // Do this here all at once for Delta, because
  2878. // XYZ isn't ABC. Applying this per-tower would
  2879. // give the impression that they are the same.
  2880. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2881. SYNC_PLAN_POSITION_KINEMATIC();
  2882. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2883. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  2884. #endif
  2885. }
  2886. #endif // DELTA
  2887. #if ENABLED(Z_SAFE_HOMING)
  2888. inline void home_z_safely() {
  2889. // Disallow Z homing if X or Y are unknown
  2890. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  2891. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  2892. SERIAL_ECHO_START;
  2893. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  2894. return;
  2895. }
  2896. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2897. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  2898. #endif
  2899. SYNC_PLAN_POSITION_KINEMATIC();
  2900. /**
  2901. * Move the Z probe (or just the nozzle) to the safe homing point
  2902. */
  2903. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  2904. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  2905. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2906. if (position_is_reachable(
  2907. destination
  2908. #if HOMING_Z_WITH_PROBE
  2909. , true
  2910. #endif
  2911. )
  2912. ) {
  2913. #if HOMING_Z_WITH_PROBE
  2914. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2915. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2916. #endif
  2917. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2918. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  2919. #endif
  2920. // This causes the carriage on Dual X to unpark
  2921. #if ENABLED(DUAL_X_CARRIAGE)
  2922. active_extruder_parked = false;
  2923. #endif
  2924. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2925. HOMEAXIS(Z);
  2926. }
  2927. else {
  2928. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2929. SERIAL_ECHO_START;
  2930. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2931. }
  2932. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2933. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2934. #endif
  2935. }
  2936. #endif // Z_SAFE_HOMING
  2937. /**
  2938. * G28: Home all axes according to settings
  2939. *
  2940. * Parameters
  2941. *
  2942. * None Home to all axes with no parameters.
  2943. * With QUICK_HOME enabled XY will home together, then Z.
  2944. *
  2945. * Cartesian parameters
  2946. *
  2947. * X Home to the X endstop
  2948. * Y Home to the Y endstop
  2949. * Z Home to the Z endstop
  2950. *
  2951. */
  2952. inline void gcode_G28() {
  2953. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2954. if (DEBUGGING(LEVELING)) {
  2955. SERIAL_ECHOLNPGM(">>> gcode_G28");
  2956. log_machine_info();
  2957. }
  2958. #endif
  2959. // Wait for planner moves to finish!
  2960. stepper.synchronize();
  2961. // Disable the leveling matrix before homing
  2962. #if PLANNER_LEVELING
  2963. set_bed_leveling_enabled(false);
  2964. #endif
  2965. // Always home with tool 0 active
  2966. #if HOTENDS > 1
  2967. const uint8_t old_tool_index = active_extruder;
  2968. tool_change(0, 0, true);
  2969. #endif
  2970. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2971. extruder_duplication_enabled = false;
  2972. #endif
  2973. /**
  2974. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2975. * on again when homing all axis
  2976. */
  2977. #if ENABLED(MESH_BED_LEVELING)
  2978. float pre_home_z = MESH_HOME_SEARCH_Z;
  2979. if (mbl.active()) {
  2980. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2981. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2982. #endif
  2983. // Use known Z position if already homed
  2984. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2985. set_bed_leveling_enabled(false);
  2986. pre_home_z = current_position[Z_AXIS];
  2987. }
  2988. else {
  2989. mbl.set_active(false);
  2990. current_position[Z_AXIS] = pre_home_z;
  2991. }
  2992. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2993. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2994. #endif
  2995. }
  2996. #endif
  2997. setup_for_endstop_or_probe_move();
  2998. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2999. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3000. #endif
  3001. endstops.enable(true); // Enable endstops for next homing move
  3002. #if ENABLED(DELTA)
  3003. home_delta();
  3004. #else // NOT DELTA
  3005. const bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z'),
  3006. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3007. set_destination_to_current();
  3008. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3009. if (home_all_axis || homeZ) {
  3010. HOMEAXIS(Z);
  3011. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3012. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3013. #endif
  3014. }
  3015. #else
  3016. if (home_all_axis || homeX || homeY) {
  3017. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3018. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  3019. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3020. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3021. if (DEBUGGING(LEVELING))
  3022. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3023. #endif
  3024. do_blocking_move_to_z(destination[Z_AXIS]);
  3025. }
  3026. }
  3027. #endif
  3028. #if ENABLED(QUICK_HOME)
  3029. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  3030. #endif
  3031. #if ENABLED(HOME_Y_BEFORE_X)
  3032. // Home Y
  3033. if (home_all_axis || homeY) {
  3034. HOMEAXIS(Y);
  3035. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3036. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3037. #endif
  3038. }
  3039. #endif
  3040. // Home X
  3041. if (home_all_axis || homeX) {
  3042. #if ENABLED(DUAL_X_CARRIAGE)
  3043. // Always home the 2nd (right) extruder first
  3044. active_extruder = 1;
  3045. HOMEAXIS(X);
  3046. // Remember this extruder's position for later tool change
  3047. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  3048. // Home the 1st (left) extruder
  3049. active_extruder = 0;
  3050. HOMEAXIS(X);
  3051. // Consider the active extruder to be parked
  3052. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  3053. delayed_move_time = 0;
  3054. active_extruder_parked = true;
  3055. #else
  3056. HOMEAXIS(X);
  3057. #endif
  3058. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3059. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3060. #endif
  3061. }
  3062. #if DISABLED(HOME_Y_BEFORE_X)
  3063. // Home Y
  3064. if (home_all_axis || homeY) {
  3065. HOMEAXIS(Y);
  3066. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3067. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3068. #endif
  3069. }
  3070. #endif
  3071. // Home Z last if homing towards the bed
  3072. #if Z_HOME_DIR < 0
  3073. if (home_all_axis || homeZ) {
  3074. #if ENABLED(Z_SAFE_HOMING)
  3075. home_z_safely();
  3076. #else
  3077. HOMEAXIS(Z);
  3078. #endif
  3079. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3080. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  3081. #endif
  3082. } // home_all_axis || homeZ
  3083. #endif // Z_HOME_DIR < 0
  3084. SYNC_PLAN_POSITION_KINEMATIC();
  3085. #endif // !DELTA (gcode_G28)
  3086. endstops.not_homing();
  3087. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3088. // move to a height where we can use the full xy-area
  3089. do_blocking_move_to_z(delta_clip_start_height);
  3090. #endif
  3091. // Enable mesh leveling again
  3092. #if ENABLED(MESH_BED_LEVELING)
  3093. if (mbl.has_mesh()) {
  3094. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3095. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  3096. #endif
  3097. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  3098. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3099. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  3100. #endif
  3101. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3102. #if Z_HOME_DIR > 0
  3103. + Z_MAX_POS
  3104. #endif
  3105. ;
  3106. SYNC_PLAN_POSITION_KINEMATIC();
  3107. mbl.set_active(true);
  3108. #if ENABLED(MESH_G28_REST_ORIGIN)
  3109. current_position[Z_AXIS] = 0.0;
  3110. set_destination_to_current();
  3111. line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
  3112. stepper.synchronize();
  3113. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3114. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  3115. #endif
  3116. #else
  3117. planner.unapply_leveling(current_position);
  3118. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3119. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  3120. #endif
  3121. #endif
  3122. }
  3123. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  3124. current_position[Z_AXIS] = pre_home_z;
  3125. SYNC_PLAN_POSITION_KINEMATIC();
  3126. mbl.set_active(true);
  3127. planner.unapply_leveling(current_position);
  3128. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3129. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  3130. #endif
  3131. }
  3132. }
  3133. #endif
  3134. clean_up_after_endstop_or_probe_move();
  3135. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3136. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3137. #endif
  3138. // Restore the active tool after homing
  3139. #if HOTENDS > 1
  3140. tool_change(old_tool_index, 0, true);
  3141. #endif
  3142. report_current_position();
  3143. }
  3144. #if HAS_PROBING_PROCEDURE
  3145. void out_of_range_error(const char* p_edge) {
  3146. SERIAL_PROTOCOLPGM("?Probe ");
  3147. serialprintPGM(p_edge);
  3148. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3149. }
  3150. #endif
  3151. #if ENABLED(MESH_BED_LEVELING)
  3152. inline void _mbl_goto_xy(const float &x, const float &y) {
  3153. const float old_feedrate_mm_s = feedrate_mm_s;
  3154. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3155. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3156. #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
  3157. + Z_CLEARANCE_BETWEEN_PROBES
  3158. #elif Z_HOMING_HEIGHT > 0
  3159. + Z_HOMING_HEIGHT
  3160. #endif
  3161. ;
  3162. line_to_current_position();
  3163. feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  3164. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  3165. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  3166. line_to_current_position();
  3167. #if Z_CLEARANCE_BETWEEN_PROBES > 0 || Z_HOMING_HEIGHT > 0
  3168. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  3169. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
  3170. line_to_current_position();
  3171. #endif
  3172. feedrate_mm_s = old_feedrate_mm_s;
  3173. stepper.synchronize();
  3174. }
  3175. // Save 130 bytes with non-duplication of PSTR
  3176. void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3177. void mbl_mesh_report() {
  3178. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
  3179. SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
  3180. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3181. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3182. for (uint8_t py = 0; py < MESH_NUM_Y_POINTS; py++) {
  3183. for (uint8_t px = 0; px < MESH_NUM_X_POINTS; px++) {
  3184. SERIAL_PROTOCOLPGM(" ");
  3185. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  3186. }
  3187. SERIAL_EOL;
  3188. }
  3189. }
  3190. /**
  3191. * G29: Mesh-based Z probe, probes a grid and produces a
  3192. * mesh to compensate for variable bed height
  3193. *
  3194. * Parameters With MESH_BED_LEVELING:
  3195. *
  3196. * S0 Produce a mesh report
  3197. * S1 Start probing mesh points
  3198. * S2 Probe the next mesh point
  3199. * S3 Xn Yn Zn.nn Manually modify a single point
  3200. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3201. * S5 Reset and disable mesh
  3202. *
  3203. * The S0 report the points as below
  3204. *
  3205. * +----> X-axis 1-n
  3206. * |
  3207. * |
  3208. * v Y-axis 1-n
  3209. *
  3210. */
  3211. inline void gcode_G29() {
  3212. static int probe_index = -1;
  3213. const MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  3214. if (state < 0 || state > 5) {
  3215. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3216. return;
  3217. }
  3218. int8_t px, py;
  3219. switch (state) {
  3220. case MeshReport:
  3221. if (mbl.has_mesh()) {
  3222. SERIAL_PROTOCOLLNPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  3223. mbl_mesh_report();
  3224. }
  3225. else
  3226. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3227. break;
  3228. case MeshStart:
  3229. mbl.reset();
  3230. probe_index = 0;
  3231. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3232. break;
  3233. case MeshNext:
  3234. if (probe_index < 0) {
  3235. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3236. return;
  3237. }
  3238. // For each G29 S2...
  3239. if (probe_index == 0) {
  3240. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  3241. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3242. #if Z_HOME_DIR > 0
  3243. + Z_MAX_POS
  3244. #endif
  3245. ;
  3246. SYNC_PLAN_POSITION_KINEMATIC();
  3247. }
  3248. else {
  3249. // For G29 S2 after adjusting Z.
  3250. mbl.set_zigzag_z(probe_index - 1, current_position[Z_AXIS]);
  3251. }
  3252. // If there's another point to sample, move there with optional lift.
  3253. if (probe_index < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  3254. mbl.zigzag(probe_index, px, py);
  3255. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  3256. probe_index++;
  3257. }
  3258. else {
  3259. // One last "return to the bed" (as originally coded) at completion
  3260. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  3261. #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
  3262. + Z_CLEARANCE_BETWEEN_PROBES
  3263. #elif Z_HOMING_HEIGHT > 0
  3264. + Z_HOMING_HEIGHT
  3265. #endif
  3266. ;
  3267. line_to_current_position();
  3268. stepper.synchronize();
  3269. // After recording the last point, activate the mbl and home
  3270. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3271. probe_index = -1;
  3272. mbl.set_has_mesh(true);
  3273. enqueue_and_echo_commands_P(PSTR("G28"));
  3274. }
  3275. break;
  3276. case MeshSet:
  3277. if (code_seen('X')) {
  3278. px = code_value_int() - 1;
  3279. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  3280. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  3281. return;
  3282. }
  3283. }
  3284. else {
  3285. SERIAL_CHAR('X'); say_not_entered();
  3286. return;
  3287. }
  3288. if (code_seen('Y')) {
  3289. py = code_value_int() - 1;
  3290. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  3291. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  3292. return;
  3293. }
  3294. }
  3295. else {
  3296. SERIAL_CHAR('Y'); say_not_entered();
  3297. return;
  3298. }
  3299. if (code_seen('Z')) {
  3300. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  3301. }
  3302. else {
  3303. SERIAL_CHAR('Z'); say_not_entered();
  3304. return;
  3305. }
  3306. break;
  3307. case MeshSetZOffset:
  3308. if (code_seen('Z')) {
  3309. mbl.z_offset = code_value_axis_units(Z_AXIS);
  3310. }
  3311. else {
  3312. SERIAL_CHAR('Z'); say_not_entered();
  3313. return;
  3314. }
  3315. break;
  3316. case MeshReset:
  3317. if (mbl.active()) {
  3318. current_position[Z_AXIS] -= MESH_HOME_SEARCH_Z;
  3319. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  3320. mbl.reset();
  3321. SYNC_PLAN_POSITION_KINEMATIC();
  3322. }
  3323. else
  3324. mbl.reset();
  3325. } // switch(state)
  3326. report_current_position();
  3327. }
  3328. #elif HAS_ABL
  3329. /**
  3330. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3331. * Will fail if the printer has not been homed with G28.
  3332. *
  3333. * Enhanced G29 Auto Bed Leveling Probe Routine
  3334. *
  3335. * Parameters With LINEAR and BILINEAR:
  3336. *
  3337. * P Set the size of the grid that will be probed (P x P points).
  3338. * Not supported by non-linear delta printer bed leveling.
  3339. * Example: "G29 P4"
  3340. *
  3341. * S Set the XY travel speed between probe points (in units/min)
  3342. *
  3343. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3344. * or clean the rotation Matrix. Useful to check the topology
  3345. * after a first run of G29.
  3346. *
  3347. * V Set the verbose level (0-4). Example: "G29 V3"
  3348. *
  3349. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3350. * This is useful for manual bed leveling and finding flaws in the bed (to
  3351. * assist with part placement).
  3352. * Not supported by non-linear delta printer bed leveling.
  3353. *
  3354. * F Set the Front limit of the probing grid
  3355. * B Set the Back limit of the probing grid
  3356. * L Set the Left limit of the probing grid
  3357. * R Set the Right limit of the probing grid
  3358. *
  3359. * Parameters with BILINEAR only:
  3360. *
  3361. * Z Supply an additional Z probe offset
  3362. *
  3363. * Global Parameters:
  3364. *
  3365. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  3366. * Include "E" to engage/disengage the Z probe for each sample.
  3367. * There's no extra effect if you have a fixed Z probe.
  3368. * Usage: "G29 E" or "G29 e"
  3369. *
  3370. */
  3371. inline void gcode_G29() {
  3372. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3373. const bool query = code_seen('Q');
  3374. const uint8_t old_debug_flags = marlin_debug_flags;
  3375. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3376. if (DEBUGGING(LEVELING)) {
  3377. DEBUG_POS(">>> gcode_G29", current_position);
  3378. log_machine_info();
  3379. }
  3380. marlin_debug_flags = old_debug_flags;
  3381. if (query) return;
  3382. #endif
  3383. // Don't allow auto-leveling without homing first
  3384. if (axis_unhomed_error(true, true, true)) return;
  3385. const int verbose_level = code_seen('V') ? code_value_int() : 1;
  3386. if (verbose_level < 0 || verbose_level > 4) {
  3387. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  3388. return;
  3389. }
  3390. bool dryrun = code_seen('D'),
  3391. stow_probe_after_each = code_seen('E');
  3392. #if ABL_GRID
  3393. if (verbose_level > 0) {
  3394. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  3395. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  3396. }
  3397. #if ABL_PLANAR
  3398. bool do_topography_map = verbose_level > 2 || code_seen('T');
  3399. // X and Y specify points in each direction, overriding the default
  3400. // These values may be saved with the completed mesh
  3401. int abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_MAX_POINTS_X,
  3402. abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_MAX_POINTS_Y;
  3403. if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  3404. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  3405. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  3406. return;
  3407. }
  3408. #else
  3409. const uint8_t abl_grid_points_x = ABL_GRID_MAX_POINTS_X, abl_grid_points_y = ABL_GRID_MAX_POINTS_Y;
  3410. #endif
  3411. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  3412. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
  3413. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
  3414. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
  3415. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  3416. const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3417. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3418. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3419. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3420. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3421. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3422. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3423. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3424. if (left_out || right_out || front_out || back_out) {
  3425. if (left_out) {
  3426. out_of_range_error(PSTR("(L)eft"));
  3427. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3428. }
  3429. if (right_out) {
  3430. out_of_range_error(PSTR("(R)ight"));
  3431. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3432. }
  3433. if (front_out) {
  3434. out_of_range_error(PSTR("(F)ront"));
  3435. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3436. }
  3437. if (back_out) {
  3438. out_of_range_error(PSTR("(B)ack"));
  3439. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3440. }
  3441. return;
  3442. }
  3443. #endif // ABL_GRID
  3444. stepper.synchronize();
  3445. // Disable auto bed leveling during G29
  3446. bool abl_should_enable = planner.abl_enabled;
  3447. planner.abl_enabled = false;
  3448. if (!dryrun) {
  3449. // Re-orient the current position without leveling
  3450. // based on where the steppers are positioned.
  3451. set_current_from_steppers_for_axis(ALL_AXES);
  3452. // Sync the planner to where the steppers stopped
  3453. SYNC_PLAN_POSITION_KINEMATIC();
  3454. }
  3455. setup_for_endstop_or_probe_move();
  3456. // Deploy the probe. Probe will raise if needed.
  3457. if (DEPLOY_PROBE()) {
  3458. planner.abl_enabled = abl_should_enable;
  3459. return;
  3460. }
  3461. float xProbe = 0, yProbe = 0, measured_z = 0;
  3462. #if ABL_GRID
  3463. // probe at the points of a lattice grid
  3464. const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
  3465. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  3466. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3467. float zoffset = zprobe_zoffset;
  3468. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  3469. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  3470. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  3471. || left_probe_bed_position != bilinear_start[X_AXIS]
  3472. || front_probe_bed_position != bilinear_start[Y_AXIS]
  3473. ) {
  3474. if (dryrun) {
  3475. // Before reset bed level, re-enable to correct the position
  3476. planner.abl_enabled = abl_should_enable;
  3477. }
  3478. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  3479. reset_bed_level();
  3480. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3481. bilinear_grid_spacing_virt[X_AXIS] = xGridSpacing / (BILINEAR_SUBDIVISIONS);
  3482. bilinear_grid_spacing_virt[Y_AXIS] = yGridSpacing / (BILINEAR_SUBDIVISIONS);
  3483. #endif
  3484. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  3485. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  3486. bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
  3487. bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
  3488. // Can't re-enable (on error) until the new grid is written
  3489. abl_should_enable = false;
  3490. }
  3491. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3492. /**
  3493. * solve the plane equation ax + by + d = z
  3494. * A is the matrix with rows [x y 1] for all the probed points
  3495. * B is the vector of the Z positions
  3496. * the normal vector to the plane is formed by the coefficients of the
  3497. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3498. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3499. */
  3500. const int abl2 = abl_grid_points_x * abl_grid_points_y;
  3501. int indexIntoAB[abl_grid_points_x][abl_grid_points_y],
  3502. probe_index = -1;
  3503. float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  3504. eqnBVector[abl2], // "B" vector of Z points
  3505. mean = 0.0;
  3506. #endif // AUTO_BED_LEVELING_LINEAR
  3507. #if ENABLED(PROBE_Y_FIRST)
  3508. #define PR_OUTER_VAR xCount
  3509. #define PR_OUTER_NUM abl_grid_points_x
  3510. #define PR_INNER_VAR yCount
  3511. #define PR_INNER_NUM abl_grid_points_y
  3512. #else
  3513. #define PR_OUTER_VAR yCount
  3514. #define PR_OUTER_NUM abl_grid_points_y
  3515. #define PR_INNER_VAR xCount
  3516. #define PR_INNER_NUM abl_grid_points_x
  3517. #endif
  3518. bool zig = PR_OUTER_NUM & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  3519. // Outer loop is Y with PROBE_Y_FIRST disabled
  3520. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_NUM; PR_OUTER_VAR++) {
  3521. int8_t inStart, inStop, inInc;
  3522. if (zig) { // away from origin
  3523. inStart = 0;
  3524. inStop = PR_INNER_NUM;
  3525. inInc = 1;
  3526. }
  3527. else { // towards origin
  3528. inStart = PR_INNER_NUM - 1;
  3529. inStop = -1;
  3530. inInc = -1;
  3531. }
  3532. zig = !zig; // zag
  3533. // Inner loop is Y with PROBE_Y_FIRST enabled
  3534. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  3535. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3536. yBase = front_probe_bed_position + yGridSpacing * yCount;
  3537. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3538. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3539. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3540. indexIntoAB[xCount][yCount] = ++probe_index;
  3541. #endif
  3542. #if IS_KINEMATIC
  3543. // Avoid probing outside the round or hexagonal area
  3544. float pos[XYZ] = { xProbe, yProbe, 0 };
  3545. if (!position_is_reachable(pos, true)) continue;
  3546. #endif
  3547. measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3548. if (measured_z == NAN) {
  3549. planner.abl_enabled = abl_should_enable;
  3550. return;
  3551. }
  3552. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3553. mean += measured_z;
  3554. eqnBVector[probe_index] = measured_z;
  3555. eqnAMatrix[probe_index + 0 * abl2] = xProbe;
  3556. eqnAMatrix[probe_index + 1 * abl2] = yProbe;
  3557. eqnAMatrix[probe_index + 2 * abl2] = 1;
  3558. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3559. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  3560. #endif
  3561. idle();
  3562. } // inner
  3563. } // outer
  3564. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3565. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3566. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3567. #endif
  3568. // Probe at 3 arbitrary points
  3569. vector_3 points[3] = {
  3570. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3571. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3572. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3573. };
  3574. for (uint8_t i = 0; i < 3; ++i) {
  3575. // Retain the last probe position
  3576. xProbe = LOGICAL_X_POSITION(points[i].x);
  3577. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3578. measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3579. }
  3580. if (measured_z == NAN) {
  3581. planner.abl_enabled = abl_should_enable;
  3582. return;
  3583. }
  3584. if (!dryrun) {
  3585. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3586. if (planeNormal.z < 0) {
  3587. planeNormal.x *= -1;
  3588. planeNormal.y *= -1;
  3589. planeNormal.z *= -1;
  3590. }
  3591. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3592. // Can't re-enable (on error) until the new grid is written
  3593. abl_should_enable = false;
  3594. }
  3595. #endif // AUTO_BED_LEVELING_3POINT
  3596. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  3597. if (STOW_PROBE()) {
  3598. planner.abl_enabled = abl_should_enable;
  3599. return;
  3600. }
  3601. //
  3602. // Unless this is a dry run, auto bed leveling will
  3603. // definitely be enabled after this point
  3604. //
  3605. // Restore state after probing
  3606. clean_up_after_endstop_or_probe_move();
  3607. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3608. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3609. #endif
  3610. // Calculate leveling, print reports, correct the position
  3611. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3612. if (!dryrun) extrapolate_unprobed_bed_level();
  3613. print_bilinear_leveling_grid();
  3614. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3615. bed_level_virt_interpolate();
  3616. bed_level_virt_print();
  3617. #endif
  3618. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3619. // For LINEAR leveling calculate matrix, print reports, correct the position
  3620. // solve lsq problem
  3621. float plane_equation_coefficients[3];
  3622. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3623. mean /= abl2;
  3624. if (verbose_level) {
  3625. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3626. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3627. SERIAL_PROTOCOLPGM(" b: ");
  3628. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3629. SERIAL_PROTOCOLPGM(" d: ");
  3630. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3631. SERIAL_EOL;
  3632. if (verbose_level > 2) {
  3633. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3634. SERIAL_PROTOCOL_F(mean, 8);
  3635. SERIAL_EOL;
  3636. }
  3637. }
  3638. // Create the matrix but don't correct the position yet
  3639. if (!dryrun) {
  3640. planner.bed_level_matrix = matrix_3x3::create_look_at(
  3641. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  3642. );
  3643. }
  3644. // Show the Topography map if enabled
  3645. if (do_topography_map) {
  3646. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3647. " +--- BACK --+\n"
  3648. " | |\n"
  3649. " L | (+) | R\n"
  3650. " E | | I\n"
  3651. " F | (-) N (+) | G\n"
  3652. " T | | H\n"
  3653. " | (-) | T\n"
  3654. " | |\n"
  3655. " O-- FRONT --+\n"
  3656. " (0,0)");
  3657. float min_diff = 999;
  3658. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3659. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3660. int ind = indexIntoAB[xx][yy];
  3661. float diff = eqnBVector[ind] - mean,
  3662. x_tmp = eqnAMatrix[ind + 0 * abl2],
  3663. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3664. z_tmp = 0;
  3665. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3666. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3667. if (diff >= 0.0)
  3668. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3669. else
  3670. SERIAL_PROTOCOLCHAR(' ');
  3671. SERIAL_PROTOCOL_F(diff, 5);
  3672. } // xx
  3673. SERIAL_EOL;
  3674. } // yy
  3675. SERIAL_EOL;
  3676. if (verbose_level > 3) {
  3677. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3678. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3679. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3680. int ind = indexIntoAB[xx][yy];
  3681. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3682. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3683. z_tmp = 0;
  3684. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3685. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3686. if (diff >= 0.0)
  3687. SERIAL_PROTOCOLPGM(" +");
  3688. // Include + for column alignment
  3689. else
  3690. SERIAL_PROTOCOLCHAR(' ');
  3691. SERIAL_PROTOCOL_F(diff, 5);
  3692. } // xx
  3693. SERIAL_EOL;
  3694. } // yy
  3695. SERIAL_EOL;
  3696. }
  3697. } //do_topography_map
  3698. #endif // AUTO_BED_LEVELING_LINEAR
  3699. #if ABL_PLANAR
  3700. // For LINEAR and 3POINT leveling correct the current position
  3701. if (verbose_level > 0)
  3702. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3703. if (!dryrun) {
  3704. //
  3705. // Correct the current XYZ position based on the tilted plane.
  3706. //
  3707. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3708. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  3709. #endif
  3710. float converted[XYZ];
  3711. memcpy(converted, current_position, sizeof(converted));
  3712. planner.abl_enabled = true;
  3713. planner.unapply_leveling(converted); // use conversion machinery
  3714. planner.abl_enabled = false;
  3715. // Use the last measured distance to the bed, if possible
  3716. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  3717. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  3718. ) {
  3719. float simple_z = current_position[Z_AXIS] - (measured_z - (-zprobe_zoffset));
  3720. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3721. if (DEBUGGING(LEVELING)) {
  3722. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  3723. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  3724. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  3725. }
  3726. #endif
  3727. converted[Z_AXIS] = simple_z;
  3728. }
  3729. // The rotated XY and corrected Z are now current_position
  3730. memcpy(current_position, converted, sizeof(converted));
  3731. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3732. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  3733. #endif
  3734. }
  3735. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3736. if (!dryrun) {
  3737. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3738. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  3739. #endif
  3740. // Unapply the offset because it is going to be immediately applied
  3741. // and cause compensation movement in Z
  3742. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  3743. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3744. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  3745. #endif
  3746. }
  3747. #endif // ABL_PLANAR
  3748. #ifdef Z_PROBE_END_SCRIPT
  3749. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3750. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  3751. #endif
  3752. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3753. stepper.synchronize();
  3754. #endif
  3755. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3756. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3757. #endif
  3758. report_current_position();
  3759. KEEPALIVE_STATE(IN_HANDLER);
  3760. // Auto Bed Leveling is complete! Enable if possible.
  3761. planner.abl_enabled = dryrun ? abl_should_enable : true;
  3762. if (planner.abl_enabled)
  3763. SYNC_PLAN_POSITION_KINEMATIC();
  3764. }
  3765. #endif // HAS_ABL
  3766. #if HAS_BED_PROBE
  3767. /**
  3768. * G30: Do a single Z probe at the current XY
  3769. * Usage:
  3770. * G30 <X#> <Y#> <S#>
  3771. * X = Probe X position (default=current probe position)
  3772. * Y = Probe Y position (default=current probe position)
  3773. * S = Stows the probe if 1 (default=1)
  3774. */
  3775. inline void gcode_G30() {
  3776. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3777. Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3778. float pos[XYZ] = { X_probe_location, Y_probe_location, LOGICAL_Z_POSITION(0) };
  3779. if (!position_is_reachable(pos, true)) return;
  3780. bool stow = code_seen('S') ? code_value_bool() : true;
  3781. // Disable leveling so the planner won't mess with us
  3782. #if PLANNER_LEVELING
  3783. set_bed_leveling_enabled(false);
  3784. #endif
  3785. setup_for_endstop_or_probe_move();
  3786. float measured_z = probe_pt(X_probe_location, Y_probe_location, stow, 1);
  3787. SERIAL_PROTOCOLPGM("Bed X: ");
  3788. SERIAL_PROTOCOL(X_probe_location + 0.0001);
  3789. SERIAL_PROTOCOLPGM(" Y: ");
  3790. SERIAL_PROTOCOL(Y_probe_location + 0.0001);
  3791. SERIAL_PROTOCOLPGM(" Z: ");
  3792. SERIAL_PROTOCOLLN(measured_z - -zprobe_zoffset + 0.0001);
  3793. clean_up_after_endstop_or_probe_move();
  3794. report_current_position();
  3795. }
  3796. #if ENABLED(Z_PROBE_SLED)
  3797. /**
  3798. * G31: Deploy the Z probe
  3799. */
  3800. inline void gcode_G31() { DEPLOY_PROBE(); }
  3801. /**
  3802. * G32: Stow the Z probe
  3803. */
  3804. inline void gcode_G32() { STOW_PROBE(); }
  3805. #endif // Z_PROBE_SLED
  3806. #endif // HAS_BED_PROBE
  3807. #if ENABLED(G38_PROBE_TARGET)
  3808. static bool G38_run_probe() {
  3809. bool G38_pass_fail = false;
  3810. // Get direction of move and retract
  3811. float retract_mm[XYZ];
  3812. LOOP_XYZ(i) {
  3813. float dist = destination[i] - current_position[i];
  3814. retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  3815. }
  3816. stepper.synchronize(); // wait until the machine is idle
  3817. // Move until destination reached or target hit
  3818. endstops.enable(true);
  3819. G38_move = true;
  3820. G38_endstop_hit = false;
  3821. prepare_move_to_destination();
  3822. stepper.synchronize();
  3823. G38_move = false;
  3824. endstops.hit_on_purpose();
  3825. set_current_from_steppers_for_axis(ALL_AXES);
  3826. SYNC_PLAN_POSITION_KINEMATIC();
  3827. // Only do remaining moves if target was hit
  3828. if (G38_endstop_hit) {
  3829. G38_pass_fail = true;
  3830. // Move away by the retract distance
  3831. set_destination_to_current();
  3832. LOOP_XYZ(i) destination[i] += retract_mm[i];
  3833. endstops.enable(false);
  3834. prepare_move_to_destination();
  3835. stepper.synchronize();
  3836. feedrate_mm_s /= 4;
  3837. // Bump the target more slowly
  3838. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  3839. endstops.enable(true);
  3840. G38_move = true;
  3841. prepare_move_to_destination();
  3842. stepper.synchronize();
  3843. G38_move = false;
  3844. set_current_from_steppers_for_axis(ALL_AXES);
  3845. SYNC_PLAN_POSITION_KINEMATIC();
  3846. }
  3847. endstops.hit_on_purpose();
  3848. endstops.not_homing();
  3849. return G38_pass_fail;
  3850. }
  3851. /**
  3852. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  3853. * G38.3 - probe toward workpiece, stop on contact
  3854. *
  3855. * Like G28 except uses Z min endstop for all axes
  3856. */
  3857. inline void gcode_G38(bool is_38_2) {
  3858. // Get X Y Z E F
  3859. gcode_get_destination();
  3860. setup_for_endstop_or_probe_move();
  3861. // If any axis has enough movement, do the move
  3862. LOOP_XYZ(i)
  3863. if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  3864. if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
  3865. // If G38.2 fails throw an error
  3866. if (!G38_run_probe() && is_38_2) {
  3867. SERIAL_ERROR_START;
  3868. SERIAL_ERRORLNPGM("Failed to reach target");
  3869. }
  3870. break;
  3871. }
  3872. clean_up_after_endstop_or_probe_move();
  3873. }
  3874. #endif // G38_PROBE_TARGET
  3875. /**
  3876. * G92: Set current position to given X Y Z E
  3877. */
  3878. inline void gcode_G92() {
  3879. bool didXYZ = false,
  3880. didE = code_seen('E');
  3881. if (!didE) stepper.synchronize();
  3882. LOOP_XYZE(i) {
  3883. if (code_seen(axis_codes[i])) {
  3884. #if IS_SCARA
  3885. current_position[i] = code_value_axis_units(i);
  3886. if (i != E_AXIS) didXYZ = true;
  3887. #else
  3888. float p = current_position[i],
  3889. v = code_value_axis_units(i);
  3890. current_position[i] = v;
  3891. if (i != E_AXIS) {
  3892. didXYZ = true;
  3893. #if DISABLED(NO_WORKSPACE_OFFSETS)
  3894. position_shift[i] += v - p; // Offset the coordinate space
  3895. update_software_endstops((AxisEnum)i);
  3896. #endif
  3897. }
  3898. #endif
  3899. }
  3900. }
  3901. if (didXYZ)
  3902. SYNC_PLAN_POSITION_KINEMATIC();
  3903. else if (didE)
  3904. sync_plan_position_e();
  3905. report_current_position();
  3906. }
  3907. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  3908. /**
  3909. * M0: Unconditional stop - Wait for user button press on LCD
  3910. * M1: Conditional stop - Wait for user button press on LCD
  3911. */
  3912. inline void gcode_M0_M1() {
  3913. char* args = current_command_args;
  3914. millis_t codenum = 0;
  3915. bool hasP = false, hasS = false;
  3916. if (code_seen('P')) {
  3917. codenum = code_value_millis(); // milliseconds to wait
  3918. hasP = codenum > 0;
  3919. }
  3920. if (code_seen('S')) {
  3921. codenum = code_value_millis_from_seconds(); // seconds to wait
  3922. hasS = codenum > 0;
  3923. }
  3924. #if ENABLED(ULTIPANEL)
  3925. if (!hasP && !hasS && *args != '\0')
  3926. lcd_setstatus(args, true);
  3927. else {
  3928. LCD_MESSAGEPGM(MSG_USERWAIT);
  3929. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3930. dontExpireStatus();
  3931. #endif
  3932. }
  3933. #else
  3934. if (!hasP && !hasS && *args != '\0') {
  3935. SERIAL_ECHO_START;
  3936. SERIAL_ECHOLN(args);
  3937. }
  3938. #endif
  3939. wait_for_user = true;
  3940. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3941. stepper.synchronize();
  3942. refresh_cmd_timeout();
  3943. if (codenum > 0) {
  3944. codenum += previous_cmd_ms; // wait until this time for a click
  3945. while (PENDING(millis(), codenum) && wait_for_user) idle();
  3946. }
  3947. else {
  3948. #if ENABLED(ULTIPANEL)
  3949. if (lcd_detected()) {
  3950. while (wait_for_user) idle();
  3951. IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
  3952. }
  3953. #else
  3954. while (wait_for_user) idle();
  3955. #endif
  3956. }
  3957. wait_for_user = false;
  3958. KEEPALIVE_STATE(IN_HANDLER);
  3959. }
  3960. #endif // EMERGENCY_PARSER || ULTIPANEL
  3961. /**
  3962. * M17: Enable power on all stepper motors
  3963. */
  3964. inline void gcode_M17() {
  3965. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3966. enable_all_steppers();
  3967. }
  3968. #if ENABLED(SDSUPPORT)
  3969. /**
  3970. * M20: List SD card to serial output
  3971. */
  3972. inline void gcode_M20() {
  3973. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3974. card.ls();
  3975. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3976. }
  3977. /**
  3978. * M21: Init SD Card
  3979. */
  3980. inline void gcode_M21() { card.initsd(); }
  3981. /**
  3982. * M22: Release SD Card
  3983. */
  3984. inline void gcode_M22() { card.release(); }
  3985. /**
  3986. * M23: Open a file
  3987. */
  3988. inline void gcode_M23() { card.openFile(current_command_args, true); }
  3989. /**
  3990. * M24: Start SD Print
  3991. */
  3992. inline void gcode_M24() {
  3993. card.startFileprint();
  3994. print_job_timer.start();
  3995. }
  3996. /**
  3997. * M25: Pause SD Print
  3998. */
  3999. inline void gcode_M25() { card.pauseSDPrint(); }
  4000. /**
  4001. * M26: Set SD Card file index
  4002. */
  4003. inline void gcode_M26() {
  4004. if (card.cardOK && code_seen('S'))
  4005. card.setIndex(code_value_long());
  4006. }
  4007. /**
  4008. * M27: Get SD Card status
  4009. */
  4010. inline void gcode_M27() { card.getStatus(); }
  4011. /**
  4012. * M28: Start SD Write
  4013. */
  4014. inline void gcode_M28() { card.openFile(current_command_args, false); }
  4015. /**
  4016. * M29: Stop SD Write
  4017. * Processed in write to file routine above
  4018. */
  4019. inline void gcode_M29() {
  4020. // card.saving = false;
  4021. }
  4022. /**
  4023. * M30 <filename>: Delete SD Card file
  4024. */
  4025. inline void gcode_M30() {
  4026. if (card.cardOK) {
  4027. card.closefile();
  4028. card.removeFile(current_command_args);
  4029. }
  4030. }
  4031. #endif // SDSUPPORT
  4032. /**
  4033. * M31: Get the time since the start of SD Print (or last M109)
  4034. */
  4035. inline void gcode_M31() {
  4036. char buffer[21];
  4037. duration_t elapsed = print_job_timer.duration();
  4038. elapsed.toString(buffer);
  4039. lcd_setstatus(buffer);
  4040. SERIAL_ECHO_START;
  4041. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  4042. #if ENABLED(AUTOTEMP)
  4043. thermalManager.autotempShutdown();
  4044. #endif
  4045. }
  4046. #if ENABLED(SDSUPPORT)
  4047. /**
  4048. * M32: Select file and start SD Print
  4049. */
  4050. inline void gcode_M32() {
  4051. if (card.sdprinting)
  4052. stepper.synchronize();
  4053. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  4054. if (!namestartpos)
  4055. namestartpos = current_command_args; // Default name position, 4 letters after the M
  4056. else
  4057. namestartpos++; //to skip the '!'
  4058. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  4059. if (card.cardOK) {
  4060. card.openFile(namestartpos, true, call_procedure);
  4061. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  4062. card.setIndex(code_value_long());
  4063. card.startFileprint();
  4064. // Procedure calls count as normal print time.
  4065. if (!call_procedure) print_job_timer.start();
  4066. }
  4067. }
  4068. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  4069. /**
  4070. * M33: Get the long full path of a file or folder
  4071. *
  4072. * Parameters:
  4073. * <dospath> Case-insensitive DOS-style path to a file or folder
  4074. *
  4075. * Example:
  4076. * M33 miscel~1/armchair/armcha~1.gco
  4077. *
  4078. * Output:
  4079. * /Miscellaneous/Armchair/Armchair.gcode
  4080. */
  4081. inline void gcode_M33() {
  4082. card.printLongPath(current_command_args);
  4083. }
  4084. #endif
  4085. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  4086. /**
  4087. * M34: Set SD Card Sorting Options
  4088. */
  4089. inline void gcode_M34() {
  4090. if (code_seen('S')) card.setSortOn(code_value_bool());
  4091. if (code_seen('F')) {
  4092. int v = code_value_long();
  4093. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  4094. }
  4095. //if (code_seen('R')) card.setSortReverse(code_value_bool());
  4096. }
  4097. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  4098. /**
  4099. * M928: Start SD Write
  4100. */
  4101. inline void gcode_M928() {
  4102. card.openLogFile(current_command_args);
  4103. }
  4104. #endif // SDSUPPORT
  4105. /**
  4106. * Sensitive pin test for M42, M226
  4107. */
  4108. static bool pin_is_protected(uint8_t pin) {
  4109. static const int sensitive_pins[] = SENSITIVE_PINS;
  4110. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  4111. if (sensitive_pins[i] == pin) return true;
  4112. return false;
  4113. }
  4114. /**
  4115. * M42: Change pin status via GCode
  4116. *
  4117. * P<pin> Pin number (LED if omitted)
  4118. * S<byte> Pin status from 0 - 255
  4119. */
  4120. inline void gcode_M42() {
  4121. if (!code_seen('S')) return;
  4122. int pin_status = code_value_int();
  4123. if (pin_status < 0 || pin_status > 255) return;
  4124. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  4125. if (pin_number < 0) return;
  4126. if (pin_is_protected(pin_number)) {
  4127. SERIAL_ERROR_START;
  4128. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  4129. return;
  4130. }
  4131. pinMode(pin_number, OUTPUT);
  4132. digitalWrite(pin_number, pin_status);
  4133. analogWrite(pin_number, pin_status);
  4134. #if FAN_COUNT > 0
  4135. switch (pin_number) {
  4136. #if HAS_FAN0
  4137. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  4138. #endif
  4139. #if HAS_FAN1
  4140. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  4141. #endif
  4142. #if HAS_FAN2
  4143. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  4144. #endif
  4145. }
  4146. #endif
  4147. }
  4148. #if ENABLED(PINS_DEBUGGING)
  4149. #include "pinsDebug.h"
  4150. /**
  4151. * M43: Pin report and debug
  4152. *
  4153. * E<bool> Enable / disable background endstop monitoring
  4154. * - Machine continues to operate
  4155. * - Reports changes to endstops
  4156. * - Toggles LED when an endstop changes
  4157. *
  4158. * or
  4159. *
  4160. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  4161. * W<bool> Watch pins -reporting changes- until reset, click, or M108.
  4162. * I<bool> Flag to ignore Marlin's pin protection.
  4163. *
  4164. */
  4165. inline void gcode_M43() {
  4166. // Enable or disable endstop monitoring
  4167. if (code_seen('E')) {
  4168. endstop_monitor_flag = code_value_bool();
  4169. SERIAL_PROTOCOLPGM("endstop monitor ");
  4170. SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
  4171. SERIAL_PROTOCOLLNPGM("abled");
  4172. return;
  4173. }
  4174. // Get the range of pins to test or watch
  4175. int first_pin = 0, last_pin = NUM_DIGITAL_PINS - 1;
  4176. if (code_seen('P')) {
  4177. first_pin = last_pin = code_value_byte();
  4178. if (first_pin > NUM_DIGITAL_PINS - 1) return;
  4179. }
  4180. bool ignore_protection = code_seen('I') ? code_value_bool() : false;
  4181. // Watch until click, M108, or reset
  4182. if (code_seen('W') && code_value_bool()) { // watch digital pins
  4183. byte pin_state[last_pin - first_pin + 1];
  4184. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  4185. if (pin_is_protected(pin) && !ignore_protection) continue;
  4186. pinMode(pin, INPUT_PULLUP);
  4187. // if (IS_ANALOG(pin))
  4188. // pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  4189. // else
  4190. pin_state[pin - first_pin] = digitalRead(pin);
  4191. }
  4192. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  4193. wait_for_user = true;
  4194. #endif
  4195. for(;;) {
  4196. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  4197. if (pin_is_protected(pin)) continue;
  4198. byte val;
  4199. // if (IS_ANALOG(pin))
  4200. // val = analogRead(pin - analogInputToDigitalPin(0)); // int16_t val
  4201. // else
  4202. val = digitalRead(pin);
  4203. if (val != pin_state[pin - first_pin]) {
  4204. report_pin_state(pin);
  4205. pin_state[pin - first_pin] = val;
  4206. }
  4207. }
  4208. #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  4209. if (!wait_for_user) break;
  4210. #endif
  4211. safe_delay(500);
  4212. }
  4213. return;
  4214. }
  4215. // Report current state of selected pin(s)
  4216. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  4217. report_pin_state_extended(pin, ignore_protection);
  4218. }
  4219. #endif // PINS_DEBUGGING
  4220. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  4221. /**
  4222. * M48: Z probe repeatability measurement function.
  4223. *
  4224. * Usage:
  4225. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  4226. * P = Number of sampled points (4-50, default 10)
  4227. * X = Sample X position
  4228. * Y = Sample Y position
  4229. * V = Verbose level (0-4, default=1)
  4230. * E = Engage Z probe for each reading
  4231. * L = Number of legs of movement before probe
  4232. * S = Schizoid (Or Star if you prefer)
  4233. *
  4234. * This function assumes the bed has been homed. Specifically, that a G28 command
  4235. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  4236. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  4237. * regenerated.
  4238. */
  4239. inline void gcode_M48() {
  4240. if (axis_unhomed_error(true, true, true)) return;
  4241. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  4242. if (verbose_level < 0 || verbose_level > 4) {
  4243. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  4244. return;
  4245. }
  4246. if (verbose_level > 0)
  4247. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  4248. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  4249. if (n_samples < 4 || n_samples > 50) {
  4250. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  4251. return;
  4252. }
  4253. float X_current = current_position[X_AXIS],
  4254. Y_current = current_position[Y_AXIS];
  4255. bool stow_probe_after_each = code_seen('E');
  4256. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  4257. #if DISABLED(DELTA)
  4258. if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
  4259. out_of_range_error(PSTR("X"));
  4260. return;
  4261. }
  4262. #endif
  4263. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  4264. #if DISABLED(DELTA)
  4265. if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
  4266. out_of_range_error(PSTR("Y"));
  4267. return;
  4268. }
  4269. #else
  4270. float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
  4271. if (!position_is_reachable(pos, true)) {
  4272. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  4273. return;
  4274. }
  4275. #endif
  4276. bool seen_L = code_seen('L');
  4277. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  4278. if (n_legs > 15) {
  4279. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  4280. return;
  4281. }
  4282. if (n_legs == 1) n_legs = 2;
  4283. bool schizoid_flag = code_seen('S');
  4284. if (schizoid_flag && !seen_L) n_legs = 7;
  4285. /**
  4286. * Now get everything to the specified probe point So we can safely do a
  4287. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  4288. * we don't want to use that as a starting point for each probe.
  4289. */
  4290. if (verbose_level > 2)
  4291. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  4292. // Disable bed level correction in M48 because we want the raw data when we probe
  4293. #if HAS_ABL
  4294. const bool abl_was_enabled = planner.abl_enabled;
  4295. set_bed_leveling_enabled(false);
  4296. #endif
  4297. setup_for_endstop_or_probe_move();
  4298. // Move to the first point, deploy, and probe
  4299. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  4300. randomSeed(millis());
  4301. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  4302. for (uint8_t n = 0; n < n_samples; n++) {
  4303. if (n_legs) {
  4304. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  4305. float angle = random(0.0, 360.0),
  4306. radius = random(
  4307. #if ENABLED(DELTA)
  4308. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  4309. #else
  4310. 5, X_MAX_LENGTH / 8
  4311. #endif
  4312. );
  4313. if (verbose_level > 3) {
  4314. SERIAL_ECHOPAIR("Starting radius: ", radius);
  4315. SERIAL_ECHOPAIR(" angle: ", angle);
  4316. SERIAL_ECHOPGM(" Direction: ");
  4317. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  4318. SERIAL_ECHOLNPGM("Clockwise");
  4319. }
  4320. for (uint8_t l = 0; l < n_legs - 1; l++) {
  4321. double delta_angle;
  4322. if (schizoid_flag)
  4323. // The points of a 5 point star are 72 degrees apart. We need to
  4324. // skip a point and go to the next one on the star.
  4325. delta_angle = dir * 2.0 * 72.0;
  4326. else
  4327. // If we do this line, we are just trying to move further
  4328. // around the circle.
  4329. delta_angle = dir * (float) random(25, 45);
  4330. angle += delta_angle;
  4331. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  4332. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  4333. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  4334. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  4335. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  4336. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  4337. #if DISABLED(DELTA)
  4338. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  4339. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  4340. #else
  4341. // If we have gone out too far, we can do a simple fix and scale the numbers
  4342. // back in closer to the origin.
  4343. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  4344. X_current /= 1.25;
  4345. Y_current /= 1.25;
  4346. if (verbose_level > 3) {
  4347. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  4348. SERIAL_ECHOLNPAIR(", ", Y_current);
  4349. }
  4350. }
  4351. #endif
  4352. if (verbose_level > 3) {
  4353. SERIAL_PROTOCOLPGM("Going to:");
  4354. SERIAL_ECHOPAIR(" X", X_current);
  4355. SERIAL_ECHOPAIR(" Y", Y_current);
  4356. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  4357. }
  4358. do_blocking_move_to_xy(X_current, Y_current);
  4359. } // n_legs loop
  4360. } // n_legs
  4361. // Probe a single point
  4362. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  4363. /**
  4364. * Get the current mean for the data points we have so far
  4365. */
  4366. double sum = 0.0;
  4367. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  4368. mean = sum / (n + 1);
  4369. NOMORE(min, sample_set[n]);
  4370. NOLESS(max, sample_set[n]);
  4371. /**
  4372. * Now, use that mean to calculate the standard deviation for the
  4373. * data points we have so far
  4374. */
  4375. sum = 0.0;
  4376. for (uint8_t j = 0; j <= n; j++)
  4377. sum += sq(sample_set[j] - mean);
  4378. sigma = sqrt(sum / (n + 1));
  4379. if (verbose_level > 0) {
  4380. if (verbose_level > 1) {
  4381. SERIAL_PROTOCOL(n + 1);
  4382. SERIAL_PROTOCOLPGM(" of ");
  4383. SERIAL_PROTOCOL((int)n_samples);
  4384. SERIAL_PROTOCOLPGM(": z: ");
  4385. SERIAL_PROTOCOL_F(sample_set[n], 3);
  4386. if (verbose_level > 2) {
  4387. SERIAL_PROTOCOLPGM(" mean: ");
  4388. SERIAL_PROTOCOL_F(mean, 4);
  4389. SERIAL_PROTOCOLPGM(" sigma: ");
  4390. SERIAL_PROTOCOL_F(sigma, 6);
  4391. SERIAL_PROTOCOLPGM(" min: ");
  4392. SERIAL_PROTOCOL_F(min, 3);
  4393. SERIAL_PROTOCOLPGM(" max: ");
  4394. SERIAL_PROTOCOL_F(max, 3);
  4395. SERIAL_PROTOCOLPGM(" range: ");
  4396. SERIAL_PROTOCOL_F(max-min, 3);
  4397. }
  4398. }
  4399. SERIAL_EOL;
  4400. }
  4401. } // End of probe loop
  4402. if (STOW_PROBE()) return;
  4403. SERIAL_PROTOCOLPGM("Finished!");
  4404. SERIAL_EOL;
  4405. if (verbose_level > 0) {
  4406. SERIAL_PROTOCOLPGM("Mean: ");
  4407. SERIAL_PROTOCOL_F(mean, 6);
  4408. SERIAL_PROTOCOLPGM(" Min: ");
  4409. SERIAL_PROTOCOL_F(min, 3);
  4410. SERIAL_PROTOCOLPGM(" Max: ");
  4411. SERIAL_PROTOCOL_F(max, 3);
  4412. SERIAL_PROTOCOLPGM(" Range: ");
  4413. SERIAL_PROTOCOL_F(max-min, 3);
  4414. SERIAL_EOL;
  4415. }
  4416. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  4417. SERIAL_PROTOCOL_F(sigma, 6);
  4418. SERIAL_EOL;
  4419. SERIAL_EOL;
  4420. clean_up_after_endstop_or_probe_move();
  4421. // Re-enable bed level correction if it has been on
  4422. #if HAS_ABL
  4423. set_bed_leveling_enabled(abl_was_enabled);
  4424. #endif
  4425. report_current_position();
  4426. }
  4427. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  4428. /**
  4429. * M75: Start print timer
  4430. */
  4431. inline void gcode_M75() { print_job_timer.start(); }
  4432. /**
  4433. * M76: Pause print timer
  4434. */
  4435. inline void gcode_M76() { print_job_timer.pause(); }
  4436. /**
  4437. * M77: Stop print timer
  4438. */
  4439. inline void gcode_M77() { print_job_timer.stop(); }
  4440. #if ENABLED(PRINTCOUNTER)
  4441. /**
  4442. * M78: Show print statistics
  4443. */
  4444. inline void gcode_M78() {
  4445. // "M78 S78" will reset the statistics
  4446. if (code_seen('S') && code_value_int() == 78)
  4447. print_job_timer.initStats();
  4448. else
  4449. print_job_timer.showStats();
  4450. }
  4451. #endif
  4452. /**
  4453. * M104: Set hot end temperature
  4454. */
  4455. inline void gcode_M104() {
  4456. if (get_target_extruder_from_command(104)) return;
  4457. if (DEBUGGING(DRYRUN)) return;
  4458. #if ENABLED(SINGLENOZZLE)
  4459. if (target_extruder != active_extruder) return;
  4460. #endif
  4461. if (code_seen('S')) {
  4462. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  4463. #if ENABLED(DUAL_X_CARRIAGE)
  4464. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  4465. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  4466. #endif
  4467. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4468. /**
  4469. * Stop the timer at the end of print, starting is managed by
  4470. * 'heat and wait' M109.
  4471. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  4472. * stand by mode, for instance in a dual extruder setup, without affecting
  4473. * the running print timer.
  4474. */
  4475. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  4476. print_job_timer.stop();
  4477. LCD_MESSAGEPGM(WELCOME_MSG);
  4478. }
  4479. #endif
  4480. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  4481. }
  4482. #if ENABLED(AUTOTEMP)
  4483. planner.autotemp_M104_M109();
  4484. #endif
  4485. }
  4486. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4487. void print_heaterstates() {
  4488. #if HAS_TEMP_HOTEND
  4489. SERIAL_PROTOCOLPGM(" T:");
  4490. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  4491. SERIAL_PROTOCOLPGM(" /");
  4492. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  4493. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4494. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  4495. SERIAL_CHAR(')');
  4496. #endif
  4497. #endif
  4498. #if HAS_TEMP_BED
  4499. SERIAL_PROTOCOLPGM(" B:");
  4500. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  4501. SERIAL_PROTOCOLPGM(" /");
  4502. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  4503. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4504. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  4505. SERIAL_CHAR(')');
  4506. #endif
  4507. #endif
  4508. #if HOTENDS > 1
  4509. HOTEND_LOOP() {
  4510. SERIAL_PROTOCOLPAIR(" T", e);
  4511. SERIAL_PROTOCOLCHAR(':');
  4512. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  4513. SERIAL_PROTOCOLPGM(" /");
  4514. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  4515. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  4516. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  4517. SERIAL_CHAR(')');
  4518. #endif
  4519. }
  4520. #endif
  4521. SERIAL_PROTOCOLPGM(" @:");
  4522. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  4523. #if HAS_TEMP_BED
  4524. SERIAL_PROTOCOLPGM(" B@:");
  4525. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  4526. #endif
  4527. #if HOTENDS > 1
  4528. HOTEND_LOOP() {
  4529. SERIAL_PROTOCOLPAIR(" @", e);
  4530. SERIAL_PROTOCOLCHAR(':');
  4531. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  4532. }
  4533. #endif
  4534. }
  4535. #endif
  4536. /**
  4537. * M105: Read hot end and bed temperature
  4538. */
  4539. inline void gcode_M105() {
  4540. if (get_target_extruder_from_command(105)) return;
  4541. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  4542. SERIAL_PROTOCOLPGM(MSG_OK);
  4543. print_heaterstates();
  4544. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  4545. SERIAL_ERROR_START;
  4546. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  4547. #endif
  4548. SERIAL_EOL;
  4549. }
  4550. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  4551. static uint8_t auto_report_temp_interval;
  4552. static millis_t next_temp_report_ms;
  4553. /**
  4554. * M155: Set temperature auto-report interval. M155 S<seconds>
  4555. */
  4556. inline void gcode_M155() {
  4557. if (code_seen('S')) {
  4558. auto_report_temp_interval = code_value_byte();
  4559. NOMORE(auto_report_temp_interval, 60);
  4560. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  4561. }
  4562. }
  4563. inline void auto_report_temperatures() {
  4564. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  4565. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  4566. print_heaterstates();
  4567. SERIAL_EOL;
  4568. }
  4569. }
  4570. #endif // AUTO_REPORT_TEMPERATURES
  4571. #if FAN_COUNT > 0
  4572. /**
  4573. * M106: Set Fan Speed
  4574. *
  4575. * S<int> Speed between 0-255
  4576. * P<index> Fan index, if more than one fan
  4577. */
  4578. inline void gcode_M106() {
  4579. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  4580. p = code_seen('P') ? code_value_ushort() : 0;
  4581. NOMORE(s, 255);
  4582. if (p < FAN_COUNT) fanSpeeds[p] = s;
  4583. }
  4584. /**
  4585. * M107: Fan Off
  4586. */
  4587. inline void gcode_M107() {
  4588. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  4589. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  4590. }
  4591. #endif // FAN_COUNT > 0
  4592. #if DISABLED(EMERGENCY_PARSER)
  4593. /**
  4594. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  4595. */
  4596. inline void gcode_M108() { wait_for_heatup = false; }
  4597. /**
  4598. * M112: Emergency Stop
  4599. */
  4600. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  4601. /**
  4602. * M410: Quickstop - Abort all planned moves
  4603. *
  4604. * This will stop the carriages mid-move, so most likely they
  4605. * will be out of sync with the stepper position after this.
  4606. */
  4607. inline void gcode_M410() { quickstop_stepper(); }
  4608. #endif
  4609. #ifndef MIN_COOLING_SLOPE_DEG
  4610. #define MIN_COOLING_SLOPE_DEG 1.50
  4611. #endif
  4612. #ifndef MIN_COOLING_SLOPE_TIME
  4613. #define MIN_COOLING_SLOPE_TIME 60
  4614. #endif
  4615. /**
  4616. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  4617. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  4618. */
  4619. inline void gcode_M109() {
  4620. if (get_target_extruder_from_command(109)) return;
  4621. if (DEBUGGING(DRYRUN)) return;
  4622. #if ENABLED(SINGLENOZZLE)
  4623. if (target_extruder != active_extruder) return;
  4624. #endif
  4625. bool no_wait_for_cooling = code_seen('S');
  4626. if (no_wait_for_cooling || code_seen('R')) {
  4627. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  4628. #if ENABLED(DUAL_X_CARRIAGE)
  4629. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  4630. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  4631. #endif
  4632. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4633. /**
  4634. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  4635. * stand by mode, for instance in a dual extruder setup, without affecting
  4636. * the running print timer.
  4637. */
  4638. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  4639. print_job_timer.stop();
  4640. LCD_MESSAGEPGM(WELCOME_MSG);
  4641. }
  4642. /**
  4643. * We do not check if the timer is already running because this check will
  4644. * be done for us inside the Stopwatch::start() method thus a running timer
  4645. * will not restart.
  4646. */
  4647. else print_job_timer.start();
  4648. #endif
  4649. if (thermalManager.isHeatingHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  4650. }
  4651. #if ENABLED(AUTOTEMP)
  4652. planner.autotemp_M104_M109();
  4653. #endif
  4654. #if TEMP_RESIDENCY_TIME > 0
  4655. millis_t residency_start_ms = 0;
  4656. // Loop until the temperature has stabilized
  4657. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  4658. #else
  4659. // Loop until the temperature is very close target
  4660. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  4661. #endif //TEMP_RESIDENCY_TIME > 0
  4662. float theTarget = -1.0, old_temp = 9999.0;
  4663. bool wants_to_cool = false;
  4664. wait_for_heatup = true;
  4665. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4666. KEEPALIVE_STATE(NOT_BUSY);
  4667. do {
  4668. // Target temperature might be changed during the loop
  4669. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  4670. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  4671. theTarget = thermalManager.degTargetHotend(target_extruder);
  4672. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4673. if (no_wait_for_cooling && wants_to_cool) break;
  4674. }
  4675. now = millis();
  4676. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  4677. next_temp_ms = now + 1000UL;
  4678. print_heaterstates();
  4679. #if TEMP_RESIDENCY_TIME > 0
  4680. SERIAL_PROTOCOLPGM(" W:");
  4681. if (residency_start_ms) {
  4682. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4683. SERIAL_PROTOCOLLN(rem);
  4684. }
  4685. else {
  4686. SERIAL_PROTOCOLLNPGM("?");
  4687. }
  4688. #else
  4689. SERIAL_EOL;
  4690. #endif
  4691. }
  4692. idle();
  4693. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4694. float temp = thermalManager.degHotend(target_extruder);
  4695. #if TEMP_RESIDENCY_TIME > 0
  4696. float temp_diff = fabs(theTarget - temp);
  4697. if (!residency_start_ms) {
  4698. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  4699. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  4700. }
  4701. else if (temp_diff > TEMP_HYSTERESIS) {
  4702. // Restart the timer whenever the temperature falls outside the hysteresis.
  4703. residency_start_ms = now;
  4704. }
  4705. #endif //TEMP_RESIDENCY_TIME > 0
  4706. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  4707. if (wants_to_cool) {
  4708. // break after MIN_COOLING_SLOPE_TIME seconds
  4709. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  4710. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4711. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  4712. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  4713. old_temp = temp;
  4714. }
  4715. }
  4716. } while (wait_for_heatup && TEMP_CONDITIONS);
  4717. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  4718. KEEPALIVE_STATE(IN_HANDLER);
  4719. }
  4720. #if HAS_TEMP_BED
  4721. #ifndef MIN_COOLING_SLOPE_DEG_BED
  4722. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  4723. #endif
  4724. #ifndef MIN_COOLING_SLOPE_TIME_BED
  4725. #define MIN_COOLING_SLOPE_TIME_BED 60
  4726. #endif
  4727. /**
  4728. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  4729. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  4730. */
  4731. inline void gcode_M190() {
  4732. if (DEBUGGING(DRYRUN)) return;
  4733. LCD_MESSAGEPGM(MSG_BED_HEATING);
  4734. bool no_wait_for_cooling = code_seen('S');
  4735. if (no_wait_for_cooling || code_seen('R')) {
  4736. thermalManager.setTargetBed(code_value_temp_abs());
  4737. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4738. if (code_value_temp_abs() > BED_MINTEMP) {
  4739. /**
  4740. * We start the timer when 'heating and waiting' command arrives, LCD
  4741. * functions never wait. Cooling down managed by extruders.
  4742. *
  4743. * We do not check if the timer is already running because this check will
  4744. * be done for us inside the Stopwatch::start() method thus a running timer
  4745. * will not restart.
  4746. */
  4747. print_job_timer.start();
  4748. }
  4749. #endif
  4750. }
  4751. #if TEMP_BED_RESIDENCY_TIME > 0
  4752. millis_t residency_start_ms = 0;
  4753. // Loop until the temperature has stabilized
  4754. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  4755. #else
  4756. // Loop until the temperature is very close target
  4757. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  4758. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4759. float theTarget = -1.0, old_temp = 9999.0;
  4760. bool wants_to_cool = false;
  4761. wait_for_heatup = true;
  4762. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4763. KEEPALIVE_STATE(NOT_BUSY);
  4764. target_extruder = active_extruder; // for print_heaterstates
  4765. do {
  4766. // Target temperature might be changed during the loop
  4767. if (theTarget != thermalManager.degTargetBed()) {
  4768. wants_to_cool = thermalManager.isCoolingBed();
  4769. theTarget = thermalManager.degTargetBed();
  4770. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4771. if (no_wait_for_cooling && wants_to_cool) break;
  4772. }
  4773. now = millis();
  4774. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  4775. next_temp_ms = now + 1000UL;
  4776. print_heaterstates();
  4777. #if TEMP_BED_RESIDENCY_TIME > 0
  4778. SERIAL_PROTOCOLPGM(" W:");
  4779. if (residency_start_ms) {
  4780. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4781. SERIAL_PROTOCOLLN(rem);
  4782. }
  4783. else {
  4784. SERIAL_PROTOCOLLNPGM("?");
  4785. }
  4786. #else
  4787. SERIAL_EOL;
  4788. #endif
  4789. }
  4790. idle();
  4791. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4792. float temp = thermalManager.degBed();
  4793. #if TEMP_BED_RESIDENCY_TIME > 0
  4794. float temp_diff = fabs(theTarget - temp);
  4795. if (!residency_start_ms) {
  4796. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  4797. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  4798. }
  4799. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  4800. // Restart the timer whenever the temperature falls outside the hysteresis.
  4801. residency_start_ms = now;
  4802. }
  4803. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4804. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  4805. if (wants_to_cool) {
  4806. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  4807. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  4808. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4809. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  4810. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  4811. old_temp = temp;
  4812. }
  4813. }
  4814. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  4815. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  4816. KEEPALIVE_STATE(IN_HANDLER);
  4817. }
  4818. #endif // HAS_TEMP_BED
  4819. /**
  4820. * M110: Set Current Line Number
  4821. */
  4822. inline void gcode_M110() {
  4823. if (code_seen('N')) gcode_LastN = code_value_long();
  4824. }
  4825. /**
  4826. * M111: Set the debug level
  4827. */
  4828. inline void gcode_M111() {
  4829. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  4830. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  4831. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  4832. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  4833. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  4834. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  4835. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4836. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  4837. #endif
  4838. const static char* const debug_strings[] PROGMEM = {
  4839. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  4840. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4841. str_debug_32
  4842. #endif
  4843. };
  4844. SERIAL_ECHO_START;
  4845. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  4846. if (marlin_debug_flags) {
  4847. uint8_t comma = 0;
  4848. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  4849. if (TEST(marlin_debug_flags, i)) {
  4850. if (comma++) SERIAL_CHAR(',');
  4851. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  4852. }
  4853. }
  4854. }
  4855. else {
  4856. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  4857. }
  4858. SERIAL_EOL;
  4859. }
  4860. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  4861. /**
  4862. * M113: Get or set Host Keepalive interval (0 to disable)
  4863. *
  4864. * S<seconds> Optional. Set the keepalive interval.
  4865. */
  4866. inline void gcode_M113() {
  4867. if (code_seen('S')) {
  4868. host_keepalive_interval = code_value_byte();
  4869. NOMORE(host_keepalive_interval, 60);
  4870. }
  4871. else {
  4872. SERIAL_ECHO_START;
  4873. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4874. }
  4875. }
  4876. #endif
  4877. #if ENABLED(BARICUDA)
  4878. #if HAS_HEATER_1
  4879. /**
  4880. * M126: Heater 1 valve open
  4881. */
  4882. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4883. /**
  4884. * M127: Heater 1 valve close
  4885. */
  4886. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4887. #endif
  4888. #if HAS_HEATER_2
  4889. /**
  4890. * M128: Heater 2 valve open
  4891. */
  4892. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4893. /**
  4894. * M129: Heater 2 valve close
  4895. */
  4896. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4897. #endif
  4898. #endif //BARICUDA
  4899. /**
  4900. * M140: Set bed temperature
  4901. */
  4902. inline void gcode_M140() {
  4903. if (DEBUGGING(DRYRUN)) return;
  4904. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4905. }
  4906. #if ENABLED(ULTIPANEL)
  4907. /**
  4908. * M145: Set the heatup state for a material in the LCD menu
  4909. * S<material> (0=PLA, 1=ABS)
  4910. * H<hotend temp>
  4911. * B<bed temp>
  4912. * F<fan speed>
  4913. */
  4914. inline void gcode_M145() {
  4915. uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
  4916. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  4917. SERIAL_ERROR_START;
  4918. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4919. }
  4920. else {
  4921. int v;
  4922. if (code_seen('H')) {
  4923. v = code_value_int();
  4924. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4925. }
  4926. if (code_seen('F')) {
  4927. v = code_value_int();
  4928. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  4929. }
  4930. #if TEMP_SENSOR_BED != 0
  4931. if (code_seen('B')) {
  4932. v = code_value_int();
  4933. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4934. }
  4935. #endif
  4936. }
  4937. }
  4938. #endif // ULTIPANEL
  4939. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4940. /**
  4941. * M149: Set temperature units
  4942. */
  4943. inline void gcode_M149() {
  4944. if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
  4945. else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
  4946. else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
  4947. }
  4948. #endif
  4949. #if HAS_POWER_SWITCH
  4950. /**
  4951. * M80: Turn on Power Supply
  4952. */
  4953. inline void gcode_M80() {
  4954. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4955. /**
  4956. * If you have a switch on suicide pin, this is useful
  4957. * if you want to start another print with suicide feature after
  4958. * a print without suicide...
  4959. */
  4960. #if HAS_SUICIDE
  4961. OUT_WRITE(SUICIDE_PIN, HIGH);
  4962. #endif
  4963. #if ENABLED(ULTIPANEL)
  4964. powersupply = true;
  4965. LCD_MESSAGEPGM(WELCOME_MSG);
  4966. lcd_update();
  4967. #endif
  4968. }
  4969. #endif // HAS_POWER_SWITCH
  4970. /**
  4971. * M81: Turn off Power, including Power Supply, if there is one.
  4972. *
  4973. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4974. */
  4975. inline void gcode_M81() {
  4976. thermalManager.disable_all_heaters();
  4977. stepper.finish_and_disable();
  4978. #if FAN_COUNT > 0
  4979. #if FAN_COUNT > 1
  4980. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4981. #else
  4982. fanSpeeds[0] = 0;
  4983. #endif
  4984. #endif
  4985. delay(1000); // Wait 1 second before switching off
  4986. #if HAS_SUICIDE
  4987. stepper.synchronize();
  4988. suicide();
  4989. #elif HAS_POWER_SWITCH
  4990. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4991. #endif
  4992. #if ENABLED(ULTIPANEL)
  4993. #if HAS_POWER_SWITCH
  4994. powersupply = false;
  4995. #endif
  4996. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4997. lcd_update();
  4998. #endif
  4999. }
  5000. /**
  5001. * M82: Set E codes absolute (default)
  5002. */
  5003. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  5004. /**
  5005. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  5006. */
  5007. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  5008. /**
  5009. * M18, M84: Disable all stepper motors
  5010. */
  5011. inline void gcode_M18_M84() {
  5012. if (code_seen('S')) {
  5013. stepper_inactive_time = code_value_millis_from_seconds();
  5014. }
  5015. else {
  5016. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  5017. if (all_axis) {
  5018. stepper.finish_and_disable();
  5019. }
  5020. else {
  5021. stepper.synchronize();
  5022. if (code_seen('X')) disable_x();
  5023. if (code_seen('Y')) disable_y();
  5024. if (code_seen('Z')) disable_z();
  5025. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  5026. if (code_seen('E')) {
  5027. disable_e0();
  5028. disable_e1();
  5029. disable_e2();
  5030. disable_e3();
  5031. }
  5032. #endif
  5033. }
  5034. }
  5035. }
  5036. /**
  5037. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  5038. */
  5039. inline void gcode_M85() {
  5040. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  5041. }
  5042. /**
  5043. * Multi-stepper support for M92, M201, M203
  5044. */
  5045. #if ENABLED(DISTINCT_E_FACTORS)
  5046. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  5047. #define TARGET_EXTRUDER target_extruder
  5048. #else
  5049. #define GET_TARGET_EXTRUDER(CMD) NOOP
  5050. #define TARGET_EXTRUDER 0
  5051. #endif
  5052. /**
  5053. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  5054. * (Follows the same syntax as G92)
  5055. *
  5056. * With multiple extruders use T to specify which one.
  5057. */
  5058. inline void gcode_M92() {
  5059. GET_TARGET_EXTRUDER(92);
  5060. LOOP_XYZE(i) {
  5061. if (code_seen(axis_codes[i])) {
  5062. if (i == E_AXIS) {
  5063. float value = code_value_per_axis_unit(E_AXIS + TARGET_EXTRUDER);
  5064. if (value < 20.0) {
  5065. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  5066. planner.max_jerk[E_AXIS] *= factor;
  5067. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  5068. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  5069. }
  5070. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  5071. }
  5072. else {
  5073. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  5074. }
  5075. }
  5076. }
  5077. planner.refresh_positioning();
  5078. }
  5079. /**
  5080. * Output the current position to serial
  5081. */
  5082. static void report_current_position() {
  5083. SERIAL_PROTOCOLPGM("X:");
  5084. SERIAL_PROTOCOL(current_position[X_AXIS]);
  5085. SERIAL_PROTOCOLPGM(" Y:");
  5086. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  5087. SERIAL_PROTOCOLPGM(" Z:");
  5088. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  5089. SERIAL_PROTOCOLPGM(" E:");
  5090. SERIAL_PROTOCOL(current_position[E_AXIS]);
  5091. stepper.report_positions();
  5092. #if IS_SCARA
  5093. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  5094. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  5095. SERIAL_EOL;
  5096. #endif
  5097. }
  5098. /**
  5099. * M114: Output current position to serial port
  5100. */
  5101. inline void gcode_M114() { report_current_position(); }
  5102. /**
  5103. * M115: Capabilities string
  5104. */
  5105. inline void gcode_M115() {
  5106. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  5107. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  5108. // EEPROM (M500, M501)
  5109. #if ENABLED(EEPROM_SETTINGS)
  5110. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  5111. #else
  5112. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  5113. #endif
  5114. // AUTOREPORT_TEMP (M155)
  5115. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  5116. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  5117. #else
  5118. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  5119. #endif
  5120. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  5121. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  5122. // AUTOLEVEL (G29)
  5123. #if HAS_ABL
  5124. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  5125. #else
  5126. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  5127. #endif
  5128. // Z_PROBE (G30)
  5129. #if HAS_BED_PROBE
  5130. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  5131. #else
  5132. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  5133. #endif
  5134. // SOFTWARE_POWER (G30)
  5135. #if HAS_POWER_SWITCH
  5136. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  5137. #else
  5138. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  5139. #endif
  5140. // TOGGLE_LIGHTS (M355)
  5141. #if HAS_CASE_LIGHT
  5142. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  5143. #else
  5144. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  5145. #endif
  5146. // EMERGENCY_PARSER (M108, M112, M410)
  5147. #if ENABLED(EMERGENCY_PARSER)
  5148. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  5149. #else
  5150. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  5151. #endif
  5152. #endif // EXTENDED_CAPABILITIES_REPORT
  5153. }
  5154. /**
  5155. * M117: Set LCD Status Message
  5156. */
  5157. inline void gcode_M117() {
  5158. lcd_setstatus(current_command_args);
  5159. }
  5160. /**
  5161. * M119: Output endstop states to serial output
  5162. */
  5163. inline void gcode_M119() { endstops.M119(); }
  5164. /**
  5165. * M120: Enable endstops and set non-homing endstop state to "enabled"
  5166. */
  5167. inline void gcode_M120() { endstops.enable_globally(true); }
  5168. /**
  5169. * M121: Disable endstops and set non-homing endstop state to "disabled"
  5170. */
  5171. inline void gcode_M121() { endstops.enable_globally(false); }
  5172. #if ENABLED(HAVE_TMC2130DRIVER)
  5173. /**
  5174. * M122: Output Trinamic TMC2130 status to serial output. Very bad formatting.
  5175. */
  5176. static void tmc2130_report(Trinamic_TMC2130 &stepr, const char *name) {
  5177. stepr.read_STAT();
  5178. SERIAL_PROTOCOL(name);
  5179. SERIAL_PROTOCOL(": ");
  5180. stepr.isReset() ? SERIAL_PROTOCOLPGM("RESET ") : SERIAL_PROTOCOLPGM("----- ");
  5181. stepr.isError() ? SERIAL_PROTOCOLPGM("ERROR ") : SERIAL_PROTOCOLPGM("----- ");
  5182. stepr.isStallguard() ? SERIAL_PROTOCOLPGM("SLGRD ") : SERIAL_PROTOCOLPGM("----- ");
  5183. stepr.isStandstill() ? SERIAL_PROTOCOLPGM("STILL ") : SERIAL_PROTOCOLPGM("----- ");
  5184. SERIAL_PROTOCOLLN(stepr.debug());
  5185. }
  5186. inline void gcode_M122() {
  5187. SERIAL_PROTOCOLLNPGM("Reporting TMC2130 status");
  5188. #if ENABLED(X_IS_TMC2130)
  5189. tmc2130_report(stepperX, "X");
  5190. #endif
  5191. #if ENABLED(X2_IS_TMC2130)
  5192. tmc2130_report(stepperX2, "X2");
  5193. #endif
  5194. #if ENABLED(Y_IS_TMC2130)
  5195. tmc2130_report(stepperY, "Y");
  5196. #endif
  5197. #if ENABLED(Y2_IS_TMC2130)
  5198. tmc2130_report(stepperY2, "Y2");
  5199. #endif
  5200. #if ENABLED(Z_IS_TMC2130)
  5201. tmc2130_report(stepperZ, "Z");
  5202. #endif
  5203. #if ENABLED(Z2_IS_TMC2130)
  5204. tmc2130_report(stepperZ2, "Z2");
  5205. #endif
  5206. #if ENABLED(E0_IS_TMC2130)
  5207. tmc2130_report(stepperE0, "E0");
  5208. #endif
  5209. #if ENABLED(E1_IS_TMC2130)
  5210. tmc2130_report(stepperE1, "E1");
  5211. #endif
  5212. #if ENABLED(E2_IS_TMC2130)
  5213. tmc2130_report(stepperE2, "E2");
  5214. #endif
  5215. #if ENABLED(E3_IS_TMC2130)
  5216. tmc2130_report(stepperE3, "E3");
  5217. #endif
  5218. }
  5219. #endif // HAVE_TMC2130DRIVER
  5220. #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  5221. void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
  5222. #if ENABLED(BLINKM)
  5223. // This variant uses i2c to send the RGB components to the device.
  5224. SendColors(r, g, b);
  5225. #else
  5226. // This variant uses 3 separate pins for the RGB components.
  5227. // If the pins can do PWM then their intensity will be set.
  5228. digitalWrite(RGB_LED_R_PIN, r ? HIGH : LOW);
  5229. digitalWrite(RGB_LED_G_PIN, g ? HIGH : LOW);
  5230. digitalWrite(RGB_LED_B_PIN, b ? HIGH : LOW);
  5231. analogWrite(RGB_LED_R_PIN, r);
  5232. analogWrite(RGB_LED_G_PIN, g);
  5233. analogWrite(RGB_LED_B_PIN, b);
  5234. #endif
  5235. }
  5236. /**
  5237. * M150: Set Status LED Color - Use R-U-B for R-G-B
  5238. *
  5239. * Always sets all 3 components. If a component is left out, set to 0.
  5240. *
  5241. * Examples:
  5242. *
  5243. * M150 R255 ; Turn LED red
  5244. * M150 R255 U127 ; Turn LED orange (PWM only)
  5245. * M150 ; Turn LED off
  5246. * M150 R U B ; Turn LED white
  5247. *
  5248. */
  5249. inline void gcode_M150() {
  5250. set_led_color(
  5251. code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
  5252. code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
  5253. code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
  5254. );
  5255. }
  5256. #endif // BLINKM || RGB_LED
  5257. /**
  5258. * M200: Set filament diameter and set E axis units to cubic units
  5259. *
  5260. * T<extruder> - Optional extruder number. Current extruder if omitted.
  5261. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  5262. */
  5263. inline void gcode_M200() {
  5264. if (get_target_extruder_from_command(200)) return;
  5265. if (code_seen('D')) {
  5266. // setting any extruder filament size disables volumetric on the assumption that
  5267. // slicers either generate in extruder values as cubic mm or as as filament feeds
  5268. // for all extruders
  5269. volumetric_enabled = (code_value_linear_units() != 0.0);
  5270. if (volumetric_enabled) {
  5271. filament_size[target_extruder] = code_value_linear_units();
  5272. // make sure all extruders have some sane value for the filament size
  5273. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  5274. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  5275. }
  5276. }
  5277. else {
  5278. //reserved for setting filament diameter via UFID or filament measuring device
  5279. return;
  5280. }
  5281. calculate_volumetric_multipliers();
  5282. }
  5283. /**
  5284. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  5285. *
  5286. * With multiple extruders use T to specify which one.
  5287. */
  5288. inline void gcode_M201() {
  5289. GET_TARGET_EXTRUDER(201);
  5290. LOOP_XYZE(i) {
  5291. if (code_seen(axis_codes[i])) {
  5292. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  5293. planner.max_acceleration_mm_per_s2[a] = code_value_axis_units(a);
  5294. }
  5295. }
  5296. // 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)
  5297. planner.reset_acceleration_rates();
  5298. }
  5299. #if 0 // Not used for Sprinter/grbl gen6
  5300. inline void gcode_M202() {
  5301. LOOP_XYZE(i) {
  5302. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  5303. }
  5304. }
  5305. #endif
  5306. /**
  5307. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  5308. *
  5309. * With multiple extruders use T to specify which one.
  5310. */
  5311. inline void gcode_M203() {
  5312. GET_TARGET_EXTRUDER(203);
  5313. LOOP_XYZE(i)
  5314. if (code_seen(axis_codes[i])) {
  5315. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  5316. planner.max_feedrate_mm_s[a] = code_value_axis_units(a);
  5317. }
  5318. }
  5319. /**
  5320. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  5321. *
  5322. * P = Printing moves
  5323. * R = Retract only (no X, Y, Z) moves
  5324. * T = Travel (non printing) moves
  5325. *
  5326. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  5327. */
  5328. inline void gcode_M204() {
  5329. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  5330. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  5331. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  5332. }
  5333. if (code_seen('P')) {
  5334. planner.acceleration = code_value_linear_units();
  5335. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  5336. }
  5337. if (code_seen('R')) {
  5338. planner.retract_acceleration = code_value_linear_units();
  5339. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  5340. }
  5341. if (code_seen('T')) {
  5342. planner.travel_acceleration = code_value_linear_units();
  5343. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  5344. }
  5345. }
  5346. /**
  5347. * M205: Set Advanced Settings
  5348. *
  5349. * S = Min Feed Rate (units/s)
  5350. * T = Min Travel Feed Rate (units/s)
  5351. * B = Min Segment Time (µs)
  5352. * X = Max X Jerk (units/sec^2)
  5353. * Y = Max Y Jerk (units/sec^2)
  5354. * Z = Max Z Jerk (units/sec^2)
  5355. * E = Max E Jerk (units/sec^2)
  5356. */
  5357. inline void gcode_M205() {
  5358. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  5359. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  5360. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  5361. if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
  5362. if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5363. if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
  5364. if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
  5365. }
  5366. #if DISABLED(NO_WORKSPACE_OFFSETS)
  5367. /**
  5368. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  5369. */
  5370. inline void gcode_M206() {
  5371. LOOP_XYZ(i)
  5372. if (code_seen(axis_codes[i]))
  5373. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  5374. #if ENABLED(MORGAN_SCARA)
  5375. if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
  5376. if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
  5377. #endif
  5378. SYNC_PLAN_POSITION_KINEMATIC();
  5379. report_current_position();
  5380. }
  5381. #endif // NO_WORKSPACE_OFFSETS
  5382. #if ENABLED(DELTA)
  5383. /**
  5384. * M665: Set delta configurations
  5385. *
  5386. * L = diagonal rod
  5387. * R = delta radius
  5388. * S = segments per second
  5389. * A = Alpha (Tower 1) diagonal rod trim
  5390. * B = Beta (Tower 2) diagonal rod trim
  5391. * C = Gamma (Tower 3) diagonal rod trim
  5392. */
  5393. inline void gcode_M665() {
  5394. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  5395. if (code_seen('R')) delta_radius = code_value_linear_units();
  5396. if (code_seen('S')) delta_segments_per_second = code_value_float();
  5397. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  5398. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  5399. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  5400. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  5401. }
  5402. /**
  5403. * M666: Set delta endstop adjustment
  5404. */
  5405. inline void gcode_M666() {
  5406. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5407. if (DEBUGGING(LEVELING)) {
  5408. SERIAL_ECHOLNPGM(">>> gcode_M666");
  5409. }
  5410. #endif
  5411. LOOP_XYZ(i) {
  5412. if (code_seen(axis_codes[i])) {
  5413. endstop_adj[i] = code_value_axis_units(i);
  5414. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5415. if (DEBUGGING(LEVELING)) {
  5416. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  5417. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  5418. }
  5419. #endif
  5420. }
  5421. }
  5422. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5423. if (DEBUGGING(LEVELING)) {
  5424. SERIAL_ECHOLNPGM("<<< gcode_M666");
  5425. }
  5426. #endif
  5427. }
  5428. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  5429. /**
  5430. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  5431. */
  5432. inline void gcode_M666() {
  5433. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  5434. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  5435. }
  5436. #endif // !DELTA && Z_DUAL_ENDSTOPS
  5437. #if ENABLED(FWRETRACT)
  5438. /**
  5439. * M207: Set firmware retraction values
  5440. *
  5441. * S[+units] retract_length
  5442. * W[+units] retract_length_swap (multi-extruder)
  5443. * F[units/min] retract_feedrate_mm_s
  5444. * Z[units] retract_zlift
  5445. */
  5446. inline void gcode_M207() {
  5447. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  5448. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5449. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  5450. #if EXTRUDERS > 1
  5451. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  5452. #endif
  5453. }
  5454. /**
  5455. * M208: Set firmware un-retraction values
  5456. *
  5457. * S[+units] retract_recover_length (in addition to M207 S*)
  5458. * W[+units] retract_recover_length_swap (multi-extruder)
  5459. * F[units/min] retract_recover_feedrate_mm_s
  5460. */
  5461. inline void gcode_M208() {
  5462. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  5463. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  5464. #if EXTRUDERS > 1
  5465. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  5466. #endif
  5467. }
  5468. /**
  5469. * M209: Enable automatic retract (M209 S1)
  5470. * For slicers that don't support G10/11, reversed extrude-only
  5471. * moves will be classified as retraction.
  5472. */
  5473. inline void gcode_M209() {
  5474. if (code_seen('S')) {
  5475. autoretract_enabled = code_value_bool();
  5476. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  5477. }
  5478. }
  5479. #endif // FWRETRACT
  5480. /**
  5481. * M211: Enable, Disable, and/or Report software endstops
  5482. *
  5483. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  5484. */
  5485. inline void gcode_M211() {
  5486. SERIAL_ECHO_START;
  5487. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  5488. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  5489. #endif
  5490. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  5491. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5492. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  5493. #else
  5494. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  5495. SERIAL_ECHOPGM(MSG_OFF);
  5496. #endif
  5497. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  5498. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  5499. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  5500. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  5501. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  5502. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  5503. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  5504. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  5505. }
  5506. #if HOTENDS > 1
  5507. /**
  5508. * M218 - set hotend offset (in linear units)
  5509. *
  5510. * T<tool>
  5511. * X<xoffset>
  5512. * Y<yoffset>
  5513. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  5514. */
  5515. inline void gcode_M218() {
  5516. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  5517. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  5518. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  5519. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  5520. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  5521. #endif
  5522. SERIAL_ECHO_START;
  5523. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5524. HOTEND_LOOP() {
  5525. SERIAL_CHAR(' ');
  5526. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  5527. SERIAL_CHAR(',');
  5528. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  5529. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  5530. SERIAL_CHAR(',');
  5531. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  5532. #endif
  5533. }
  5534. SERIAL_EOL;
  5535. }
  5536. #endif // HOTENDS > 1
  5537. /**
  5538. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  5539. */
  5540. inline void gcode_M220() {
  5541. if (code_seen('S')) feedrate_percentage = code_value_int();
  5542. }
  5543. /**
  5544. * M221: Set extrusion percentage (M221 T0 S95)
  5545. */
  5546. inline void gcode_M221() {
  5547. if (get_target_extruder_from_command(221)) return;
  5548. if (code_seen('S'))
  5549. flow_percentage[target_extruder] = code_value_int();
  5550. }
  5551. /**
  5552. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  5553. */
  5554. inline void gcode_M226() {
  5555. if (code_seen('P')) {
  5556. int pin_number = code_value_int(),
  5557. pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  5558. if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
  5559. int target = LOW;
  5560. stepper.synchronize();
  5561. pinMode(pin_number, INPUT);
  5562. switch (pin_state) {
  5563. case 1:
  5564. target = HIGH;
  5565. break;
  5566. case 0:
  5567. target = LOW;
  5568. break;
  5569. case -1:
  5570. target = !digitalRead(pin_number);
  5571. break;
  5572. }
  5573. while (digitalRead(pin_number) != target) idle();
  5574. } // pin_state -1 0 1 && pin_number > -1
  5575. } // code_seen('P')
  5576. }
  5577. #if ENABLED(EXPERIMENTAL_I2CBUS)
  5578. /**
  5579. * M260: Send data to a I2C slave device
  5580. *
  5581. * This is a PoC, the formating and arguments for the GCODE will
  5582. * change to be more compatible, the current proposal is:
  5583. *
  5584. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  5585. *
  5586. * M260 B<byte-1 value in base 10>
  5587. * M260 B<byte-2 value in base 10>
  5588. * M260 B<byte-3 value in base 10>
  5589. *
  5590. * M260 S1 ; Send the buffered data and reset the buffer
  5591. * M260 R1 ; Reset the buffer without sending data
  5592. *
  5593. */
  5594. inline void gcode_M260() {
  5595. // Set the target address
  5596. if (code_seen('A')) i2c.address(code_value_byte());
  5597. // Add a new byte to the buffer
  5598. if (code_seen('B')) i2c.addbyte(code_value_byte());
  5599. // Flush the buffer to the bus
  5600. if (code_seen('S')) i2c.send();
  5601. // Reset and rewind the buffer
  5602. else if (code_seen('R')) i2c.reset();
  5603. }
  5604. /**
  5605. * M261: Request X bytes from I2C slave device
  5606. *
  5607. * Usage: M261 A<slave device address base 10> B<number of bytes>
  5608. */
  5609. inline void gcode_M261() {
  5610. if (code_seen('A')) i2c.address(code_value_byte());
  5611. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  5612. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  5613. i2c.relay(bytes);
  5614. }
  5615. else {
  5616. SERIAL_ERROR_START;
  5617. SERIAL_ERRORLN("Bad i2c request");
  5618. }
  5619. }
  5620. #endif // EXPERIMENTAL_I2CBUS
  5621. #if HAS_SERVOS
  5622. /**
  5623. * M280: Get or set servo position. P<index> [S<angle>]
  5624. */
  5625. inline void gcode_M280() {
  5626. if (!code_seen('P')) return;
  5627. int servo_index = code_value_int();
  5628. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  5629. if (code_seen('S'))
  5630. MOVE_SERVO(servo_index, code_value_int());
  5631. else {
  5632. SERIAL_ECHO_START;
  5633. SERIAL_ECHOPAIR(" Servo ", servo_index);
  5634. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  5635. }
  5636. }
  5637. else {
  5638. SERIAL_ERROR_START;
  5639. SERIAL_ECHOPAIR("Servo ", servo_index);
  5640. SERIAL_ECHOLNPGM(" out of range");
  5641. }
  5642. }
  5643. #endif // HAS_SERVOS
  5644. #if HAS_BUZZER
  5645. /**
  5646. * M300: Play beep sound S<frequency Hz> P<duration ms>
  5647. */
  5648. inline void gcode_M300() {
  5649. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  5650. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  5651. // Limits the tone duration to 0-5 seconds.
  5652. NOMORE(duration, 5000);
  5653. BUZZ(duration, frequency);
  5654. }
  5655. #endif // HAS_BUZZER
  5656. #if ENABLED(PIDTEMP)
  5657. /**
  5658. * M301: Set PID parameters P I D (and optionally C, L)
  5659. *
  5660. * P[float] Kp term
  5661. * I[float] Ki term (unscaled)
  5662. * D[float] Kd term (unscaled)
  5663. *
  5664. * With PID_EXTRUSION_SCALING:
  5665. *
  5666. * C[float] Kc term
  5667. * L[float] LPQ length
  5668. */
  5669. inline void gcode_M301() {
  5670. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  5671. // default behaviour (omitting E parameter) is to update for extruder 0 only
  5672. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  5673. if (e < HOTENDS) { // catch bad input value
  5674. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  5675. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  5676. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  5677. #if ENABLED(PID_EXTRUSION_SCALING)
  5678. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  5679. if (code_seen('L')) lpq_len = code_value_float();
  5680. NOMORE(lpq_len, LPQ_MAX_LEN);
  5681. #endif
  5682. thermalManager.updatePID();
  5683. SERIAL_ECHO_START;
  5684. #if ENABLED(PID_PARAMS_PER_HOTEND)
  5685. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  5686. #endif // PID_PARAMS_PER_HOTEND
  5687. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  5688. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  5689. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  5690. #if ENABLED(PID_EXTRUSION_SCALING)
  5691. //Kc does not have scaling applied above, or in resetting defaults
  5692. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  5693. #endif
  5694. SERIAL_EOL;
  5695. }
  5696. else {
  5697. SERIAL_ERROR_START;
  5698. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  5699. }
  5700. }
  5701. #endif // PIDTEMP
  5702. #if ENABLED(PIDTEMPBED)
  5703. inline void gcode_M304() {
  5704. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  5705. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  5706. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  5707. thermalManager.updatePID();
  5708. SERIAL_ECHO_START;
  5709. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  5710. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  5711. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  5712. }
  5713. #endif // PIDTEMPBED
  5714. #if defined(CHDK) || HAS_PHOTOGRAPH
  5715. /**
  5716. * M240: Trigger a camera by emulating a Canon RC-1
  5717. * See http://www.doc-diy.net/photo/rc-1_hacked/
  5718. */
  5719. inline void gcode_M240() {
  5720. #ifdef CHDK
  5721. OUT_WRITE(CHDK, HIGH);
  5722. chdkHigh = millis();
  5723. chdkActive = true;
  5724. #elif HAS_PHOTOGRAPH
  5725. const uint8_t NUM_PULSES = 16;
  5726. const float PULSE_LENGTH = 0.01524;
  5727. for (int i = 0; i < NUM_PULSES; i++) {
  5728. WRITE(PHOTOGRAPH_PIN, HIGH);
  5729. _delay_ms(PULSE_LENGTH);
  5730. WRITE(PHOTOGRAPH_PIN, LOW);
  5731. _delay_ms(PULSE_LENGTH);
  5732. }
  5733. delay(7.33);
  5734. for (int i = 0; i < NUM_PULSES; i++) {
  5735. WRITE(PHOTOGRAPH_PIN, HIGH);
  5736. _delay_ms(PULSE_LENGTH);
  5737. WRITE(PHOTOGRAPH_PIN, LOW);
  5738. _delay_ms(PULSE_LENGTH);
  5739. }
  5740. #endif // !CHDK && HAS_PHOTOGRAPH
  5741. }
  5742. #endif // CHDK || PHOTOGRAPH_PIN
  5743. #if HAS_LCD_CONTRAST
  5744. /**
  5745. * M250: Read and optionally set the LCD contrast
  5746. */
  5747. inline void gcode_M250() {
  5748. if (code_seen('C')) set_lcd_contrast(code_value_int());
  5749. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  5750. SERIAL_PROTOCOL(lcd_contrast);
  5751. SERIAL_EOL;
  5752. }
  5753. #endif // HAS_LCD_CONTRAST
  5754. #if ENABLED(PREVENT_COLD_EXTRUSION)
  5755. /**
  5756. * M302: Allow cold extrudes, or set the minimum extrude temperature
  5757. *
  5758. * S<temperature> sets the minimum extrude temperature
  5759. * P<bool> enables (1) or disables (0) cold extrusion
  5760. *
  5761. * Examples:
  5762. *
  5763. * M302 ; report current cold extrusion state
  5764. * M302 P0 ; enable cold extrusion checking
  5765. * M302 P1 ; disables cold extrusion checking
  5766. * M302 S0 ; always allow extrusion (disables checking)
  5767. * M302 S170 ; only allow extrusion above 170
  5768. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  5769. */
  5770. inline void gcode_M302() {
  5771. bool seen_S = code_seen('S');
  5772. if (seen_S) {
  5773. thermalManager.extrude_min_temp = code_value_temp_abs();
  5774. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  5775. }
  5776. if (code_seen('P'))
  5777. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  5778. else if (!seen_S) {
  5779. // Report current state
  5780. SERIAL_ECHO_START;
  5781. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  5782. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  5783. SERIAL_ECHOLNPGM("C)");
  5784. }
  5785. }
  5786. #endif // PREVENT_COLD_EXTRUSION
  5787. /**
  5788. * M303: PID relay autotune
  5789. *
  5790. * S<temperature> sets the target temperature. (default 150C)
  5791. * E<extruder> (-1 for the bed) (default 0)
  5792. * C<cycles>
  5793. * U<bool> with a non-zero value will apply the result to current settings
  5794. */
  5795. inline void gcode_M303() {
  5796. #if HAS_PID_HEATING
  5797. int e = code_seen('E') ? code_value_int() : 0;
  5798. int c = code_seen('C') ? code_value_int() : 5;
  5799. bool u = code_seen('U') && code_value_bool();
  5800. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  5801. if (e >= 0 && e < HOTENDS)
  5802. target_extruder = e;
  5803. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  5804. thermalManager.PID_autotune(temp, e, c, u);
  5805. KEEPALIVE_STATE(IN_HANDLER);
  5806. #else
  5807. SERIAL_ERROR_START;
  5808. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  5809. #endif
  5810. }
  5811. #if ENABLED(MORGAN_SCARA)
  5812. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  5813. if (IsRunning()) {
  5814. forward_kinematics_SCARA(delta_a, delta_b);
  5815. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  5816. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  5817. destination[Z_AXIS] = current_position[Z_AXIS];
  5818. prepare_move_to_destination();
  5819. return true;
  5820. }
  5821. return false;
  5822. }
  5823. /**
  5824. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  5825. */
  5826. inline bool gcode_M360() {
  5827. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  5828. return SCARA_move_to_cal(0, 120);
  5829. }
  5830. /**
  5831. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  5832. */
  5833. inline bool gcode_M361() {
  5834. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  5835. return SCARA_move_to_cal(90, 130);
  5836. }
  5837. /**
  5838. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  5839. */
  5840. inline bool gcode_M362() {
  5841. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  5842. return SCARA_move_to_cal(60, 180);
  5843. }
  5844. /**
  5845. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  5846. */
  5847. inline bool gcode_M363() {
  5848. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  5849. return SCARA_move_to_cal(50, 90);
  5850. }
  5851. /**
  5852. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  5853. */
  5854. inline bool gcode_M364() {
  5855. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  5856. return SCARA_move_to_cal(45, 135);
  5857. }
  5858. #endif // SCARA
  5859. #if ENABLED(EXT_SOLENOID)
  5860. void enable_solenoid(uint8_t num) {
  5861. switch (num) {
  5862. case 0:
  5863. OUT_WRITE(SOL0_PIN, HIGH);
  5864. break;
  5865. #if HAS_SOLENOID_1
  5866. case 1:
  5867. OUT_WRITE(SOL1_PIN, HIGH);
  5868. break;
  5869. #endif
  5870. #if HAS_SOLENOID_2
  5871. case 2:
  5872. OUT_WRITE(SOL2_PIN, HIGH);
  5873. break;
  5874. #endif
  5875. #if HAS_SOLENOID_3
  5876. case 3:
  5877. OUT_WRITE(SOL3_PIN, HIGH);
  5878. break;
  5879. #endif
  5880. default:
  5881. SERIAL_ECHO_START;
  5882. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  5883. break;
  5884. }
  5885. }
  5886. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  5887. void disable_all_solenoids() {
  5888. OUT_WRITE(SOL0_PIN, LOW);
  5889. OUT_WRITE(SOL1_PIN, LOW);
  5890. OUT_WRITE(SOL2_PIN, LOW);
  5891. OUT_WRITE(SOL3_PIN, LOW);
  5892. }
  5893. /**
  5894. * M380: Enable solenoid on the active extruder
  5895. */
  5896. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  5897. /**
  5898. * M381: Disable all solenoids
  5899. */
  5900. inline void gcode_M381() { disable_all_solenoids(); }
  5901. #endif // EXT_SOLENOID
  5902. /**
  5903. * M400: Finish all moves
  5904. */
  5905. inline void gcode_M400() { stepper.synchronize(); }
  5906. #if HAS_BED_PROBE
  5907. /**
  5908. * M401: Engage Z Servo endstop if available
  5909. */
  5910. inline void gcode_M401() { DEPLOY_PROBE(); }
  5911. /**
  5912. * M402: Retract Z Servo endstop if enabled
  5913. */
  5914. inline void gcode_M402() { STOW_PROBE(); }
  5915. #endif // HAS_BED_PROBE
  5916. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5917. /**
  5918. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  5919. */
  5920. inline void gcode_M404() {
  5921. if (code_seen('W')) {
  5922. filament_width_nominal = code_value_linear_units();
  5923. }
  5924. else {
  5925. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  5926. SERIAL_PROTOCOLLN(filament_width_nominal);
  5927. }
  5928. }
  5929. /**
  5930. * M405: Turn on filament sensor for control
  5931. */
  5932. inline void gcode_M405() {
  5933. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  5934. // everything else, it uses code_value_int() instead of code_value_linear_units().
  5935. if (code_seen('D')) meas_delay_cm = code_value_int();
  5936. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  5937. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  5938. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  5939. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  5940. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  5941. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  5942. }
  5943. filament_sensor = true;
  5944. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5945. //SERIAL_PROTOCOL(filament_width_meas);
  5946. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  5947. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  5948. }
  5949. /**
  5950. * M406: Turn off filament sensor for control
  5951. */
  5952. inline void gcode_M406() { filament_sensor = false; }
  5953. /**
  5954. * M407: Get measured filament diameter on serial output
  5955. */
  5956. inline void gcode_M407() {
  5957. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5958. SERIAL_PROTOCOLLN(filament_width_meas);
  5959. }
  5960. #endif // FILAMENT_WIDTH_SENSOR
  5961. void quickstop_stepper() {
  5962. stepper.quick_stop();
  5963. stepper.synchronize();
  5964. set_current_from_steppers_for_axis(ALL_AXES);
  5965. SYNC_PLAN_POSITION_KINEMATIC();
  5966. }
  5967. #if PLANNER_LEVELING
  5968. /**
  5969. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  5970. *
  5971. * S[bool] Turns leveling on or off
  5972. * Z[height] Sets the Z fade height (0 or none to disable)
  5973. * V[bool] Verbose - Print the levelng grid
  5974. */
  5975. inline void gcode_M420() {
  5976. bool to_enable = false;
  5977. if (code_seen('S')) {
  5978. to_enable = code_value_bool();
  5979. set_bed_leveling_enabled(to_enable);
  5980. }
  5981. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  5982. if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
  5983. #endif
  5984. const bool new_status =
  5985. #if ENABLED(MESH_BED_LEVELING)
  5986. mbl.active()
  5987. #else
  5988. planner.abl_enabled
  5989. #endif
  5990. ;
  5991. if (to_enable && !new_status) {
  5992. SERIAL_ERROR_START;
  5993. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  5994. }
  5995. SERIAL_ECHO_START;
  5996. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  5997. // V to print the matrix or mesh
  5998. if (code_seen('V')) {
  5999. #if ABL_PLANAR
  6000. planner.bed_level_matrix.debug("Bed Level Correction Matrix:");
  6001. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6002. if (bilinear_grid_spacing[X_AXIS]) {
  6003. print_bilinear_leveling_grid();
  6004. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  6005. bed_level_virt_print();
  6006. #endif
  6007. }
  6008. #elif ENABLED(MESH_BED_LEVELING)
  6009. if (mbl.has_mesh()) {
  6010. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  6011. mbl_mesh_report();
  6012. }
  6013. #endif
  6014. }
  6015. }
  6016. #endif
  6017. #if ENABLED(MESH_BED_LEVELING)
  6018. /**
  6019. * M421: Set a single Mesh Bed Leveling Z coordinate
  6020. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  6021. */
  6022. inline void gcode_M421() {
  6023. int8_t px = 0, py = 0;
  6024. float z = 0;
  6025. bool hasX, hasY, hasZ, hasI, hasJ;
  6026. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  6027. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  6028. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  6029. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  6030. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  6031. if (hasX && hasY && hasZ) {
  6032. if (px >= 0 && py >= 0)
  6033. mbl.set_z(px, py, z);
  6034. else {
  6035. SERIAL_ERROR_START;
  6036. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6037. }
  6038. }
  6039. else if (hasI && hasJ && hasZ) {
  6040. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  6041. mbl.set_z(px, py, z);
  6042. else {
  6043. SERIAL_ERROR_START;
  6044. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6045. }
  6046. }
  6047. else {
  6048. SERIAL_ERROR_START;
  6049. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  6050. }
  6051. }
  6052. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  6053. /**
  6054. * M421: Set a single Mesh Bed Leveling Z coordinate
  6055. *
  6056. * M421 I<xindex> J<yindex> Z<linear>
  6057. */
  6058. inline void gcode_M421() {
  6059. int8_t px = 0, py = 0;
  6060. float z = 0;
  6061. bool hasI, hasJ, hasZ;
  6062. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  6063. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  6064. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  6065. if (hasI && hasJ && hasZ) {
  6066. if (px >= 0 && px < ABL_GRID_MAX_POINTS_X && py >= 0 && py < ABL_GRID_MAX_POINTS_X) {
  6067. bed_level_grid[px][py] = z;
  6068. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  6069. bed_level_virt_interpolate();
  6070. #endif
  6071. }
  6072. else {
  6073. SERIAL_ERROR_START;
  6074. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  6075. }
  6076. }
  6077. else {
  6078. SERIAL_ERROR_START;
  6079. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  6080. }
  6081. }
  6082. #endif
  6083. #if DISABLED(NO_WORKSPACE_OFFSETS)
  6084. /**
  6085. * M428: Set home_offset based on the distance between the
  6086. * current_position and the nearest "reference point."
  6087. * If an axis is past center its endstop position
  6088. * is the reference-point. Otherwise it uses 0. This allows
  6089. * the Z offset to be set near the bed when using a max endstop.
  6090. *
  6091. * M428 can't be used more than 2cm away from 0 or an endstop.
  6092. *
  6093. * Use M206 to set these values directly.
  6094. */
  6095. inline void gcode_M428() {
  6096. bool err = false;
  6097. LOOP_XYZ(i) {
  6098. if (axis_homed[i]) {
  6099. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
  6100. diff = current_position[i] - LOGICAL_POSITION(base, i);
  6101. if (diff > -20 && diff < 20) {
  6102. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  6103. }
  6104. else {
  6105. SERIAL_ERROR_START;
  6106. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  6107. LCD_ALERTMESSAGEPGM("Err: Too far!");
  6108. BUZZ(200, 40);
  6109. err = true;
  6110. break;
  6111. }
  6112. }
  6113. }
  6114. if (!err) {
  6115. SYNC_PLAN_POSITION_KINEMATIC();
  6116. report_current_position();
  6117. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  6118. BUZZ(200, 659);
  6119. BUZZ(200, 698);
  6120. }
  6121. }
  6122. #endif // NO_WORKSPACE_OFFSETS
  6123. /**
  6124. * M500: Store settings in EEPROM
  6125. */
  6126. inline void gcode_M500() {
  6127. Config_StoreSettings();
  6128. }
  6129. /**
  6130. * M501: Read settings from EEPROM
  6131. */
  6132. inline void gcode_M501() {
  6133. Config_RetrieveSettings();
  6134. }
  6135. /**
  6136. * M502: Revert to default settings
  6137. */
  6138. inline void gcode_M502() {
  6139. Config_ResetDefault();
  6140. }
  6141. /**
  6142. * M503: print settings currently in memory
  6143. */
  6144. inline void gcode_M503() {
  6145. Config_PrintSettings(code_seen('S') && !code_value_bool());
  6146. }
  6147. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6148. /**
  6149. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  6150. */
  6151. inline void gcode_M540() {
  6152. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  6153. }
  6154. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  6155. #if HAS_BED_PROBE
  6156. inline void gcode_M851() {
  6157. SERIAL_ECHO_START;
  6158. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  6159. SERIAL_CHAR(' ');
  6160. if (code_seen('Z')) {
  6161. float value = code_value_axis_units(Z_AXIS);
  6162. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  6163. zprobe_zoffset = value;
  6164. SERIAL_ECHO(zprobe_zoffset);
  6165. }
  6166. else {
  6167. SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
  6168. SERIAL_CHAR(' ');
  6169. SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
  6170. }
  6171. }
  6172. else {
  6173. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  6174. }
  6175. SERIAL_EOL;
  6176. }
  6177. #endif // HAS_BED_PROBE
  6178. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6179. millis_t next_buzz = 0;
  6180. unsigned long int runout_beep = 0;
  6181. void filament_change_beep() {
  6182. const millis_t ms = millis();
  6183. if (ELAPSED(ms, next_buzz)) {
  6184. if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
  6185. next_buzz = ms + (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS ? 2500 : 400);
  6186. BUZZ(300, 2000);
  6187. runout_beep++;
  6188. }
  6189. }
  6190. }
  6191. static bool busy_doing_M600 = false;
  6192. /**
  6193. * M600: Pause for filament change
  6194. *
  6195. * E[distance] - Retract the filament this far (negative value)
  6196. * Z[distance] - Move the Z axis by this distance
  6197. * X[position] - Move to this X position, with Y
  6198. * Y[position] - Move to this Y position, with X
  6199. * L[distance] - Retract distance for removal (manual reload)
  6200. *
  6201. * Default values are used for omitted arguments.
  6202. *
  6203. */
  6204. inline void gcode_M600() {
  6205. if (!DEBUGGING(DRYRUN) && thermalManager.tooColdToExtrude(active_extruder)) {
  6206. SERIAL_ERROR_START;
  6207. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  6208. return;
  6209. }
  6210. busy_doing_M600 = true; // Stepper Motors can't timeout when this is set
  6211. // Pause the print job timer
  6212. bool job_running = print_job_timer.isRunning();
  6213. print_job_timer.pause();
  6214. // Show initial message and wait for synchronize steppers
  6215. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  6216. stepper.synchronize();
  6217. float lastpos[NUM_AXIS];
  6218. // Save current position of all axes
  6219. LOOP_XYZE(i)
  6220. lastpos[i] = destination[i] = current_position[i];
  6221. // Define runplan for move axes
  6222. #if IS_KINEMATIC
  6223. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
  6224. #else
  6225. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
  6226. #endif
  6227. // Initial retract before move to filament change position
  6228. destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
  6229. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  6230. - (FILAMENT_CHANGE_RETRACT_LENGTH)
  6231. #endif
  6232. ;
  6233. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  6234. // Lift Z axis
  6235. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  6236. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  6237. FILAMENT_CHANGE_Z_ADD
  6238. #else
  6239. 0
  6240. #endif
  6241. ;
  6242. if (z_lift > 0) {
  6243. destination[Z_AXIS] += z_lift;
  6244. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  6245. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  6246. }
  6247. // Move XY axes to filament exchange position
  6248. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  6249. #ifdef FILAMENT_CHANGE_X_POS
  6250. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  6251. #endif
  6252. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  6253. #ifdef FILAMENT_CHANGE_Y_POS
  6254. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  6255. #endif
  6256. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  6257. stepper.synchronize();
  6258. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  6259. idle();
  6260. // Unload filament
  6261. destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
  6262. #if FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  6263. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  6264. #endif
  6265. ;
  6266. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  6267. // Synchronize steppers and then disable extruders steppers for manual filament changing
  6268. stepper.synchronize();
  6269. disable_e0();
  6270. disable_e1();
  6271. disable_e2();
  6272. disable_e3();
  6273. delay(100);
  6274. millis_t nozzle_timeout = millis() + FILAMENT_CHANGE_NOZZLE_TIMEOUT * 1000L;
  6275. bool nozzle_timed_out = false;
  6276. float temps[4];
  6277. // Wait for filament insert by user and press button
  6278. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  6279. idle();
  6280. wait_for_user = true; // LCD click or M108 will clear this
  6281. next_buzz = 0;
  6282. runout_beep = 0;
  6283. HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
  6284. while (wait_for_user) {
  6285. millis_t current_ms = millis();
  6286. if (nozzle_timed_out)
  6287. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  6288. #if HAS_BUZZER
  6289. filament_change_beep();
  6290. #endif
  6291. if (current_ms >= nozzle_timeout) {
  6292. if (!nozzle_timed_out) {
  6293. nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated
  6294. HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles
  6295. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  6296. }
  6297. }
  6298. idle(true);
  6299. }
  6300. if (nozzle_timed_out) // Turn nozzles back on if they were turned off
  6301. HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e);
  6302. // Show "wait for heating"
  6303. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  6304. wait_for_heatup = true;
  6305. while (wait_for_heatup) {
  6306. idle();
  6307. wait_for_heatup = false;
  6308. HOTEND_LOOP() {
  6309. if (abs(thermalManager.degHotend(e) - temps[e]) > 3) {
  6310. wait_for_heatup = true;
  6311. break;
  6312. }
  6313. }
  6314. }
  6315. // Show "insert filament"
  6316. if (nozzle_timed_out)
  6317. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  6318. wait_for_user = true; // LCD click or M108 will clear this
  6319. next_buzz = 0;
  6320. runout_beep = 0;
  6321. while (wait_for_user && nozzle_timed_out) {
  6322. #if HAS_BUZZER
  6323. filament_change_beep();
  6324. #endif
  6325. idle(true);
  6326. }
  6327. // Show "load" message
  6328. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  6329. // Load filament
  6330. destination[E_AXIS] += code_seen('L') ? -code_value_axis_units(E_AXIS) : 0
  6331. #if FILAMENT_CHANGE_LOAD_LENGTH > 0
  6332. + FILAMENT_CHANGE_LOAD_LENGTH
  6333. #endif
  6334. ;
  6335. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  6336. stepper.synchronize();
  6337. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  6338. do {
  6339. // "Wait for filament extrude"
  6340. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  6341. // Extrude filament to get into hotend
  6342. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  6343. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  6344. stepper.synchronize();
  6345. // Show "Extrude More" / "Resume" menu and wait for reply
  6346. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6347. wait_for_user = false;
  6348. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  6349. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  6350. KEEPALIVE_STATE(IN_HANDLER);
  6351. // Keep looping if "Extrude More" was selected
  6352. } while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE);
  6353. #endif
  6354. // "Wait for print to resume"
  6355. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  6356. // Set extruder to saved position
  6357. destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
  6358. planner.set_e_position_mm(current_position[E_AXIS]);
  6359. #if IS_KINEMATIC
  6360. // Move XYZ to starting position
  6361. planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  6362. #else
  6363. // Move XY to starting position, then Z
  6364. destination[X_AXIS] = lastpos[X_AXIS];
  6365. destination[Y_AXIS] = lastpos[Y_AXIS];
  6366. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  6367. destination[Z_AXIS] = lastpos[Z_AXIS];
  6368. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  6369. #endif
  6370. stepper.synchronize();
  6371. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  6372. filament_ran_out = false;
  6373. #endif
  6374. // Show status screen
  6375. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  6376. // Resume the print job timer if it was running
  6377. if (job_running) print_job_timer.start();
  6378. busy_doing_M600 = false; // Allow Stepper Motors to be turned off during inactivity
  6379. }
  6380. #endif // FILAMENT_CHANGE_FEATURE
  6381. #if ENABLED(DUAL_X_CARRIAGE)
  6382. /**
  6383. * M605: Set dual x-carriage movement mode
  6384. *
  6385. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  6386. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  6387. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  6388. * units x-offset and an optional differential hotend temperature of
  6389. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  6390. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  6391. *
  6392. * Note: the X axis should be homed after changing dual x-carriage mode.
  6393. */
  6394. inline void gcode_M605() {
  6395. stepper.synchronize();
  6396. if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
  6397. switch (dual_x_carriage_mode) {
  6398. case DXC_FULL_CONTROL_MODE:
  6399. case DXC_AUTO_PARK_MODE:
  6400. break;
  6401. case DXC_DUPLICATION_MODE:
  6402. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  6403. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  6404. SERIAL_ECHO_START;
  6405. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  6406. SERIAL_CHAR(' ');
  6407. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  6408. SERIAL_CHAR(',');
  6409. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  6410. SERIAL_CHAR(' ');
  6411. SERIAL_ECHO(duplicate_extruder_x_offset);
  6412. SERIAL_CHAR(',');
  6413. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  6414. break;
  6415. default:
  6416. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  6417. break;
  6418. }
  6419. active_extruder_parked = false;
  6420. extruder_duplication_enabled = false;
  6421. delayed_move_time = 0;
  6422. }
  6423. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  6424. inline void gcode_M605() {
  6425. stepper.synchronize();
  6426. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  6427. SERIAL_ECHO_START;
  6428. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  6429. }
  6430. #endif // M605
  6431. #if ENABLED(LIN_ADVANCE)
  6432. /**
  6433. * M905: Set advance factor
  6434. */
  6435. inline void gcode_M905() {
  6436. stepper.synchronize();
  6437. const float newK = code_seen('K') ? code_value_float() : -1,
  6438. newD = code_seen('D') ? code_value_float() : -1,
  6439. newW = code_seen('W') ? code_value_float() : -1,
  6440. newH = code_seen('H') ? code_value_float() : -1;
  6441. if (newK >= 0.0) planner.set_extruder_advance_k(newK);
  6442. SERIAL_ECHO_START;
  6443. SERIAL_ECHOLNPAIR("Advance factor: ", planner.get_extruder_advance_k());
  6444. if (newD >= 0 || newW >= 0 || newH >= 0) {
  6445. const float ratio = (!newD || !newW || !newH) ? 0 : (newW * newH) / (sq(newD * 0.5) * M_PI);
  6446. planner.set_advance_ed_ratio(ratio);
  6447. SERIAL_ECHO_START;
  6448. SERIAL_ECHOPGM("E/D ratio: ");
  6449. if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Automatic");
  6450. }
  6451. }
  6452. #endif
  6453. /**
  6454. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  6455. */
  6456. inline void gcode_M907() {
  6457. #if HAS_DIGIPOTSS
  6458. LOOP_XYZE(i)
  6459. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  6460. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  6461. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  6462. #elif HAS_MOTOR_CURRENT_PWM
  6463. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  6464. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  6465. #endif
  6466. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  6467. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  6468. #endif
  6469. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  6470. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  6471. #endif
  6472. #endif
  6473. #if ENABLED(DIGIPOT_I2C)
  6474. // this one uses actual amps in floating point
  6475. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  6476. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  6477. for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  6478. #endif
  6479. #if ENABLED(DAC_STEPPER_CURRENT)
  6480. if (code_seen('S')) {
  6481. float dac_percent = code_value_float();
  6482. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  6483. }
  6484. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  6485. #endif
  6486. }
  6487. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6488. /**
  6489. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  6490. */
  6491. inline void gcode_M908() {
  6492. #if HAS_DIGIPOTSS
  6493. stepper.digitalPotWrite(
  6494. code_seen('P') ? code_value_int() : 0,
  6495. code_seen('S') ? code_value_int() : 0
  6496. );
  6497. #endif
  6498. #ifdef DAC_STEPPER_CURRENT
  6499. dac_current_raw(
  6500. code_seen('P') ? code_value_byte() : -1,
  6501. code_seen('S') ? code_value_ushort() : 0
  6502. );
  6503. #endif
  6504. }
  6505. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6506. inline void gcode_M909() { dac_print_values(); }
  6507. inline void gcode_M910() { dac_commit_eeprom(); }
  6508. #endif
  6509. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6510. #if HAS_MICROSTEPS
  6511. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6512. inline void gcode_M350() {
  6513. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  6514. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  6515. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  6516. stepper.microstep_readings();
  6517. }
  6518. /**
  6519. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  6520. * S# determines MS1 or MS2, X# sets the pin high/low.
  6521. */
  6522. inline void gcode_M351() {
  6523. if (code_seen('S')) switch (code_value_byte()) {
  6524. case 1:
  6525. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  6526. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  6527. break;
  6528. case 2:
  6529. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  6530. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  6531. break;
  6532. }
  6533. stepper.microstep_readings();
  6534. }
  6535. #endif // HAS_MICROSTEPS
  6536. #if HAS_CASE_LIGHT
  6537. uint8_t case_light_brightness = 255;
  6538. void update_case_light() {
  6539. digitalWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
  6540. analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
  6541. }
  6542. #endif // HAS_CASE_LIGHT
  6543. /**
  6544. * M355: Turn case lights on/off and set brightness
  6545. *
  6546. * S<bool> Turn case light on or off
  6547. * P<byte> Set case light brightness (PWM pin required)
  6548. */
  6549. inline void gcode_M355() {
  6550. #if HAS_CASE_LIGHT
  6551. if (code_seen('P')) case_light_brightness = code_value_byte();
  6552. if (code_seen('S')) case_light_on = code_value_bool();
  6553. update_case_light();
  6554. SERIAL_ECHO_START;
  6555. SERIAL_ECHOPGM("Case lights ");
  6556. case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
  6557. #else
  6558. SERIAL_ERROR_START;
  6559. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  6560. #endif // HAS_CASE_LIGHT
  6561. }
  6562. #if ENABLED(MIXING_EXTRUDER)
  6563. /**
  6564. * M163: Set a single mix factor for a mixing extruder
  6565. * This is called "weight" by some systems.
  6566. *
  6567. * S[index] The channel index to set
  6568. * P[float] The mix value
  6569. *
  6570. */
  6571. inline void gcode_M163() {
  6572. int mix_index = code_seen('S') ? code_value_int() : 0;
  6573. if (mix_index < MIXING_STEPPERS) {
  6574. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  6575. NOLESS(mix_value, 0.0);
  6576. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  6577. }
  6578. }
  6579. #if MIXING_VIRTUAL_TOOLS > 1
  6580. /**
  6581. * M164: Store the current mix factors as a virtual tool.
  6582. *
  6583. * S[index] The virtual tool to store
  6584. *
  6585. */
  6586. inline void gcode_M164() {
  6587. int tool_index = code_seen('S') ? code_value_int() : 0;
  6588. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  6589. normalize_mix();
  6590. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  6591. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  6592. }
  6593. }
  6594. #endif
  6595. #if ENABLED(DIRECT_MIXING_IN_G1)
  6596. /**
  6597. * M165: Set multiple mix factors for a mixing extruder.
  6598. * Factors that are left out will be set to 0.
  6599. * All factors together must add up to 1.0.
  6600. *
  6601. * A[factor] Mix factor for extruder stepper 1
  6602. * B[factor] Mix factor for extruder stepper 2
  6603. * C[factor] Mix factor for extruder stepper 3
  6604. * D[factor] Mix factor for extruder stepper 4
  6605. * H[factor] Mix factor for extruder stepper 5
  6606. * I[factor] Mix factor for extruder stepper 6
  6607. *
  6608. */
  6609. inline void gcode_M165() { gcode_get_mix(); }
  6610. #endif
  6611. #endif // MIXING_EXTRUDER
  6612. /**
  6613. * M999: Restart after being stopped
  6614. *
  6615. * Default behaviour is to flush the serial buffer and request
  6616. * a resend to the host starting on the last N line received.
  6617. *
  6618. * Sending "M999 S1" will resume printing without flushing the
  6619. * existing command buffer.
  6620. *
  6621. */
  6622. inline void gcode_M999() {
  6623. Running = true;
  6624. lcd_reset_alert_level();
  6625. if (code_seen('S') && code_value_bool()) return;
  6626. // gcode_LastN = Stopped_gcode_LastN;
  6627. FlushSerialRequestResend();
  6628. }
  6629. #if ENABLED(SWITCHING_EXTRUDER)
  6630. inline void move_extruder_servo(uint8_t e) {
  6631. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  6632. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  6633. }
  6634. #endif
  6635. inline void invalid_extruder_error(const uint8_t &e) {
  6636. SERIAL_ECHO_START;
  6637. SERIAL_CHAR('T');
  6638. SERIAL_PROTOCOL_F(e, DEC);
  6639. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  6640. }
  6641. /**
  6642. * Perform a tool-change, which may result in moving the
  6643. * previous tool out of the way and the new tool into place.
  6644. */
  6645. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  6646. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  6647. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  6648. return invalid_extruder_error(tmp_extruder);
  6649. // T0-Tnnn: Switch virtual tool by changing the mix
  6650. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  6651. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  6652. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  6653. #if HOTENDS > 1
  6654. if (tmp_extruder >= EXTRUDERS)
  6655. return invalid_extruder_error(tmp_extruder);
  6656. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  6657. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  6658. if (tmp_extruder != active_extruder) {
  6659. if (!no_move && axis_unhomed_error(true, true, true)) {
  6660. SERIAL_ECHOLNPGM("No move on toolchange");
  6661. no_move = true;
  6662. }
  6663. // Save current position to destination, for use later
  6664. set_destination_to_current();
  6665. #if ENABLED(DUAL_X_CARRIAGE)
  6666. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6667. if (DEBUGGING(LEVELING)) {
  6668. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  6669. switch (dual_x_carriage_mode) {
  6670. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  6671. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  6672. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  6673. }
  6674. }
  6675. #endif
  6676. const float xhome = x_home_pos(active_extruder);
  6677. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  6678. && IsRunning()
  6679. && (delayed_move_time || current_position[X_AXIS] != xhome)
  6680. ) {
  6681. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  6682. #if ENABLED(max_software_endstops)
  6683. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  6684. #endif
  6685. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6686. if (DEBUGGING(LEVELING)) {
  6687. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  6688. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  6689. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  6690. }
  6691. #endif
  6692. // Park old head: 1) raise 2) move to park position 3) lower
  6693. for (uint8_t i = 0; i < 3; i++)
  6694. planner.buffer_line(
  6695. i == 0 ? current_position[X_AXIS] : xhome,
  6696. current_position[Y_AXIS],
  6697. i == 2 ? current_position[Z_AXIS] : raised_z,
  6698. current_position[E_AXIS],
  6699. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  6700. active_extruder
  6701. );
  6702. stepper.synchronize();
  6703. }
  6704. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  6705. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  6706. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  6707. // Activate the new extruder
  6708. active_extruder = tmp_extruder;
  6709. // This function resets the max/min values - the current position may be overwritten below.
  6710. set_axis_is_at_home(X_AXIS);
  6711. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6712. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  6713. #endif
  6714. // Only when auto-parking are carriages safe to move
  6715. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  6716. switch (dual_x_carriage_mode) {
  6717. case DXC_FULL_CONTROL_MODE:
  6718. // New current position is the position of the activated extruder
  6719. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  6720. // Save the inactive extruder's position (from the old current_position)
  6721. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  6722. break;
  6723. case DXC_AUTO_PARK_MODE:
  6724. // record raised toolhead position for use by unpark
  6725. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  6726. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  6727. #if ENABLED(max_software_endstops)
  6728. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  6729. #endif
  6730. active_extruder_parked = true;
  6731. delayed_move_time = 0;
  6732. break;
  6733. case DXC_DUPLICATION_MODE:
  6734. // If the new extruder is the left one, set it "parked"
  6735. // This triggers the second extruder to move into the duplication position
  6736. active_extruder_parked = (active_extruder == 0);
  6737. if (active_extruder_parked)
  6738. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  6739. else
  6740. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  6741. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  6742. extruder_duplication_enabled = false;
  6743. break;
  6744. }
  6745. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6746. if (DEBUGGING(LEVELING)) {
  6747. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  6748. DEBUG_POS("New extruder (parked)", current_position);
  6749. }
  6750. #endif
  6751. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  6752. #else // !DUAL_X_CARRIAGE
  6753. #if ENABLED(SWITCHING_EXTRUDER)
  6754. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  6755. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  6756. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  6757. // Always raise by some amount (destination copied from current_position earlier)
  6758. destination[Z_AXIS] += z_raise;
  6759. planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6760. stepper.synchronize();
  6761. move_extruder_servo(active_extruder);
  6762. delay(500);
  6763. // Move back down, if needed
  6764. if (z_raise != z_diff) {
  6765. destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
  6766. planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6767. stepper.synchronize();
  6768. }
  6769. #endif
  6770. /**
  6771. * Set current_position to the position of the new nozzle.
  6772. * Offsets are based on linear distance, so we need to get
  6773. * the resulting position in coordinate space.
  6774. *
  6775. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  6776. * - With mesh leveling, update Z for the new position
  6777. * - Otherwise, just use the raw linear distance
  6778. *
  6779. * Software endstops are altered here too. Consider a case where:
  6780. * E0 at X=0 ... E1 at X=10
  6781. * When we switch to E1 now X=10, but E1 can't move left.
  6782. * To express this we apply the change in XY to the software endstops.
  6783. * E1 can move farther right than E0, so the right limit is extended.
  6784. *
  6785. * Note that we don't adjust the Z software endstops. Why not?
  6786. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  6787. * because the bed is 1mm lower at the new position. As long as
  6788. * the first nozzle is out of the way, the carriage should be
  6789. * allowed to move 1mm lower. This technically "breaks" the
  6790. * Z software endstop. But this is technically correct (and
  6791. * there is no viable alternative).
  6792. */
  6793. #if ABL_PLANAR
  6794. // Offset extruder, make sure to apply the bed level rotation matrix
  6795. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  6796. hotend_offset[Y_AXIS][tmp_extruder],
  6797. 0),
  6798. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  6799. hotend_offset[Y_AXIS][active_extruder],
  6800. 0),
  6801. offset_vec = tmp_offset_vec - act_offset_vec;
  6802. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6803. if (DEBUGGING(LEVELING)) {
  6804. tmp_offset_vec.debug("tmp_offset_vec");
  6805. act_offset_vec.debug("act_offset_vec");
  6806. offset_vec.debug("offset_vec (BEFORE)");
  6807. }
  6808. #endif
  6809. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  6810. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6811. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  6812. #endif
  6813. // Adjustments to the current position
  6814. float xydiff[2] = { offset_vec.x, offset_vec.y };
  6815. current_position[Z_AXIS] += offset_vec.z;
  6816. #else // !ABL_PLANAR
  6817. float xydiff[2] = {
  6818. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  6819. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  6820. };
  6821. #if ENABLED(MESH_BED_LEVELING)
  6822. if (mbl.active()) {
  6823. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6824. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  6825. #endif
  6826. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  6827. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  6828. z1 = current_position[Z_AXIS], z2 = z1;
  6829. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  6830. planner.apply_leveling(x2, y2, z2);
  6831. current_position[Z_AXIS] += z2 - z1;
  6832. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6833. if (DEBUGGING(LEVELING))
  6834. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  6835. #endif
  6836. }
  6837. #endif // MESH_BED_LEVELING
  6838. #endif // !HAS_ABL
  6839. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6840. if (DEBUGGING(LEVELING)) {
  6841. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  6842. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  6843. SERIAL_ECHOLNPGM(" }");
  6844. }
  6845. #endif
  6846. // The newly-selected extruder XY is actually at...
  6847. current_position[X_AXIS] += xydiff[X_AXIS];
  6848. current_position[Y_AXIS] += xydiff[Y_AXIS];
  6849. #if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
  6850. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  6851. #if DISABLED(NO_WORKSPACE_OFFSETS)
  6852. position_shift[i] += xydiff[i];
  6853. #endif
  6854. update_software_endstops((AxisEnum)i);
  6855. }
  6856. #endif
  6857. // Set the new active extruder
  6858. active_extruder = tmp_extruder;
  6859. #endif // !DUAL_X_CARRIAGE
  6860. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6861. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  6862. #endif
  6863. // Tell the planner the new "current position"
  6864. SYNC_PLAN_POSITION_KINEMATIC();
  6865. // Move to the "old position" (move the extruder into place)
  6866. if (!no_move && IsRunning()) {
  6867. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6868. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  6869. #endif
  6870. prepare_move_to_destination();
  6871. }
  6872. } // (tmp_extruder != active_extruder)
  6873. stepper.synchronize();
  6874. #if ENABLED(EXT_SOLENOID)
  6875. disable_all_solenoids();
  6876. enable_solenoid_on_active_extruder();
  6877. #endif // EXT_SOLENOID
  6878. feedrate_mm_s = old_feedrate_mm_s;
  6879. #else // HOTENDS <= 1
  6880. // Set the new active extruder
  6881. active_extruder = tmp_extruder;
  6882. UNUSED(fr_mm_s);
  6883. UNUSED(no_move);
  6884. #endif // HOTENDS <= 1
  6885. SERIAL_ECHO_START;
  6886. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  6887. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  6888. }
  6889. /**
  6890. * T0-T3: Switch tool, usually switching extruders
  6891. *
  6892. * F[units/min] Set the movement feedrate
  6893. * S1 Don't move the tool in XY after change
  6894. */
  6895. inline void gcode_T(uint8_t tmp_extruder) {
  6896. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6897. if (DEBUGGING(LEVELING)) {
  6898. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  6899. SERIAL_CHAR(')');
  6900. SERIAL_EOL;
  6901. DEBUG_POS("BEFORE", current_position);
  6902. }
  6903. #endif
  6904. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  6905. tool_change(tmp_extruder);
  6906. #elif HOTENDS > 1
  6907. tool_change(
  6908. tmp_extruder,
  6909. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  6910. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  6911. );
  6912. #endif
  6913. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6914. if (DEBUGGING(LEVELING)) {
  6915. DEBUG_POS("AFTER", current_position);
  6916. SERIAL_ECHOLNPGM("<<< gcode_T");
  6917. }
  6918. #endif
  6919. }
  6920. /**
  6921. * Process a single command and dispatch it to its handler
  6922. * This is called from the main loop()
  6923. */
  6924. void process_next_command() {
  6925. current_command = command_queue[cmd_queue_index_r];
  6926. if (DEBUGGING(ECHO)) {
  6927. SERIAL_ECHO_START;
  6928. SERIAL_ECHOLN(current_command);
  6929. }
  6930. // Sanitize the current command:
  6931. // - Skip leading spaces
  6932. // - Bypass N[-0-9][0-9]*[ ]*
  6933. // - Overwrite * with nul to mark the end
  6934. while (*current_command == ' ') ++current_command;
  6935. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  6936. current_command += 2; // skip N[-0-9]
  6937. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  6938. while (*current_command == ' ') ++current_command; // skip [ ]*
  6939. }
  6940. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  6941. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  6942. char *cmd_ptr = current_command;
  6943. // Get the command code, which must be G, M, or T
  6944. char command_code = *cmd_ptr++;
  6945. // Skip spaces to get the numeric part
  6946. while (*cmd_ptr == ' ') cmd_ptr++;
  6947. // Allow for decimal point in command
  6948. #if ENABLED(G38_PROBE_TARGET)
  6949. uint8_t subcode = 0;
  6950. #endif
  6951. uint16_t codenum = 0; // define ahead of goto
  6952. // Bail early if there's no code
  6953. bool code_is_good = NUMERIC(*cmd_ptr);
  6954. if (!code_is_good) goto ExitUnknownCommand;
  6955. // Get and skip the code number
  6956. do {
  6957. codenum = (codenum * 10) + (*cmd_ptr - '0');
  6958. cmd_ptr++;
  6959. } while (NUMERIC(*cmd_ptr));
  6960. // Allow for decimal point in command
  6961. #if ENABLED(G38_PROBE_TARGET)
  6962. if (*cmd_ptr == '.') {
  6963. cmd_ptr++;
  6964. while (NUMERIC(*cmd_ptr))
  6965. subcode = (subcode * 10) + (*cmd_ptr++ - '0');
  6966. }
  6967. #endif
  6968. // Skip all spaces to get to the first argument, or nul
  6969. while (*cmd_ptr == ' ') cmd_ptr++;
  6970. // The command's arguments (if any) start here, for sure!
  6971. current_command_args = cmd_ptr;
  6972. KEEPALIVE_STATE(IN_HANDLER);
  6973. // Handle a known G, M, or T
  6974. switch (command_code) {
  6975. case 'G': switch (codenum) {
  6976. // G0, G1
  6977. case 0:
  6978. case 1:
  6979. #if IS_SCARA
  6980. gcode_G0_G1(codenum == 0);
  6981. #else
  6982. gcode_G0_G1();
  6983. #endif
  6984. break;
  6985. // G2, G3
  6986. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  6987. case 2: // G2 - CW ARC
  6988. case 3: // G3 - CCW ARC
  6989. gcode_G2_G3(codenum == 2);
  6990. break;
  6991. #endif
  6992. // G4 Dwell
  6993. case 4:
  6994. gcode_G4();
  6995. break;
  6996. #if ENABLED(BEZIER_CURVE_SUPPORT)
  6997. // G5
  6998. case 5: // G5 - Cubic B_spline
  6999. gcode_G5();
  7000. break;
  7001. #endif // BEZIER_CURVE_SUPPORT
  7002. #if ENABLED(FWRETRACT)
  7003. case 10: // G10: retract
  7004. case 11: // G11: retract_recover
  7005. gcode_G10_G11(codenum == 10);
  7006. break;
  7007. #endif // FWRETRACT
  7008. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  7009. case 12:
  7010. gcode_G12(); // G12: Nozzle Clean
  7011. break;
  7012. #endif // NOZZLE_CLEAN_FEATURE
  7013. #if ENABLED(INCH_MODE_SUPPORT)
  7014. case 20: //G20: Inch Mode
  7015. gcode_G20();
  7016. break;
  7017. case 21: //G21: MM Mode
  7018. gcode_G21();
  7019. break;
  7020. #endif // INCH_MODE_SUPPORT
  7021. #if ENABLED(NOZZLE_PARK_FEATURE)
  7022. case 27: // G27: Nozzle Park
  7023. gcode_G27();
  7024. break;
  7025. #endif // NOZZLE_PARK_FEATURE
  7026. case 28: // G28: Home all axes, one at a time
  7027. gcode_G28();
  7028. break;
  7029. #if PLANNER_LEVELING
  7030. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  7031. gcode_G29();
  7032. break;
  7033. #endif // PLANNER_LEVELING
  7034. #if HAS_BED_PROBE
  7035. case 30: // G30 Single Z probe
  7036. gcode_G30();
  7037. break;
  7038. #if ENABLED(Z_PROBE_SLED)
  7039. case 31: // G31: dock the sled
  7040. gcode_G31();
  7041. break;
  7042. case 32: // G32: undock the sled
  7043. gcode_G32();
  7044. break;
  7045. #endif // Z_PROBE_SLED
  7046. #endif // HAS_BED_PROBE
  7047. #if ENABLED(G38_PROBE_TARGET)
  7048. case 38: // G38.2 & G38.3
  7049. if (subcode == 2 || subcode == 3)
  7050. gcode_G38(subcode == 2);
  7051. break;
  7052. #endif
  7053. case 90: // G90
  7054. relative_mode = false;
  7055. break;
  7056. case 91: // G91
  7057. relative_mode = true;
  7058. break;
  7059. case 92: // G92
  7060. gcode_G92();
  7061. break;
  7062. }
  7063. break;
  7064. case 'M': switch (codenum) {
  7065. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  7066. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  7067. case 1: // M1: Conditional stop - Wait for user button press on LCD
  7068. gcode_M0_M1();
  7069. break;
  7070. #endif // ULTIPANEL
  7071. case 17: // M17: Enable all stepper motors
  7072. gcode_M17();
  7073. break;
  7074. #if ENABLED(SDSUPPORT)
  7075. case 20: // M20: list SD card
  7076. gcode_M20(); break;
  7077. case 21: // M21: init SD card
  7078. gcode_M21(); break;
  7079. case 22: // M22: release SD card
  7080. gcode_M22(); break;
  7081. case 23: // M23: Select file
  7082. gcode_M23(); break;
  7083. case 24: // M24: Start SD print
  7084. gcode_M24(); break;
  7085. case 25: // M25: Pause SD print
  7086. gcode_M25(); break;
  7087. case 26: // M26: Set SD index
  7088. gcode_M26(); break;
  7089. case 27: // M27: Get SD status
  7090. gcode_M27(); break;
  7091. case 28: // M28: Start SD write
  7092. gcode_M28(); break;
  7093. case 29: // M29: Stop SD write
  7094. gcode_M29(); break;
  7095. case 30: // M30 <filename> Delete File
  7096. gcode_M30(); break;
  7097. case 32: // M32: Select file and start SD print
  7098. gcode_M32(); break;
  7099. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  7100. case 33: // M33: Get the long full path to a file or folder
  7101. gcode_M33(); break;
  7102. #endif
  7103. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  7104. case 34: //M34 - Set SD card sorting options
  7105. gcode_M34(); break;
  7106. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  7107. case 928: // M928: Start SD write
  7108. gcode_M928(); break;
  7109. #endif //SDSUPPORT
  7110. case 31: // M31: Report time since the start of SD print or last M109
  7111. gcode_M31(); break;
  7112. case 42: // M42: Change pin state
  7113. gcode_M42(); break;
  7114. #if ENABLED(PINS_DEBUGGING)
  7115. case 43: // M43: Read pin state
  7116. gcode_M43(); break;
  7117. #endif
  7118. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  7119. case 48: // M48: Z probe repeatability test
  7120. gcode_M48();
  7121. break;
  7122. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  7123. case 75: // M75: Start print timer
  7124. gcode_M75(); break;
  7125. case 76: // M76: Pause print timer
  7126. gcode_M76(); break;
  7127. case 77: // M77: Stop print timer
  7128. gcode_M77(); break;
  7129. #if ENABLED(PRINTCOUNTER)
  7130. case 78: // M78: Show print statistics
  7131. gcode_M78(); break;
  7132. #endif
  7133. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  7134. case 100: // M100: Free Memory Report
  7135. gcode_M100();
  7136. break;
  7137. #endif
  7138. case 104: // M104: Set hot end temperature
  7139. gcode_M104();
  7140. break;
  7141. case 110: // M110: Set Current Line Number
  7142. gcode_M110();
  7143. break;
  7144. case 111: // M111: Set debug level
  7145. gcode_M111();
  7146. break;
  7147. #if DISABLED(EMERGENCY_PARSER)
  7148. case 108: // M108: Cancel Waiting
  7149. gcode_M108();
  7150. break;
  7151. case 112: // M112: Emergency Stop
  7152. gcode_M112();
  7153. break;
  7154. case 410: // M410 quickstop - Abort all the planned moves.
  7155. gcode_M410();
  7156. break;
  7157. #endif
  7158. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  7159. case 113: // M113: Set Host Keepalive interval
  7160. gcode_M113();
  7161. break;
  7162. #endif
  7163. case 140: // M140: Set bed temperature
  7164. gcode_M140();
  7165. break;
  7166. case 105: // M105: Report current temperature
  7167. gcode_M105();
  7168. KEEPALIVE_STATE(NOT_BUSY);
  7169. return; // "ok" already printed
  7170. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  7171. case 155: // M155: Set temperature auto-report interval
  7172. gcode_M155();
  7173. break;
  7174. #endif
  7175. case 109: // M109: Wait for hotend temperature to reach target
  7176. gcode_M109();
  7177. break;
  7178. #if HAS_TEMP_BED
  7179. case 190: // M190: Wait for bed temperature to reach target
  7180. gcode_M190();
  7181. break;
  7182. #endif // HAS_TEMP_BED
  7183. #if FAN_COUNT > 0
  7184. case 106: // M106: Fan On
  7185. gcode_M106();
  7186. break;
  7187. case 107: // M107: Fan Off
  7188. gcode_M107();
  7189. break;
  7190. #endif // FAN_COUNT > 0
  7191. #if ENABLED(BARICUDA)
  7192. // PWM for HEATER_1_PIN
  7193. #if HAS_HEATER_1
  7194. case 126: // M126: valve open
  7195. gcode_M126();
  7196. break;
  7197. case 127: // M127: valve closed
  7198. gcode_M127();
  7199. break;
  7200. #endif // HAS_HEATER_1
  7201. // PWM for HEATER_2_PIN
  7202. #if HAS_HEATER_2
  7203. case 128: // M128: valve open
  7204. gcode_M128();
  7205. break;
  7206. case 129: // M129: valve closed
  7207. gcode_M129();
  7208. break;
  7209. #endif // HAS_HEATER_2
  7210. #endif // BARICUDA
  7211. #if HAS_POWER_SWITCH
  7212. case 80: // M80: Turn on Power Supply
  7213. gcode_M80();
  7214. break;
  7215. #endif // HAS_POWER_SWITCH
  7216. case 81: // M81: Turn off Power, including Power Supply, if possible
  7217. gcode_M81();
  7218. break;
  7219. case 82: // M83: Set E axis normal mode (same as other axes)
  7220. gcode_M82();
  7221. break;
  7222. case 83: // M83: Set E axis relative mode
  7223. gcode_M83();
  7224. break;
  7225. case 18: // M18 => M84
  7226. case 84: // M84: Disable all steppers or set timeout
  7227. gcode_M18_M84();
  7228. break;
  7229. case 85: // M85: Set inactivity stepper shutdown timeout
  7230. gcode_M85();
  7231. break;
  7232. case 92: // M92: Set the steps-per-unit for one or more axes
  7233. gcode_M92();
  7234. break;
  7235. case 114: // M114: Report current position
  7236. gcode_M114();
  7237. break;
  7238. case 115: // M115: Report capabilities
  7239. gcode_M115();
  7240. break;
  7241. case 117: // M117: Set LCD message text, if possible
  7242. gcode_M117();
  7243. break;
  7244. case 119: // M119: Report endstop states
  7245. gcode_M119();
  7246. break;
  7247. case 120: // M120: Enable endstops
  7248. gcode_M120();
  7249. break;
  7250. case 121: // M121: Disable endstops
  7251. gcode_M121();
  7252. break;
  7253. #if ENABLED(HAVE_TMC2130DRIVER)
  7254. case 122: // M122: Diagnose, used to debug TMC2130
  7255. gcode_M122();
  7256. break;
  7257. #endif
  7258. #if ENABLED(ULTIPANEL)
  7259. case 145: // M145: Set material heatup parameters
  7260. gcode_M145();
  7261. break;
  7262. #endif
  7263. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  7264. case 149: // M149: Set temperature units
  7265. gcode_M149();
  7266. break;
  7267. #endif
  7268. #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  7269. case 150: // M150: Set Status LED Color
  7270. gcode_M150();
  7271. break;
  7272. #endif // BLINKM
  7273. #if ENABLED(MIXING_EXTRUDER)
  7274. case 163: // M163: Set a component weight for mixing extruder
  7275. gcode_M163();
  7276. break;
  7277. #if MIXING_VIRTUAL_TOOLS > 1
  7278. case 164: // M164: Save current mix as a virtual extruder
  7279. gcode_M164();
  7280. break;
  7281. #endif
  7282. #if ENABLED(DIRECT_MIXING_IN_G1)
  7283. case 165: // M165: Set multiple mix weights
  7284. gcode_M165();
  7285. break;
  7286. #endif
  7287. #endif
  7288. case 200: // M200: Set filament diameter, E to cubic units
  7289. gcode_M200();
  7290. break;
  7291. case 201: // M201: Set max acceleration for print moves (units/s^2)
  7292. gcode_M201();
  7293. break;
  7294. #if 0 // Not used for Sprinter/grbl gen6
  7295. case 202: // M202
  7296. gcode_M202();
  7297. break;
  7298. #endif
  7299. case 203: // M203: Set max feedrate (units/sec)
  7300. gcode_M203();
  7301. break;
  7302. case 204: // M204: Set acceleration
  7303. gcode_M204();
  7304. break;
  7305. case 205: //M205: Set advanced settings
  7306. gcode_M205();
  7307. break;
  7308. #if DISABLED(NO_WORKSPACE_OFFSETS)
  7309. case 206: // M206: Set home offsets
  7310. gcode_M206();
  7311. break;
  7312. #endif
  7313. #if ENABLED(DELTA)
  7314. case 665: // M665: Set delta configurations
  7315. gcode_M665();
  7316. break;
  7317. #endif
  7318. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  7319. case 666: // M666: Set delta or dual endstop adjustment
  7320. gcode_M666();
  7321. break;
  7322. #endif
  7323. #if ENABLED(FWRETRACT)
  7324. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  7325. gcode_M207();
  7326. break;
  7327. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  7328. gcode_M208();
  7329. break;
  7330. case 209: // M209: Turn Automatic Retract Detection on/off
  7331. gcode_M209();
  7332. break;
  7333. #endif // FWRETRACT
  7334. case 211: // M211: Enable, Disable, and/or Report software endstops
  7335. gcode_M211();
  7336. break;
  7337. #if HOTENDS > 1
  7338. case 218: // M218: Set a tool offset
  7339. gcode_M218();
  7340. break;
  7341. #endif
  7342. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  7343. gcode_M220();
  7344. break;
  7345. case 221: // M221: Set Flow Percentage
  7346. gcode_M221();
  7347. break;
  7348. case 226: // M226: Wait until a pin reaches a state
  7349. gcode_M226();
  7350. break;
  7351. #if HAS_SERVOS
  7352. case 280: // M280: Set servo position absolute
  7353. gcode_M280();
  7354. break;
  7355. #endif // HAS_SERVOS
  7356. #if HAS_BUZZER
  7357. case 300: // M300: Play beep tone
  7358. gcode_M300();
  7359. break;
  7360. #endif // HAS_BUZZER
  7361. #if ENABLED(PIDTEMP)
  7362. case 301: // M301: Set hotend PID parameters
  7363. gcode_M301();
  7364. break;
  7365. #endif // PIDTEMP
  7366. #if ENABLED(PIDTEMPBED)
  7367. case 304: // M304: Set bed PID parameters
  7368. gcode_M304();
  7369. break;
  7370. #endif // PIDTEMPBED
  7371. #if defined(CHDK) || HAS_PHOTOGRAPH
  7372. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  7373. gcode_M240();
  7374. break;
  7375. #endif // CHDK || PHOTOGRAPH_PIN
  7376. #if HAS_LCD_CONTRAST
  7377. case 250: // M250: Set LCD contrast
  7378. gcode_M250();
  7379. break;
  7380. #endif // HAS_LCD_CONTRAST
  7381. #if ENABLED(EXPERIMENTAL_I2CBUS)
  7382. case 260: // M260: Send data to an i2c slave
  7383. gcode_M260();
  7384. break;
  7385. case 261: // M261: Request data from an i2c slave
  7386. gcode_M261();
  7387. break;
  7388. #endif // EXPERIMENTAL_I2CBUS
  7389. #if ENABLED(PREVENT_COLD_EXTRUSION)
  7390. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  7391. gcode_M302();
  7392. break;
  7393. #endif // PREVENT_COLD_EXTRUSION
  7394. case 303: // M303: PID autotune
  7395. gcode_M303();
  7396. break;
  7397. #if ENABLED(MORGAN_SCARA)
  7398. case 360: // M360: SCARA Theta pos1
  7399. if (gcode_M360()) return;
  7400. break;
  7401. case 361: // M361: SCARA Theta pos2
  7402. if (gcode_M361()) return;
  7403. break;
  7404. case 362: // M362: SCARA Psi pos1
  7405. if (gcode_M362()) return;
  7406. break;
  7407. case 363: // M363: SCARA Psi pos2
  7408. if (gcode_M363()) return;
  7409. break;
  7410. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  7411. if (gcode_M364()) return;
  7412. break;
  7413. #endif // SCARA
  7414. case 400: // M400: Finish all moves
  7415. gcode_M400();
  7416. break;
  7417. #if HAS_BED_PROBE
  7418. case 401: // M401: Deploy probe
  7419. gcode_M401();
  7420. break;
  7421. case 402: // M402: Stow probe
  7422. gcode_M402();
  7423. break;
  7424. #endif // HAS_BED_PROBE
  7425. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  7426. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  7427. gcode_M404();
  7428. break;
  7429. case 405: // M405: Turn on filament sensor for control
  7430. gcode_M405();
  7431. break;
  7432. case 406: // M406: Turn off filament sensor for control
  7433. gcode_M406();
  7434. break;
  7435. case 407: // M407: Display measured filament diameter
  7436. gcode_M407();
  7437. break;
  7438. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  7439. #if PLANNER_LEVELING
  7440. case 420: // M420: Enable/Disable Bed Leveling
  7441. gcode_M420();
  7442. break;
  7443. #endif
  7444. #if ENABLED(MESH_BED_LEVELING)
  7445. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  7446. gcode_M421();
  7447. break;
  7448. #endif
  7449. #if DISABLED(NO_WORKSPACE_OFFSETS)
  7450. case 428: // M428: Apply current_position to home_offset
  7451. gcode_M428();
  7452. break;
  7453. #endif
  7454. case 500: // M500: Store settings in EEPROM
  7455. gcode_M500();
  7456. break;
  7457. case 501: // M501: Read settings from EEPROM
  7458. gcode_M501();
  7459. break;
  7460. case 502: // M502: Revert to default settings
  7461. gcode_M502();
  7462. break;
  7463. case 503: // M503: print settings currently in memory
  7464. gcode_M503();
  7465. break;
  7466. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  7467. case 540: // M540: Set abort on endstop hit for SD printing
  7468. gcode_M540();
  7469. break;
  7470. #endif
  7471. #if HAS_BED_PROBE
  7472. case 851: // M851: Set Z Probe Z Offset
  7473. gcode_M851();
  7474. break;
  7475. #endif // HAS_BED_PROBE
  7476. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7477. case 600: // M600: Pause for filament change
  7478. gcode_M600();
  7479. break;
  7480. #endif // FILAMENT_CHANGE_FEATURE
  7481. #if ENABLED(DUAL_X_CARRIAGE)
  7482. case 605: // M605: Set Dual X Carriage movement mode
  7483. gcode_M605();
  7484. break;
  7485. #endif // DUAL_X_CARRIAGE
  7486. #if ENABLED(LIN_ADVANCE)
  7487. case 905: // M905: Set advance K factor.
  7488. gcode_M905();
  7489. break;
  7490. #endif
  7491. case 907: // M907: Set digital trimpot motor current using axis codes.
  7492. gcode_M907();
  7493. break;
  7494. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  7495. case 908: // M908: Control digital trimpot directly.
  7496. gcode_M908();
  7497. break;
  7498. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  7499. case 909: // M909: Print digipot/DAC current value
  7500. gcode_M909();
  7501. break;
  7502. case 910: // M910: Commit digipot/DAC value to external EEPROM
  7503. gcode_M910();
  7504. break;
  7505. #endif
  7506. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  7507. #if HAS_MICROSTEPS
  7508. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  7509. gcode_M350();
  7510. break;
  7511. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  7512. gcode_M351();
  7513. break;
  7514. #endif // HAS_MICROSTEPS
  7515. case 355: // M355 Turn case lights on/off
  7516. gcode_M355();
  7517. break;
  7518. case 999: // M999: Restart after being Stopped
  7519. gcode_M999();
  7520. break;
  7521. }
  7522. break;
  7523. case 'T':
  7524. gcode_T(codenum);
  7525. break;
  7526. default: code_is_good = false;
  7527. }
  7528. KEEPALIVE_STATE(NOT_BUSY);
  7529. ExitUnknownCommand:
  7530. // Still unknown command? Throw an error
  7531. if (!code_is_good) unknown_command_error();
  7532. ok_to_send();
  7533. }
  7534. /**
  7535. * Send a "Resend: nnn" message to the host to
  7536. * indicate that a command needs to be re-sent.
  7537. */
  7538. void FlushSerialRequestResend() {
  7539. //char command_queue[cmd_queue_index_r][100]="Resend:";
  7540. MYSERIAL.flush();
  7541. SERIAL_PROTOCOLPGM(MSG_RESEND);
  7542. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  7543. ok_to_send();
  7544. }
  7545. /**
  7546. * Send an "ok" message to the host, indicating
  7547. * that a command was successfully processed.
  7548. *
  7549. * If ADVANCED_OK is enabled also include:
  7550. * N<int> Line number of the command, if any
  7551. * P<int> Planner space remaining
  7552. * B<int> Block queue space remaining
  7553. */
  7554. void ok_to_send() {
  7555. refresh_cmd_timeout();
  7556. if (!send_ok[cmd_queue_index_r]) return;
  7557. SERIAL_PROTOCOLPGM(MSG_OK);
  7558. #if ENABLED(ADVANCED_OK)
  7559. char* p = command_queue[cmd_queue_index_r];
  7560. if (*p == 'N') {
  7561. SERIAL_PROTOCOL(' ');
  7562. SERIAL_ECHO(*p++);
  7563. while (NUMERIC_SIGNED(*p))
  7564. SERIAL_ECHO(*p++);
  7565. }
  7566. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  7567. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  7568. #endif
  7569. SERIAL_EOL;
  7570. }
  7571. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  7572. /**
  7573. * Constrain the given coordinates to the software endstops.
  7574. */
  7575. void clamp_to_software_endstops(float target[XYZ]) {
  7576. #if ENABLED(min_software_endstops)
  7577. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  7578. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  7579. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  7580. #endif
  7581. #if ENABLED(max_software_endstops)
  7582. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  7583. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  7584. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  7585. #endif
  7586. }
  7587. #endif
  7588. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  7589. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  7590. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  7591. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  7592. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  7593. #define ABL_BG_GRID(X,Y) bed_level_grid_virt[X][Y]
  7594. #else
  7595. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  7596. #define ABL_BG_POINTS_X ABL_GRID_MAX_POINTS_X
  7597. #define ABL_BG_POINTS_Y ABL_GRID_MAX_POINTS_Y
  7598. #define ABL_BG_GRID(X,Y) bed_level_grid[X][Y]
  7599. #endif
  7600. // Get the Z adjustment for non-linear bed leveling
  7601. float bilinear_z_offset(float cartesian[XYZ]) {
  7602. // XY relative to the probed area
  7603. const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
  7604. y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
  7605. // Convert to grid box units
  7606. float ratio_x = x / ABL_BG_SPACING(X_AXIS),
  7607. ratio_y = y / ABL_BG_SPACING(Y_AXIS);
  7608. // Whole units for the grid line indices. Constrained within bounds.
  7609. const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1),
  7610. gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1),
  7611. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
  7612. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  7613. // Subtract whole to get the ratio within the grid box
  7614. ratio_x -= gridx; ratio_y -= gridy;
  7615. // Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
  7616. NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
  7617. // Z at the box corners
  7618. const float z1 = ABL_BG_GRID(gridx, gridy), // left-front
  7619. z2 = ABL_BG_GRID(gridx, nexty), // left-back
  7620. z3 = ABL_BG_GRID(nextx, gridy), // right-front
  7621. z4 = ABL_BG_GRID(nextx, nexty), // right-back
  7622. // Bilinear interpolate
  7623. L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
  7624. R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
  7625. offset = L + ratio_x * (R - L);
  7626. /*
  7627. static float last_offset = 0;
  7628. if (fabs(last_offset - offset) > 0.2) {
  7629. SERIAL_ECHOPGM("Sudden Shift at ");
  7630. SERIAL_ECHOPAIR("x=", x);
  7631. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  7632. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  7633. SERIAL_ECHOPAIR(" y=", y);
  7634. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  7635. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  7636. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  7637. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  7638. SERIAL_ECHOPAIR(" z1=", z1);
  7639. SERIAL_ECHOPAIR(" z2=", z2);
  7640. SERIAL_ECHOPAIR(" z3=", z3);
  7641. SERIAL_ECHOLNPAIR(" z4=", z4);
  7642. SERIAL_ECHOPAIR(" L=", L);
  7643. SERIAL_ECHOPAIR(" R=", R);
  7644. SERIAL_ECHOLNPAIR(" offset=", offset);
  7645. }
  7646. last_offset = offset;
  7647. //*/
  7648. return offset;
  7649. }
  7650. #endif // AUTO_BED_LEVELING_BILINEAR
  7651. #if ENABLED(DELTA)
  7652. /**
  7653. * Recalculate factors used for delta kinematics whenever
  7654. * settings have been changed (e.g., by M665).
  7655. */
  7656. void recalc_delta_settings(float radius, float diagonal_rod) {
  7657. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  7658. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  7659. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  7660. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  7661. delta_tower3_x = 0.0; // back middle tower
  7662. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  7663. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  7664. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  7665. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  7666. }
  7667. #if ENABLED(DELTA_FAST_SQRT)
  7668. /**
  7669. * Fast inverse sqrt from Quake III Arena
  7670. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  7671. */
  7672. float Q_rsqrt(float number) {
  7673. long i;
  7674. float x2, y;
  7675. const float threehalfs = 1.5f;
  7676. x2 = number * 0.5f;
  7677. y = number;
  7678. i = * ( long * ) &y; // evil floating point bit level hacking
  7679. i = 0x5f3759df - ( i >> 1 ); // what the f***?
  7680. y = * ( float * ) &i;
  7681. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  7682. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  7683. return y;
  7684. }
  7685. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  7686. #else
  7687. #define _SQRT(n) sqrt(n)
  7688. #endif
  7689. /**
  7690. * Delta Inverse Kinematics
  7691. *
  7692. * Calculate the tower positions for a given logical
  7693. * position, storing the result in the delta[] array.
  7694. *
  7695. * This is an expensive calculation, requiring 3 square
  7696. * roots per segmented linear move, and strains the limits
  7697. * of a Mega2560 with a Graphical Display.
  7698. *
  7699. * Suggested optimizations include:
  7700. *
  7701. * - Disable the home_offset (M206) and/or position_shift (G92)
  7702. * features to remove up to 12 float additions.
  7703. *
  7704. * - Use a fast-inverse-sqrt function and add the reciprocal.
  7705. * (see above)
  7706. */
  7707. // Macro to obtain the Z position of an individual tower
  7708. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  7709. delta_diagonal_rod_2_tower_##T - HYPOT2( \
  7710. delta_tower##T##_x - raw[X_AXIS], \
  7711. delta_tower##T##_y - raw[Y_AXIS] \
  7712. ) \
  7713. )
  7714. #define DELTA_RAW_IK() do { \
  7715. delta[A_AXIS] = DELTA_Z(1); \
  7716. delta[B_AXIS] = DELTA_Z(2); \
  7717. delta[C_AXIS] = DELTA_Z(3); \
  7718. } while(0)
  7719. #define DELTA_LOGICAL_IK() do { \
  7720. const float raw[XYZ] = { \
  7721. RAW_X_POSITION(logical[X_AXIS]), \
  7722. RAW_Y_POSITION(logical[Y_AXIS]), \
  7723. RAW_Z_POSITION(logical[Z_AXIS]) \
  7724. }; \
  7725. DELTA_RAW_IK(); \
  7726. } while(0)
  7727. #define DELTA_DEBUG() do { \
  7728. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  7729. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  7730. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  7731. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  7732. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  7733. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  7734. } while(0)
  7735. void inverse_kinematics(const float logical[XYZ]) {
  7736. DELTA_LOGICAL_IK();
  7737. // DELTA_DEBUG();
  7738. }
  7739. /**
  7740. * Calculate the highest Z position where the
  7741. * effector has the full range of XY motion.
  7742. */
  7743. float delta_safe_distance_from_top() {
  7744. float cartesian[XYZ] = {
  7745. LOGICAL_X_POSITION(0),
  7746. LOGICAL_Y_POSITION(0),
  7747. LOGICAL_Z_POSITION(0)
  7748. };
  7749. inverse_kinematics(cartesian);
  7750. float distance = delta[A_AXIS];
  7751. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  7752. inverse_kinematics(cartesian);
  7753. return abs(distance - delta[A_AXIS]);
  7754. }
  7755. /**
  7756. * Delta Forward Kinematics
  7757. *
  7758. * See the Wikipedia article "Trilateration"
  7759. * https://en.wikipedia.org/wiki/Trilateration
  7760. *
  7761. * Establish a new coordinate system in the plane of the
  7762. * three carriage points. This system has its origin at
  7763. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  7764. * plane with a Z component of zero.
  7765. * We will define unit vectors in this coordinate system
  7766. * in our original coordinate system. Then when we calculate
  7767. * the Xnew, Ynew and Znew values, we can translate back into
  7768. * the original system by moving along those unit vectors
  7769. * by the corresponding values.
  7770. *
  7771. * Variable names matched to Marlin, c-version, and avoid the
  7772. * use of any vector library.
  7773. *
  7774. * by Andreas Hardtung 2016-06-07
  7775. * based on a Java function from "Delta Robot Kinematics V3"
  7776. * by Steve Graves
  7777. *
  7778. * The result is stored in the cartes[] array.
  7779. */
  7780. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  7781. // Create a vector in old coordinates along x axis of new coordinate
  7782. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  7783. // Get the Magnitude of vector.
  7784. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  7785. // Create unit vector by dividing by magnitude.
  7786. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  7787. // Get the vector from the origin of the new system to the third point.
  7788. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  7789. // Use the dot product to find the component of this vector on the X axis.
  7790. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  7791. // Create a vector along the x axis that represents the x component of p13.
  7792. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  7793. // Subtract the X component from the original vector leaving only Y. We use the
  7794. // variable that will be the unit vector after we scale it.
  7795. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  7796. // The magnitude of Y component
  7797. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  7798. // Convert to a unit vector
  7799. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  7800. // The cross product of the unit x and y is the unit z
  7801. // float[] ez = vectorCrossProd(ex, ey);
  7802. float ez[3] = {
  7803. ex[1] * ey[2] - ex[2] * ey[1],
  7804. ex[2] * ey[0] - ex[0] * ey[2],
  7805. ex[0] * ey[1] - ex[1] * ey[0]
  7806. };
  7807. // We now have the d, i and j values defined in Wikipedia.
  7808. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  7809. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
  7810. Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  7811. Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
  7812. // Start from the origin of the old coordinates and add vectors in the
  7813. // old coords that represent the Xnew, Ynew and Znew to find the point
  7814. // in the old system.
  7815. cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  7816. cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  7817. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  7818. }
  7819. void forward_kinematics_DELTA(float point[ABC]) {
  7820. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  7821. }
  7822. #endif // DELTA
  7823. /**
  7824. * Get the stepper positions in the cartes[] array.
  7825. * Forward kinematics are applied for DELTA and SCARA.
  7826. *
  7827. * The result is in the current coordinate space with
  7828. * leveling applied. The coordinates need to be run through
  7829. * unapply_leveling to obtain the "ideal" coordinates
  7830. * suitable for current_position, etc.
  7831. */
  7832. void get_cartesian_from_steppers() {
  7833. #if ENABLED(DELTA)
  7834. forward_kinematics_DELTA(
  7835. stepper.get_axis_position_mm(A_AXIS),
  7836. stepper.get_axis_position_mm(B_AXIS),
  7837. stepper.get_axis_position_mm(C_AXIS)
  7838. );
  7839. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  7840. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  7841. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  7842. #elif IS_SCARA
  7843. forward_kinematics_SCARA(
  7844. stepper.get_axis_position_degrees(A_AXIS),
  7845. stepper.get_axis_position_degrees(B_AXIS)
  7846. );
  7847. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  7848. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  7849. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  7850. #else
  7851. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  7852. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  7853. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  7854. #endif
  7855. }
  7856. /**
  7857. * Set the current_position for an axis based on
  7858. * the stepper positions, removing any leveling that
  7859. * may have been applied.
  7860. */
  7861. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  7862. get_cartesian_from_steppers();
  7863. #if PLANNER_LEVELING
  7864. planner.unapply_leveling(cartes);
  7865. #endif
  7866. if (axis == ALL_AXES)
  7867. memcpy(current_position, cartes, sizeof(cartes));
  7868. else
  7869. current_position[axis] = cartes[axis];
  7870. }
  7871. #if ENABLED(MESH_BED_LEVELING)
  7872. /**
  7873. * Prepare a mesh-leveled linear move in a Cartesian setup,
  7874. * splitting the move where it crosses mesh borders.
  7875. */
  7876. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  7877. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  7878. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  7879. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  7880. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  7881. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  7882. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  7883. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  7884. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  7885. if (cx1 == cx2 && cy1 == cy2) {
  7886. // Start and end on same mesh square
  7887. line_to_destination(fr_mm_s);
  7888. set_current_to_destination();
  7889. return;
  7890. }
  7891. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  7892. float normalized_dist, end[XYZE];
  7893. // Split at the left/front border of the right/top square
  7894. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  7895. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  7896. memcpy(end, destination, sizeof(end));
  7897. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
  7898. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  7899. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  7900. CBI(x_splits, gcx);
  7901. }
  7902. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  7903. memcpy(end, destination, sizeof(end));
  7904. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
  7905. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  7906. destination[X_AXIS] = MBL_SEGMENT_END(X);
  7907. CBI(y_splits, gcy);
  7908. }
  7909. else {
  7910. // Already split on a border
  7911. line_to_destination(fr_mm_s);
  7912. set_current_to_destination();
  7913. return;
  7914. }
  7915. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  7916. destination[E_AXIS] = MBL_SEGMENT_END(E);
  7917. // Do the split and look for more borders
  7918. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  7919. // Restore destination from stack
  7920. memcpy(destination, end, sizeof(end));
  7921. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  7922. }
  7923. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  7924. #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS))
  7925. /**
  7926. * Prepare a bilinear-leveled linear move on Cartesian,
  7927. * splitting the move where it crosses grid borders.
  7928. */
  7929. void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  7930. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  7931. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  7932. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  7933. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  7934. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  7935. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  7936. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  7937. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  7938. if (cx1 == cx2 && cy1 == cy2) {
  7939. // Start and end on same mesh square
  7940. line_to_destination(fr_mm_s);
  7941. set_current_to_destination();
  7942. return;
  7943. }
  7944. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  7945. float normalized_dist, end[XYZE];
  7946. // Split at the left/front border of the right/top square
  7947. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  7948. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  7949. memcpy(end, destination, sizeof(end));
  7950. destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
  7951. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  7952. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  7953. CBI(x_splits, gcx);
  7954. }
  7955. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  7956. memcpy(end, destination, sizeof(end));
  7957. destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
  7958. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  7959. destination[X_AXIS] = LINE_SEGMENT_END(X);
  7960. CBI(y_splits, gcy);
  7961. }
  7962. else {
  7963. // Already split on a border
  7964. line_to_destination(fr_mm_s);
  7965. set_current_to_destination();
  7966. return;
  7967. }
  7968. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  7969. destination[E_AXIS] = LINE_SEGMENT_END(E);
  7970. // Do the split and look for more borders
  7971. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  7972. // Restore destination from stack
  7973. memcpy(destination, end, sizeof(end));
  7974. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  7975. }
  7976. #endif // AUTO_BED_LEVELING_BILINEAR
  7977. #if IS_KINEMATIC
  7978. /**
  7979. * Prepare a linear move in a DELTA or SCARA setup.
  7980. *
  7981. * This calls planner.buffer_line several times, adding
  7982. * small incremental moves for DELTA or SCARA.
  7983. */
  7984. inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
  7985. // Get the top feedrate of the move in the XY plane
  7986. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  7987. // If the move is only in Z/E don't split up the move
  7988. if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
  7989. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  7990. return true;
  7991. }
  7992. // Get the cartesian distances moved in XYZE
  7993. float difference[NUM_AXIS];
  7994. LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
  7995. // Get the linear distance in XYZ
  7996. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  7997. // If the move is very short, check the E move distance
  7998. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  7999. // No E move either? Game over.
  8000. if (UNEAR_ZERO(cartesian_mm)) return false;
  8001. // Minimum number of seconds to move the given distance
  8002. float seconds = cartesian_mm / _feedrate_mm_s;
  8003. // The number of segments-per-second times the duration
  8004. // gives the number of segments
  8005. uint16_t segments = delta_segments_per_second * seconds;
  8006. // For SCARA minimum segment size is 0.5mm
  8007. #if IS_SCARA
  8008. NOMORE(segments, cartesian_mm * 2);
  8009. #endif
  8010. // At least one segment is required
  8011. NOLESS(segments, 1);
  8012. // The approximate length of each segment
  8013. float segment_distance[XYZE] = {
  8014. difference[X_AXIS] / segments,
  8015. difference[Y_AXIS] / segments,
  8016. difference[Z_AXIS] / segments,
  8017. difference[E_AXIS] / segments
  8018. };
  8019. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  8020. // SERIAL_ECHOPAIR(" seconds=", seconds);
  8021. // SERIAL_ECHOLNPAIR(" segments=", segments);
  8022. // Drop one segment so the last move is to the exact target.
  8023. // If there's only 1 segment, loops will be skipped entirely.
  8024. --segments;
  8025. // Using "raw" coordinates saves 6 float subtractions
  8026. // per segment, saving valuable CPU cycles
  8027. #if ENABLED(USE_RAW_KINEMATICS)
  8028. // Get the raw current position as starting point
  8029. float raw[XYZE] = {
  8030. RAW_CURRENT_POSITION(X_AXIS),
  8031. RAW_CURRENT_POSITION(Y_AXIS),
  8032. RAW_CURRENT_POSITION(Z_AXIS),
  8033. current_position[E_AXIS]
  8034. };
  8035. #define DELTA_VAR raw
  8036. // Delta can inline its kinematics
  8037. #if ENABLED(DELTA)
  8038. #define DELTA_IK() DELTA_RAW_IK()
  8039. #else
  8040. #define DELTA_IK() inverse_kinematics(raw)
  8041. #endif
  8042. #else
  8043. // Get the logical current position as starting point
  8044. float logical[XYZE];
  8045. memcpy(logical, current_position, sizeof(logical));
  8046. #define DELTA_VAR logical
  8047. // Delta can inline its kinematics
  8048. #if ENABLED(DELTA)
  8049. #define DELTA_IK() DELTA_LOGICAL_IK()
  8050. #else
  8051. #define DELTA_IK() inverse_kinematics(logical)
  8052. #endif
  8053. #endif
  8054. #if ENABLED(USE_DELTA_IK_INTERPOLATION)
  8055. // Only interpolate XYZ. Advance E normally.
  8056. #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
  8057. // Get the starting delta if interpolation is possible
  8058. if (segments >= 2) {
  8059. DELTA_IK();
  8060. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  8061. }
  8062. // Loop using decrement
  8063. for (uint16_t s = segments + 1; --s;) {
  8064. // Are there at least 2 moves left?
  8065. if (s >= 2) {
  8066. // Save the previous delta for interpolation
  8067. float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
  8068. // Get the delta 2 segments ahead (rather than the next)
  8069. DELTA_NEXT(segment_distance[i] + segment_distance[i]);
  8070. // Advance E normally
  8071. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  8072. // Get the exact delta for the move after this
  8073. DELTA_IK();
  8074. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  8075. // Move to the interpolated delta position first
  8076. planner.buffer_line(
  8077. (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
  8078. (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
  8079. (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
  8080. DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
  8081. );
  8082. // Advance E once more for the next move
  8083. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  8084. // Do an extra decrement of the loop
  8085. --s;
  8086. }
  8087. else {
  8088. // Get the last segment delta. (Used when segments is odd)
  8089. DELTA_NEXT(segment_distance[i]);
  8090. DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  8091. DELTA_IK();
  8092. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  8093. }
  8094. // Move to the non-interpolated position
  8095. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
  8096. }
  8097. #else
  8098. #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
  8099. // For non-interpolated delta calculate every segment
  8100. for (uint16_t s = segments + 1; --s;) {
  8101. DELTA_NEXT(segment_distance[i]);
  8102. DELTA_IK();
  8103. ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  8104. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
  8105. }
  8106. #endif
  8107. // Since segment_distance is only approximate,
  8108. // the final move must be to the exact destination.
  8109. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  8110. return true;
  8111. }
  8112. #else // !IS_KINEMATIC
  8113. /**
  8114. * Prepare a linear move in a Cartesian setup.
  8115. * If Mesh Bed Leveling is enabled, perform a mesh move.
  8116. */
  8117. inline bool prepare_move_to_destination_cartesian() {
  8118. // Do not use feedrate_percentage for E or Z only moves
  8119. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  8120. line_to_destination();
  8121. }
  8122. else {
  8123. #if ENABLED(MESH_BED_LEVELING)
  8124. if (mbl.active()) {
  8125. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  8126. return false;
  8127. }
  8128. else
  8129. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8130. if (planner.abl_enabled) {
  8131. bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
  8132. return false;
  8133. }
  8134. else
  8135. #endif
  8136. line_to_destination(MMS_SCALED(feedrate_mm_s));
  8137. }
  8138. return true;
  8139. }
  8140. #endif // !IS_KINEMATIC
  8141. #if ENABLED(DUAL_X_CARRIAGE)
  8142. /**
  8143. * Prepare a linear move in a dual X axis setup
  8144. */
  8145. inline bool prepare_move_to_destination_dualx() {
  8146. if (active_extruder_parked) {
  8147. switch (dual_x_carriage_mode) {
  8148. case DXC_FULL_CONTROL_MODE:
  8149. break;
  8150. case DXC_AUTO_PARK_MODE:
  8151. if (current_position[E_AXIS] == destination[E_AXIS]) {
  8152. // This is a travel move (with no extrusion)
  8153. // Skip it, but keep track of the current position
  8154. // (so it can be used as the start of the next non-travel move)
  8155. if (delayed_move_time != 0xFFFFFFFFUL) {
  8156. set_current_to_destination();
  8157. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  8158. delayed_move_time = millis();
  8159. return false;
  8160. }
  8161. }
  8162. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  8163. for (uint8_t i = 0; i < 3; i++)
  8164. planner.buffer_line(
  8165. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  8166. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  8167. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  8168. current_position[E_AXIS],
  8169. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  8170. active_extruder
  8171. );
  8172. delayed_move_time = 0;
  8173. active_extruder_parked = false;
  8174. break;
  8175. case DXC_DUPLICATION_MODE:
  8176. if (active_extruder == 0) {
  8177. // move duplicate extruder into correct duplication position.
  8178. planner.set_position_mm(
  8179. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  8180. current_position[Y_AXIS],
  8181. current_position[Z_AXIS],
  8182. current_position[E_AXIS]
  8183. );
  8184. planner.buffer_line(
  8185. current_position[X_AXIS] + duplicate_extruder_x_offset,
  8186. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  8187. planner.max_feedrate_mm_s[X_AXIS], 1
  8188. );
  8189. SYNC_PLAN_POSITION_KINEMATIC();
  8190. stepper.synchronize();
  8191. extruder_duplication_enabled = true;
  8192. active_extruder_parked = false;
  8193. }
  8194. break;
  8195. }
  8196. }
  8197. return true;
  8198. }
  8199. #endif // DUAL_X_CARRIAGE
  8200. /**
  8201. * Prepare a single move and get ready for the next one
  8202. *
  8203. * This may result in several calls to planner.buffer_line to
  8204. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  8205. */
  8206. void prepare_move_to_destination() {
  8207. clamp_to_software_endstops(destination);
  8208. refresh_cmd_timeout();
  8209. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8210. if (!DEBUGGING(DRYRUN)) {
  8211. if (destination[E_AXIS] != current_position[E_AXIS]) {
  8212. if (thermalManager.tooColdToExtrude(active_extruder)) {
  8213. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  8214. SERIAL_ECHO_START;
  8215. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  8216. }
  8217. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  8218. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  8219. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  8220. SERIAL_ECHO_START;
  8221. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  8222. }
  8223. #endif
  8224. }
  8225. }
  8226. #endif
  8227. #if IS_KINEMATIC
  8228. if (!prepare_kinematic_move_to(destination)) return;
  8229. #else
  8230. #if ENABLED(DUAL_X_CARRIAGE)
  8231. if (!prepare_move_to_destination_dualx()) return;
  8232. #endif
  8233. if (!prepare_move_to_destination_cartesian()) return;
  8234. #endif
  8235. set_current_to_destination();
  8236. }
  8237. #if ENABLED(ARC_SUPPORT)
  8238. /**
  8239. * Plan an arc in 2 dimensions
  8240. *
  8241. * The arc is approximated by generating many small linear segments.
  8242. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  8243. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  8244. * larger segments will tend to be more efficient. Your slicer should have
  8245. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  8246. */
  8247. void plan_arc(
  8248. float logical[NUM_AXIS], // Destination position
  8249. float* offset, // Center of rotation relative to current_position
  8250. uint8_t clockwise // Clockwise?
  8251. ) {
  8252. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  8253. center_X = current_position[X_AXIS] + offset[X_AXIS],
  8254. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  8255. linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
  8256. extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
  8257. r_X = -offset[X_AXIS], // Radius vector from center to current location
  8258. r_Y = -offset[Y_AXIS],
  8259. rt_X = logical[X_AXIS] - center_X,
  8260. rt_Y = logical[Y_AXIS] - center_Y;
  8261. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  8262. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  8263. if (angular_travel < 0) angular_travel += RADIANS(360);
  8264. if (clockwise) angular_travel -= RADIANS(360);
  8265. // Make a circle if the angular rotation is 0
  8266. if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
  8267. angular_travel += RADIANS(360);
  8268. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  8269. if (mm_of_travel < 0.001) return;
  8270. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  8271. if (segments == 0) segments = 1;
  8272. /**
  8273. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  8274. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  8275. * r_T = [cos(phi) -sin(phi);
  8276. * sin(phi) cos(phi)] * r ;
  8277. *
  8278. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  8279. * defined from the circle center to the initial position. Each line segment is formed by successive
  8280. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  8281. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  8282. * all double numbers are single precision on the Arduino. (True double precision will not have
  8283. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  8284. * tool precision in some cases. Therefore, arc path correction is implemented.
  8285. *
  8286. * Small angle approximation may be used to reduce computation overhead further. This approximation
  8287. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  8288. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  8289. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  8290. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  8291. * issue for CNC machines with the single precision Arduino calculations.
  8292. *
  8293. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  8294. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  8295. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  8296. * This is important when there are successive arc motions.
  8297. */
  8298. // Vector rotation matrix values
  8299. float arc_target[XYZE],
  8300. theta_per_segment = angular_travel / segments,
  8301. linear_per_segment = linear_travel / segments,
  8302. extruder_per_segment = extruder_travel / segments,
  8303. sin_T = theta_per_segment,
  8304. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  8305. // Initialize the linear axis
  8306. arc_target[Z_AXIS] = current_position[Z_AXIS];
  8307. // Initialize the extruder axis
  8308. arc_target[E_AXIS] = current_position[E_AXIS];
  8309. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  8310. millis_t next_idle_ms = millis() + 200UL;
  8311. int8_t count = 0;
  8312. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  8313. thermalManager.manage_heater();
  8314. if (ELAPSED(millis(), next_idle_ms)) {
  8315. next_idle_ms = millis() + 200UL;
  8316. idle();
  8317. }
  8318. if (++count < N_ARC_CORRECTION) {
  8319. // Apply vector rotation matrix to previous r_X / 1
  8320. float r_new_Y = r_X * sin_T + r_Y * cos_T;
  8321. r_X = r_X * cos_T - r_Y * sin_T;
  8322. r_Y = r_new_Y;
  8323. }
  8324. else {
  8325. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  8326. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  8327. // To reduce stuttering, the sin and cos could be computed at different times.
  8328. // For now, compute both at the same time.
  8329. float cos_Ti = cos(i * theta_per_segment),
  8330. sin_Ti = sin(i * theta_per_segment);
  8331. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  8332. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  8333. count = 0;
  8334. }
  8335. // Update arc_target location
  8336. arc_target[X_AXIS] = center_X + r_X;
  8337. arc_target[Y_AXIS] = center_Y + r_Y;
  8338. arc_target[Z_AXIS] += linear_per_segment;
  8339. arc_target[E_AXIS] += extruder_per_segment;
  8340. clamp_to_software_endstops(arc_target);
  8341. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  8342. }
  8343. // Ensure last segment arrives at target location.
  8344. planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  8345. // As far as the parser is concerned, the position is now == target. In reality the
  8346. // motion control system might still be processing the action and the real tool position
  8347. // in any intermediate location.
  8348. set_current_to_destination();
  8349. }
  8350. #endif
  8351. #if ENABLED(BEZIER_CURVE_SUPPORT)
  8352. void plan_cubic_move(const float offset[4]) {
  8353. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  8354. // As far as the parser is concerned, the position is now == destination. In reality the
  8355. // motion control system might still be processing the action and the real tool position
  8356. // in any intermediate location.
  8357. set_current_to_destination();
  8358. }
  8359. #endif // BEZIER_CURVE_SUPPORT
  8360. #if HAS_CONTROLLERFAN
  8361. void controllerFan() {
  8362. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  8363. static millis_t nextMotorCheck = 0; // Last time the state was checked
  8364. millis_t ms = millis();
  8365. if (ELAPSED(ms, nextMotorCheck)) {
  8366. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  8367. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  8368. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  8369. #if E_STEPPERS > 1
  8370. || E1_ENABLE_READ == E_ENABLE_ON
  8371. #if HAS_X2_ENABLE
  8372. || X2_ENABLE_READ == X_ENABLE_ON
  8373. #endif
  8374. #if E_STEPPERS > 2
  8375. || E2_ENABLE_READ == E_ENABLE_ON
  8376. #if E_STEPPERS > 3
  8377. || E3_ENABLE_READ == E_ENABLE_ON
  8378. #endif
  8379. #endif
  8380. #endif
  8381. ) {
  8382. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  8383. }
  8384. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  8385. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  8386. // allows digital or PWM fan output to be used (see M42 handling)
  8387. digitalWrite(CONTROLLERFAN_PIN, speed);
  8388. analogWrite(CONTROLLERFAN_PIN, speed);
  8389. }
  8390. }
  8391. #endif // HAS_CONTROLLERFAN
  8392. #if ENABLED(MORGAN_SCARA)
  8393. /**
  8394. * Morgan SCARA Forward Kinematics. Results in cartes[].
  8395. * Maths and first version by QHARLEY.
  8396. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  8397. */
  8398. void forward_kinematics_SCARA(const float &a, const float &b) {
  8399. float a_sin = sin(RADIANS(a)) * L1,
  8400. a_cos = cos(RADIANS(a)) * L1,
  8401. b_sin = sin(RADIANS(b)) * L2,
  8402. b_cos = cos(RADIANS(b)) * L2;
  8403. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  8404. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  8405. /*
  8406. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  8407. SERIAL_ECHOPAIR(" b=", b);
  8408. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  8409. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  8410. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  8411. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  8412. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  8413. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  8414. //*/
  8415. }
  8416. /**
  8417. * Morgan SCARA Inverse Kinematics. Results in delta[].
  8418. *
  8419. * See http://forums.reprap.org/read.php?185,283327
  8420. *
  8421. * Maths and first version by QHARLEY.
  8422. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  8423. */
  8424. void inverse_kinematics(const float logical[XYZ]) {
  8425. static float C2, S2, SK1, SK2, THETA, PSI;
  8426. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  8427. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  8428. if (L1 == L2)
  8429. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  8430. else
  8431. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  8432. S2 = sqrt(sq(C2) - 1);
  8433. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  8434. SK1 = L1 + L2 * C2;
  8435. // Rotated Arm2 gives the distance from Arm1 to Arm2
  8436. SK2 = L2 * S2;
  8437. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  8438. THETA = atan2(SK1, SK2) - atan2(sx, sy);
  8439. // Angle of Arm2
  8440. PSI = atan2(S2, C2);
  8441. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  8442. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  8443. delta[C_AXIS] = logical[Z_AXIS];
  8444. /*
  8445. DEBUG_POS("SCARA IK", logical);
  8446. DEBUG_POS("SCARA IK", delta);
  8447. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  8448. SERIAL_ECHOPAIR(",", sy);
  8449. SERIAL_ECHOPAIR(" C2=", C2);
  8450. SERIAL_ECHOPAIR(" S2=", S2);
  8451. SERIAL_ECHOPAIR(" Theta=", THETA);
  8452. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  8453. //*/
  8454. }
  8455. #endif // MORGAN_SCARA
  8456. #if ENABLED(TEMP_STAT_LEDS)
  8457. static bool red_led = false;
  8458. static millis_t next_status_led_update_ms = 0;
  8459. void handle_status_leds(void) {
  8460. if (ELAPSED(millis(), next_status_led_update_ms)) {
  8461. next_status_led_update_ms += 500; // Update every 0.5s
  8462. float max_temp = 0.0;
  8463. #if HAS_TEMP_BED
  8464. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  8465. #endif
  8466. HOTEND_LOOP() {
  8467. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  8468. }
  8469. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  8470. if (new_led != red_led) {
  8471. red_led = new_led;
  8472. #if PIN_EXISTS(STAT_LED_RED)
  8473. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  8474. #if PIN_EXISTS(STAT_LED_BLUE)
  8475. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  8476. #endif
  8477. #else
  8478. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  8479. #endif
  8480. }
  8481. }
  8482. }
  8483. #endif
  8484. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  8485. void handle_filament_runout() {
  8486. if (!filament_ran_out) {
  8487. filament_ran_out = true;
  8488. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  8489. stepper.synchronize();
  8490. }
  8491. }
  8492. #endif // FILAMENT_RUNOUT_SENSOR
  8493. #if ENABLED(FAST_PWM_FAN)
  8494. void setPwmFrequency(uint8_t pin, int val) {
  8495. val &= 0x07;
  8496. switch (digitalPinToTimer(pin)) {
  8497. #if defined(TCCR0A)
  8498. case TIMER0A:
  8499. case TIMER0B:
  8500. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  8501. // TCCR0B |= val;
  8502. break;
  8503. #endif
  8504. #if defined(TCCR1A)
  8505. case TIMER1A:
  8506. case TIMER1B:
  8507. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8508. // TCCR1B |= val;
  8509. break;
  8510. #endif
  8511. #if defined(TCCR2)
  8512. case TIMER2:
  8513. case TIMER2:
  8514. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  8515. TCCR2 |= val;
  8516. break;
  8517. #endif
  8518. #if defined(TCCR2A)
  8519. case TIMER2A:
  8520. case TIMER2B:
  8521. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  8522. TCCR2B |= val;
  8523. break;
  8524. #endif
  8525. #if defined(TCCR3A)
  8526. case TIMER3A:
  8527. case TIMER3B:
  8528. case TIMER3C:
  8529. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  8530. TCCR3B |= val;
  8531. break;
  8532. #endif
  8533. #if defined(TCCR4A)
  8534. case TIMER4A:
  8535. case TIMER4B:
  8536. case TIMER4C:
  8537. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  8538. TCCR4B |= val;
  8539. break;
  8540. #endif
  8541. #if defined(TCCR5A)
  8542. case TIMER5A:
  8543. case TIMER5B:
  8544. case TIMER5C:
  8545. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  8546. TCCR5B |= val;
  8547. break;
  8548. #endif
  8549. }
  8550. }
  8551. #endif // FAST_PWM_FAN
  8552. float calculate_volumetric_multiplier(float diameter) {
  8553. if (!volumetric_enabled || diameter == 0) return 1.0;
  8554. return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
  8555. }
  8556. void calculate_volumetric_multipliers() {
  8557. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  8558. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  8559. }
  8560. void enable_all_steppers() {
  8561. enable_x();
  8562. enable_y();
  8563. enable_z();
  8564. enable_e0();
  8565. enable_e1();
  8566. enable_e2();
  8567. enable_e3();
  8568. }
  8569. void disable_all_steppers() {
  8570. disable_x();
  8571. disable_y();
  8572. disable_z();
  8573. disable_e0();
  8574. disable_e1();
  8575. disable_e2();
  8576. disable_e3();
  8577. }
  8578. /**
  8579. * Manage several activities:
  8580. * - Check for Filament Runout
  8581. * - Keep the command buffer full
  8582. * - Check for maximum inactive time between commands
  8583. * - Check for maximum inactive time between stepper commands
  8584. * - Check if pin CHDK needs to go LOW
  8585. * - Check for KILL button held down
  8586. * - Check for HOME button held down
  8587. * - Check if cooling fan needs to be switched on
  8588. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  8589. */
  8590. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  8591. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  8592. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  8593. handle_filament_runout();
  8594. #endif
  8595. if (commands_in_queue < BUFSIZE) get_available_commands();
  8596. millis_t ms = millis();
  8597. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  8598. // Prevent steppers timing-out in the middle of M600
  8599. #if ENABLED(FILAMENT_CHANGE_FEATURE) && ENABLED(FILAMENT_CHANGE_NO_STEPPER_TIMEOUT)
  8600. #define M600_TEST !busy_doing_M600
  8601. #else
  8602. #define M600_TEST true
  8603. #endif
  8604. if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  8605. && !ignore_stepper_queue && !planner.blocks_queued()) {
  8606. #if ENABLED(DISABLE_INACTIVE_X)
  8607. disable_x();
  8608. #endif
  8609. #if ENABLED(DISABLE_INACTIVE_Y)
  8610. disable_y();
  8611. #endif
  8612. #if ENABLED(DISABLE_INACTIVE_Z)
  8613. disable_z();
  8614. #endif
  8615. #if ENABLED(DISABLE_INACTIVE_E)
  8616. disable_e0();
  8617. disable_e1();
  8618. disable_e2();
  8619. disable_e3();
  8620. #endif
  8621. }
  8622. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  8623. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  8624. chdkActive = false;
  8625. WRITE(CHDK, LOW);
  8626. }
  8627. #endif
  8628. #if HAS_KILL
  8629. // Check if the kill button was pressed and wait just in case it was an accidental
  8630. // key kill key press
  8631. // -------------------------------------------------------------------------------
  8632. static int killCount = 0; // make the inactivity button a bit less responsive
  8633. const int KILL_DELAY = 750;
  8634. if (!READ(KILL_PIN))
  8635. killCount++;
  8636. else if (killCount > 0)
  8637. killCount--;
  8638. // Exceeded threshold and we can confirm that it was not accidental
  8639. // KILL the machine
  8640. // ----------------------------------------------------------------
  8641. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  8642. #endif
  8643. #if HAS_HOME
  8644. // Check to see if we have to home, use poor man's debouncer
  8645. // ---------------------------------------------------------
  8646. static int homeDebounceCount = 0; // poor man's debouncing count
  8647. const int HOME_DEBOUNCE_DELAY = 2500;
  8648. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  8649. if (!homeDebounceCount) {
  8650. enqueue_and_echo_commands_P(PSTR("G28"));
  8651. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  8652. }
  8653. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  8654. homeDebounceCount++;
  8655. else
  8656. homeDebounceCount = 0;
  8657. }
  8658. #endif
  8659. #if HAS_CONTROLLERFAN
  8660. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  8661. #endif
  8662. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  8663. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  8664. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  8665. bool oldstatus;
  8666. #if ENABLED(SWITCHING_EXTRUDER)
  8667. oldstatus = E0_ENABLE_READ;
  8668. enable_e0();
  8669. #else // !SWITCHING_EXTRUDER
  8670. switch (active_extruder) {
  8671. case 0:
  8672. oldstatus = E0_ENABLE_READ;
  8673. enable_e0();
  8674. break;
  8675. #if E_STEPPERS > 1
  8676. case 1:
  8677. oldstatus = E1_ENABLE_READ;
  8678. enable_e1();
  8679. break;
  8680. #if E_STEPPERS > 2
  8681. case 2:
  8682. oldstatus = E2_ENABLE_READ;
  8683. enable_e2();
  8684. break;
  8685. #if E_STEPPERS > 3
  8686. case 3:
  8687. oldstatus = E3_ENABLE_READ;
  8688. enable_e3();
  8689. break;
  8690. #endif
  8691. #endif
  8692. #endif
  8693. }
  8694. #endif // !SWITCHING_EXTRUDER
  8695. previous_cmd_ms = ms; // refresh_cmd_timeout()
  8696. #if IS_KINEMATIC
  8697. inverse_kinematics(current_position);
  8698. ADJUST_DELTA(current_position);
  8699. planner.buffer_line(
  8700. delta[A_AXIS], delta[B_AXIS], delta[C_AXIS],
  8701. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  8702. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  8703. );
  8704. #else
  8705. planner.buffer_line(
  8706. current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  8707. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  8708. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  8709. );
  8710. #endif
  8711. stepper.synchronize();
  8712. planner.set_e_position_mm(current_position[E_AXIS]);
  8713. #if ENABLED(SWITCHING_EXTRUDER)
  8714. E0_ENABLE_WRITE(oldstatus);
  8715. #else
  8716. switch (active_extruder) {
  8717. case 0:
  8718. E0_ENABLE_WRITE(oldstatus);
  8719. break;
  8720. #if E_STEPPERS > 1
  8721. case 1:
  8722. E1_ENABLE_WRITE(oldstatus);
  8723. break;
  8724. #if E_STEPPERS > 2
  8725. case 2:
  8726. E2_ENABLE_WRITE(oldstatus);
  8727. break;
  8728. #if E_STEPPERS > 3
  8729. case 3:
  8730. E3_ENABLE_WRITE(oldstatus);
  8731. break;
  8732. #endif
  8733. #endif
  8734. #endif
  8735. }
  8736. #endif // !SWITCHING_EXTRUDER
  8737. }
  8738. #endif // EXTRUDER_RUNOUT_PREVENT
  8739. #if ENABLED(DUAL_X_CARRIAGE)
  8740. // handle delayed move timeout
  8741. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  8742. // travel moves have been received so enact them
  8743. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  8744. set_destination_to_current();
  8745. prepare_move_to_destination();
  8746. }
  8747. #endif
  8748. #if ENABLED(TEMP_STAT_LEDS)
  8749. handle_status_leds();
  8750. #endif
  8751. planner.check_axes_activity();
  8752. }
  8753. /**
  8754. * Standard idle routine keeps the machine alive
  8755. */
  8756. void idle(
  8757. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8758. bool no_stepper_sleep/*=false*/
  8759. #endif
  8760. ) {
  8761. lcd_update();
  8762. host_keepalive();
  8763. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  8764. auto_report_temperatures();
  8765. #endif
  8766. manage_inactivity(
  8767. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  8768. no_stepper_sleep
  8769. #endif
  8770. );
  8771. thermalManager.manage_heater();
  8772. #if ENABLED(PRINTCOUNTER)
  8773. print_job_timer.tick();
  8774. #endif
  8775. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  8776. buzzer.tick();
  8777. #endif
  8778. }
  8779. /**
  8780. * Kill all activity and lock the machine.
  8781. * After this the machine will need to be reset.
  8782. */
  8783. void kill(const char* lcd_msg) {
  8784. SERIAL_ERROR_START;
  8785. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  8786. #if ENABLED(ULTRA_LCD)
  8787. kill_screen(lcd_msg);
  8788. #else
  8789. UNUSED(lcd_msg);
  8790. #endif
  8791. delay(500); // Wait a short time
  8792. cli(); // Stop interrupts
  8793. thermalManager.disable_all_heaters();
  8794. disable_all_steppers();
  8795. #if HAS_POWER_SWITCH
  8796. SET_INPUT(PS_ON_PIN);
  8797. #endif
  8798. suicide();
  8799. while (1) {
  8800. #if ENABLED(USE_WATCHDOG)
  8801. watchdog_reset();
  8802. #endif
  8803. } // Wait for reset
  8804. }
  8805. /**
  8806. * Turn off heaters and stop the print in progress
  8807. * After a stop the machine may be resumed with M999
  8808. */
  8809. void stop() {
  8810. thermalManager.disable_all_heaters();
  8811. if (IsRunning()) {
  8812. Running = false;
  8813. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  8814. SERIAL_ERROR_START;
  8815. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  8816. LCD_MESSAGEPGM(MSG_STOPPED);
  8817. }
  8818. }
  8819. /**
  8820. * Marlin entry-point: Set up before the program loop
  8821. * - Set up the kill pin, filament runout, power hold
  8822. * - Start the serial port
  8823. * - Print startup messages and diagnostics
  8824. * - Get EEPROM or default settings
  8825. * - Initialize managers for:
  8826. * • temperature
  8827. * • planner
  8828. * • watchdog
  8829. * • stepper
  8830. * • photo pin
  8831. * • servos
  8832. * • LCD controller
  8833. * • Digipot I2C
  8834. * • Z probe sled
  8835. * • status LEDs
  8836. */
  8837. void setup() {
  8838. #ifdef DISABLE_JTAG
  8839. // Disable JTAG on AT90USB chips to free up pins for IO
  8840. MCUCR = 0x80;
  8841. MCUCR = 0x80;
  8842. #endif
  8843. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  8844. setup_filrunoutpin();
  8845. #endif
  8846. setup_killpin();
  8847. setup_powerhold();
  8848. #if HAS_STEPPER_RESET
  8849. disableStepperDrivers();
  8850. #endif
  8851. MYSERIAL.begin(BAUDRATE);
  8852. SERIAL_PROTOCOLLNPGM("start");
  8853. SERIAL_ECHO_START;
  8854. // Check startup - does nothing if bootloader sets MCUSR to 0
  8855. byte mcu = MCUSR;
  8856. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  8857. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  8858. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  8859. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  8860. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  8861. MCUSR = 0;
  8862. SERIAL_ECHOPGM(MSG_MARLIN);
  8863. SERIAL_CHAR(' ');
  8864. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  8865. SERIAL_EOL;
  8866. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  8867. SERIAL_ECHO_START;
  8868. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  8869. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  8870. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  8871. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  8872. #endif
  8873. SERIAL_ECHO_START;
  8874. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  8875. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  8876. // Send "ok" after commands by default
  8877. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  8878. // Load data from EEPROM if available (or use defaults)
  8879. // This also updates variables in the planner, elsewhere
  8880. Config_RetrieveSettings();
  8881. #if DISABLED(NO_WORKSPACE_OFFSETS)
  8882. // Initialize current position based on home_offset
  8883. memcpy(current_position, home_offset, sizeof(home_offset));
  8884. #else
  8885. ZERO(current_position);
  8886. #endif
  8887. // Vital to init stepper/planner equivalent for current_position
  8888. SYNC_PLAN_POSITION_KINEMATIC();
  8889. thermalManager.init(); // Initialize temperature loop
  8890. #if ENABLED(USE_WATCHDOG)
  8891. watchdog_init();
  8892. #endif
  8893. stepper.init(); // Initialize stepper, this enables interrupts!
  8894. servo_init();
  8895. #if HAS_PHOTOGRAPH
  8896. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  8897. #endif
  8898. #if HAS_CASE_LIGHT
  8899. update_case_light();
  8900. #endif
  8901. #if HAS_BED_PROBE
  8902. endstops.enable_z_probe(false);
  8903. #endif
  8904. #if HAS_CONTROLLERFAN
  8905. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  8906. #endif
  8907. #if HAS_STEPPER_RESET
  8908. enableStepperDrivers();
  8909. #endif
  8910. #if ENABLED(DIGIPOT_I2C)
  8911. digipot_i2c_init();
  8912. #endif
  8913. #if ENABLED(DAC_STEPPER_CURRENT)
  8914. dac_init();
  8915. #endif
  8916. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  8917. OUT_WRITE(SLED_PIN, LOW); // turn it off
  8918. #endif // Z_PROBE_SLED
  8919. setup_homepin();
  8920. #if PIN_EXISTS(STAT_LED_RED)
  8921. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  8922. #endif
  8923. #if PIN_EXISTS(STAT_LED_BLUE)
  8924. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  8925. #endif
  8926. #if ENABLED(RGB_LED)
  8927. pinMode(RGB_LED_R_PIN, OUTPUT);
  8928. pinMode(RGB_LED_G_PIN, OUTPUT);
  8929. pinMode(RGB_LED_B_PIN, OUTPUT);
  8930. #endif
  8931. lcd_init();
  8932. #if ENABLED(SHOW_BOOTSCREEN)
  8933. #if ENABLED(DOGLCD)
  8934. safe_delay(BOOTSCREEN_TIMEOUT);
  8935. #elif ENABLED(ULTRA_LCD)
  8936. bootscreen();
  8937. #if DISABLED(SDSUPPORT)
  8938. lcd_init();
  8939. #endif
  8940. #endif
  8941. #endif
  8942. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  8943. // Initialize mixing to 100% color 1
  8944. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  8945. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  8946. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  8947. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  8948. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  8949. #endif
  8950. #if ENABLED(BLTOUCH)
  8951. bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
  8952. set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
  8953. set_bltouch_deployed(false); // error condition.
  8954. #endif
  8955. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  8956. i2c.onReceive(i2c_on_receive);
  8957. i2c.onRequest(i2c_on_request);
  8958. #endif
  8959. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  8960. setup_endstop_interrupts();
  8961. #endif
  8962. }
  8963. /**
  8964. * The main Marlin program loop
  8965. *
  8966. * - Save or log commands to SD
  8967. * - Process available commands (if not saving)
  8968. * - Call heater manager
  8969. * - Call inactivity manager
  8970. * - Call endstop manager
  8971. * - Call LCD update
  8972. */
  8973. void loop() {
  8974. if (commands_in_queue < BUFSIZE) get_available_commands();
  8975. #if ENABLED(SDSUPPORT)
  8976. card.checkautostart(false);
  8977. #endif
  8978. if (commands_in_queue) {
  8979. #if ENABLED(SDSUPPORT)
  8980. if (card.saving) {
  8981. char* command = command_queue[cmd_queue_index_r];
  8982. if (strstr_P(command, PSTR("M29"))) {
  8983. // M29 closes the file
  8984. card.closefile();
  8985. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  8986. ok_to_send();
  8987. }
  8988. else {
  8989. // Write the string from the read buffer to SD
  8990. card.write_command(command);
  8991. if (card.logging)
  8992. process_next_command(); // The card is saving because it's logging
  8993. else
  8994. ok_to_send();
  8995. }
  8996. }
  8997. else
  8998. process_next_command();
  8999. #else
  9000. process_next_command();
  9001. #endif // SDSUPPORT
  9002. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  9003. if (commands_in_queue) {
  9004. --commands_in_queue;
  9005. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  9006. }
  9007. }
  9008. endstops.report_state();
  9009. idle();
  9010. }