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

Marlin_main.cpp 278KB

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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. *
  24. * About Marlin
  25. *
  26. * This firmware is a mashup between Sprinter and grbl.
  27. * - https://github.com/kliment/Sprinter
  28. * - https://github.com/simen/grbl/tree
  29. *
  30. * It has preliminary support for Matthew Roberts advance algorithm
  31. * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  32. */
  33. #include "Marlin.h"
  34. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  35. #include "vector_3.h"
  36. #if ENABLED(AUTO_BED_LEVELING_GRID)
  37. #include "qr_solve.h"
  38. #endif
  39. #endif // AUTO_BED_LEVELING_FEATURE
  40. #if ENABLED(MESH_BED_LEVELING)
  41. #include "mesh_bed_leveling.h"
  42. #endif
  43. #if ENABLED(BEZIER_CURVE_SUPPORT)
  44. #include "planner_bezier.h"
  45. #endif
  46. #include "ultralcd.h"
  47. #include "planner.h"
  48. #include "stepper.h"
  49. #include "endstops.h"
  50. #include "temperature.h"
  51. #include "cardreader.h"
  52. #include "configuration_store.h"
  53. #include "language.h"
  54. #include "pins_arduino.h"
  55. #include "math.h"
  56. #include "nozzle.h"
  57. #include "timestamp_t.h"
  58. #if ENABLED(USE_WATCHDOG)
  59. #include "watchdog.h"
  60. #endif
  61. #if ENABLED(BLINKM)
  62. #include "blinkm.h"
  63. #include "Wire.h"
  64. #endif
  65. #if HAS_SERVOS
  66. #include "servo.h"
  67. #endif
  68. #if HAS_DIGIPOTSS
  69. #include <SPI.h>
  70. #endif
  71. #if ENABLED(DAC_STEPPER_CURRENT)
  72. #include "stepper_dac.h"
  73. #endif
  74. #if ENABLED(EXPERIMENTAL_I2CBUS)
  75. #include "twibus.h"
  76. #endif
  77. /**
  78. * Look here for descriptions of G-codes:
  79. * - http://linuxcnc.org/handbook/gcode/g-code.html
  80. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  81. *
  82. * Help us document these G-codes online:
  83. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  84. * - http://reprap.org/wiki/G-code
  85. *
  86. * -----------------
  87. * Implemented Codes
  88. * -----------------
  89. *
  90. * "G" Codes
  91. *
  92. * G0 -> G1
  93. * G1 - Coordinated Movement X Y Z E
  94. * G2 - CW ARC
  95. * G3 - CCW ARC
  96. * G4 - Dwell S<seconds> or P<milliseconds>
  97. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  98. * G10 - Retract filament according to settings of M207
  99. * G11 - Retract recover filament according to settings of M208
  100. * G12 - Clean tool
  101. * G20 - Set input units to inches
  102. * G21 - Set input units to millimeters
  103. * G28 - Home one or more axes
  104. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  105. * G30 - Single Z probe, probes bed at current XY location.
  106. * G31 - Dock sled (Z_PROBE_SLED only)
  107. * G32 - Undock sled (Z_PROBE_SLED only)
  108. * G90 - Use Absolute Coordinates
  109. * G91 - Use Relative Coordinates
  110. * G92 - Set current position to coordinates given
  111. *
  112. * "M" Codes
  113. *
  114. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  115. * M1 - Same as M0
  116. * M17 - Enable/Power all stepper motors
  117. * M18 - Disable all stepper motors; same as M84
  118. * M20 - List SD card
  119. * M21 - Init SD card
  120. * M22 - Release SD card
  121. * M23 - Select SD file (M23 filename.g)
  122. * M24 - Start/resume SD print
  123. * M25 - Pause SD print
  124. * M26 - Set SD position in bytes (M26 S12345)
  125. * M27 - Report SD print status
  126. * M28 - Start SD write (M28 filename.g)
  127. * M29 - Stop SD write
  128. * M30 - Delete file from SD (M30 filename.g)
  129. * M31 - Output time since last M109 or SD card start to serial
  130. * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  131. * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  132. * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  133. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  134. * M33 - Get the longname version of a path
  135. * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  136. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  137. * M75 - Start the print job timer
  138. * M76 - Pause the print job timer
  139. * M77 - Stop the print job timer
  140. * M78 - Show statistical information about the print jobs
  141. * M80 - Turn on Power Supply
  142. * M81 - Turn off Power Supply
  143. * M82 - Set E codes absolute (default)
  144. * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  145. * M84 - Disable steppers until next move,
  146. * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  147. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  148. * M92 - Set planner.axis_steps_per_mm - same syntax as G92
  149. * M104 - Set extruder target temp
  150. * M105 - Read current temp
  151. * M106 - Fan on
  152. * M107 - Fan off
  153. * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  154. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  155. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  156. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  157. * M110 - Set the current line number
  158. * M111 - Set debug flags with S<mask>. See flag bits defined in enum.h.
  159. * M112 - Emergency stop
  160. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  161. * M114 - Output current position to serial port
  162. * M115 - Capabilities string
  163. * M117 - Display a message on the controller screen
  164. * M119 - Output Endstop status to serial port
  165. * M120 - Enable endstop detection
  166. * M121 - Disable endstop detection
  167. * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  168. * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  169. * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  170. * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  171. * M140 - Set bed target temp
  172. * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  173. * M149 - Set temperature units
  174. * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  175. * M163 - Set a single proportion for a mixing extruder. Requires MIXING_EXTRUDER.
  176. * M164 - Save the mix as a virtual extruder. Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
  177. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires MIXING_EXTRUDER.
  178. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  179. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  180. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  181. * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  182. * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  183. * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  184. * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in units/sec^2
  185. * M205 - Set advanced settings. Current units apply:
  186. S<print> T<travel> minimum speeds
  187. B<minimum segment time>
  188. X<max xy jerk>, Z<max Z jerk>, E<max E jerk>
  189. * M206 - Set additional homing offset
  190. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  191. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  192. * M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
  193. Every normal extrude-only move will be classified as retract depending on the direction.
  194. * M218 - Set a tool offset: T<index> X<offset> Y<offset>
  195. * M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  196. * M221 - Set Flow Percentage: S<percent>
  197. * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
  198. * M240 - Trigger a camera to take a photograph
  199. * M250 - Set LCD contrast C<contrast value> (value 0..63)
  200. * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  201. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  202. * M301 - Set PID parameters P I and D
  203. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  204. * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  205. * M304 - Set bed PID parameters P I and D
  206. * M380 - Activate solenoid on active extruder
  207. * M381 - Disable all solenoids
  208. * M400 - Finish all moves
  209. * M401 - Lower Z probe if present
  210. * M402 - Raise Z probe if present
  211. * M404 - Display or set the Nominal Filament Width: [ N<diameter> ]
  212. * M405 - Enable Filament Sensor extrusion control. Optional delay between sensor and extruder: D<cm>
  213. * M406 - Disable Filament Sensor extrusion control
  214. * M407 - Display measured filament diameter in millimeters
  215. * M410 - Quickstop. Abort all the planned moves
  216. * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
  217. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units>
  218. * M428 - Set the home_offset logically based on the current_position
  219. * M500 - Store parameters in EEPROM
  220. * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  221. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  222. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  223. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  224. * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  225. * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
  226. * M666 - Set delta endstop adjustment
  227. * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  228. * M851 - Set Z probe's Z offset in current units. (Negative values apply to probes that extend below the nozzle.)
  229. * M907 - Set digital trimpot motor current using axis codes.
  230. * M908 - Control digital trimpot directly.
  231. * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
  232. * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
  233. * M350 - Set microstepping mode.
  234. * M351 - Toggle MS1 MS2 pins directly.
  235. *
  236. * ************ SCARA Specific - This can change to suit future G-code regulations
  237. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  238. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  239. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  240. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  241. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  242. * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  243. * ************* SCARA End ***************
  244. *
  245. * ************ Custom codes - This can change to suit future G-code regulations
  246. * M100 - Watch Free Memory (For Debugging Only)
  247. * M928 - Start SD logging (M928 filename.g) - ended by M29
  248. * M999 - Restart after being stopped by error
  249. *
  250. * "T" Codes
  251. *
  252. * T0-T3 - Select a tool by index (usually an extruder) [ F<units/min> ]
  253. *
  254. */
  255. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  256. void gcode_M100();
  257. #endif
  258. #if ENABLED(SDSUPPORT)
  259. CardReader card;
  260. #endif
  261. #if ENABLED(EXPERIMENTAL_I2CBUS)
  262. TWIBus i2c;
  263. #endif
  264. bool Running = true;
  265. uint8_t marlin_debug_flags = DEBUG_NONE;
  266. float current_position[NUM_AXIS] = { 0.0 };
  267. static float destination[NUM_AXIS] = { 0.0 };
  268. bool axis_known_position[3] = { false };
  269. bool axis_homed[3] = { false };
  270. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  271. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  272. static char* current_command, *current_command_args;
  273. static uint8_t cmd_queue_index_r = 0,
  274. cmd_queue_index_w = 0,
  275. commands_in_queue = 0;
  276. #if ENABLED(INCH_MODE_SUPPORT)
  277. float linear_unit_factor = 1.0;
  278. float volumetric_unit_factor = 1.0;
  279. #endif
  280. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  281. TempUnit input_temp_units = TEMPUNIT_C;
  282. #endif
  283. /**
  284. * Feed rates are often configured with mm/m
  285. * but the planner and stepper like mm/s units.
  286. */
  287. const float homing_feedrate_mm_m[] = {
  288. #if ENABLED(DELTA)
  289. HOMING_FEEDRATE_Z, HOMING_FEEDRATE_Z,
  290. #else
  291. HOMING_FEEDRATE_XY, HOMING_FEEDRATE_XY,
  292. #endif
  293. HOMING_FEEDRATE_Z, 0
  294. };
  295. static float feedrate_mm_m = 1500.0, saved_feedrate_mm_m;
  296. int feedrate_percentage = 100, saved_feedrate_percentage;
  297. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  298. int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  299. bool volumetric_enabled = false;
  300. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
  301. float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  302. // The distance that XYZ has been offset by G92. Reset by G28.
  303. float position_shift[3] = { 0 };
  304. // This offset is added to the configured home position.
  305. // Set by M206, M428, or menu item. Saved to EEPROM.
  306. float home_offset[3] = { 0 };
  307. #define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
  308. #define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
  309. #define RAW_CURRENT_POSITION(AXIS) (RAW_POSITION(current_position[AXIS], AXIS))
  310. // Software Endstops. Default to configured limits.
  311. float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
  312. float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  313. #if FAN_COUNT > 0
  314. int fanSpeeds[FAN_COUNT] = { 0 };
  315. #endif
  316. // The active extruder (tool). Set with T<extruder> command.
  317. uint8_t active_extruder = 0;
  318. // Relative Mode. Enable with G91, disable with G90.
  319. static bool relative_mode = false;
  320. volatile bool wait_for_heatup = true;
  321. const char errormagic[] PROGMEM = "Error:";
  322. const char echomagic[] PROGMEM = "echo:";
  323. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  324. static int serial_count = 0;
  325. // GCode parameter pointer used by code_seen(), code_value_float(), etc.
  326. static char* seen_pointer;
  327. // Next Immediate GCode Command pointer. NULL if none.
  328. const char* queued_commands_P = NULL;
  329. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  330. // Inactivity shutdown
  331. millis_t previous_cmd_ms = 0;
  332. static millis_t max_inactive_time = 0;
  333. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  334. // Print Job Timer
  335. #if ENABLED(PRINTCOUNTER)
  336. PrintCounter print_job_timer = PrintCounter();
  337. #else
  338. Stopwatch print_job_timer = Stopwatch();
  339. #endif
  340. // Buzzer
  341. #if HAS_BUZZER
  342. #if ENABLED(SPEAKER)
  343. Speaker buzzer;
  344. #else
  345. Buzzer buzzer;
  346. #endif
  347. #endif
  348. static uint8_t target_extruder;
  349. #if HAS_BED_PROBE
  350. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  351. #endif
  352. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  353. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  354. int xy_probe_feedrate_mm_m = XY_PROBE_SPEED;
  355. bool bed_leveling_in_progress = false;
  356. #define XY_PROBE_FEEDRATE_MM_M xy_probe_feedrate_mm_m
  357. #elif defined(XY_PROBE_SPEED)
  358. #define XY_PROBE_FEEDRATE_MM_M XY_PROBE_SPEED
  359. #else
  360. #define XY_PROBE_FEEDRATE_MM_M MMS_TO_MMM(PLANNER_XY_FEEDRATE())
  361. #endif
  362. #if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
  363. float z_endstop_adj = 0;
  364. #endif
  365. // Extruder offsets
  366. #if HOTENDS > 1
  367. float hotend_offset[][HOTENDS] = {
  368. HOTEND_OFFSET_X,
  369. HOTEND_OFFSET_Y
  370. #ifdef HOTEND_OFFSET_Z
  371. , HOTEND_OFFSET_Z
  372. #endif
  373. };
  374. #endif
  375. #if HAS_Z_SERVO_ENDSTOP
  376. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  377. #endif
  378. #if ENABLED(BARICUDA)
  379. int baricuda_valve_pressure = 0;
  380. int baricuda_e_to_p_pressure = 0;
  381. #endif
  382. #if ENABLED(FWRETRACT)
  383. bool autoretract_enabled = false;
  384. bool retracted[EXTRUDERS] = { false };
  385. bool retracted_swap[EXTRUDERS] = { false };
  386. float retract_length = RETRACT_LENGTH;
  387. float retract_length_swap = RETRACT_LENGTH_SWAP;
  388. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  389. float retract_zlift = RETRACT_ZLIFT;
  390. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  391. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  392. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  393. #endif // FWRETRACT
  394. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  395. bool powersupply =
  396. #if ENABLED(PS_DEFAULT_OFF)
  397. false
  398. #else
  399. true
  400. #endif
  401. ;
  402. #endif
  403. #if ENABLED(DELTA)
  404. #define TOWER_1 X_AXIS
  405. #define TOWER_2 Y_AXIS
  406. #define TOWER_3 Z_AXIS
  407. float delta[3] = { 0 };
  408. float cartesian_position[3] = { 0 };
  409. #define SIN_60 0.8660254037844386
  410. #define COS_60 0.5
  411. float endstop_adj[3] = { 0 };
  412. // these are the default values, can be overriden with M665
  413. float delta_radius = DELTA_RADIUS;
  414. float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  415. float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
  416. float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  417. float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
  418. float delta_tower3_x = 0; // back middle tower
  419. float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
  420. float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
  421. float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
  422. float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
  423. float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
  424. float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
  425. float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
  426. float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
  427. float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  428. float delta_clip_start_height = Z_MAX_POS;
  429. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  430. int delta_grid_spacing[2] = { 0, 0 };
  431. float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  432. #endif
  433. float delta_safe_distance_from_top();
  434. #else
  435. static bool home_all_axis = true;
  436. #endif
  437. #if ENABLED(SCARA)
  438. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
  439. static float delta[3] = { 0 };
  440. float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
  441. #endif
  442. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  443. //Variables for Filament Sensor input
  444. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
  445. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  446. float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
  447. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
  448. int filwidth_delay_index1 = 0; //index into ring buffer
  449. int filwidth_delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  450. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  451. #endif
  452. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  453. static bool filament_ran_out = false;
  454. #endif
  455. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  456. FilamentChangeMenuResponse filament_change_menu_response;
  457. #endif
  458. #if ENABLED(MIXING_EXTRUDER)
  459. float mixing_factor[MIXING_STEPPERS];
  460. #if MIXING_VIRTUAL_TOOLS > 1
  461. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  462. #endif
  463. #endif
  464. static bool send_ok[BUFSIZE];
  465. #if HAS_SERVOS
  466. Servo servo[NUM_SERVOS];
  467. #define MOVE_SERVO(I, P) servo[I].move(P)
  468. #if HAS_Z_SERVO_ENDSTOP
  469. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  470. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  471. #endif
  472. #endif
  473. #ifdef CHDK
  474. millis_t chdkHigh = 0;
  475. boolean chdkActive = false;
  476. #endif
  477. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  478. int lpq_len = 20;
  479. #endif
  480. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  481. static MarlinBusyState busy_state = NOT_BUSY;
  482. static millis_t next_busy_signal_ms = 0;
  483. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  484. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  485. #else
  486. #define host_keepalive() ;
  487. #define KEEPALIVE_STATE(n) ;
  488. #endif // HOST_KEEPALIVE_FEATURE
  489. /**
  490. * ***************************************************************************
  491. * ******************************** FUNCTIONS ********************************
  492. * ***************************************************************************
  493. */
  494. void stop();
  495. void get_available_commands();
  496. void process_next_command();
  497. void prepare_move_to_destination();
  498. void set_current_from_steppers();
  499. #if ENABLED(ARC_SUPPORT)
  500. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  501. #endif
  502. #if ENABLED(BEZIER_CURVE_SUPPORT)
  503. void plan_cubic_move(const float offset[4]);
  504. #endif
  505. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  506. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  507. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  508. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  509. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  510. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  511. void tool_change(const uint8_t tmp_extruder, const float fr_mm_m=0.0, bool no_move=false);
  512. static void report_current_position();
  513. #if ENABLED(DEBUG_LEVELING_FEATURE)
  514. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  515. serialprintPGM(prefix);
  516. SERIAL_ECHOPAIR("(", x);
  517. SERIAL_ECHOPAIR(", ", y);
  518. SERIAL_ECHOPAIR(", ", z);
  519. SERIAL_ECHOPGM(")");
  520. if (suffix) serialprintPGM(suffix);
  521. else SERIAL_EOL;
  522. }
  523. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  524. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  525. }
  526. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  527. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  528. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  529. }
  530. #endif
  531. #define DEBUG_POS(SUFFIX,VAR) do { \
  532. print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  533. #endif
  534. #if ENABLED(DELTA) || ENABLED(SCARA)
  535. inline void sync_plan_position_delta() {
  536. #if ENABLED(DEBUG_LEVELING_FEATURE)
  537. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
  538. #endif
  539. inverse_kinematics(current_position);
  540. planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  541. }
  542. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
  543. #else
  544. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  545. #endif
  546. #if ENABLED(SDSUPPORT)
  547. #include "SdFatUtil.h"
  548. int freeMemory() { return SdFatUtil::FreeRam(); }
  549. #else
  550. extern "C" {
  551. extern unsigned int __bss_end;
  552. extern unsigned int __heap_start;
  553. extern void* __brkval;
  554. int freeMemory() {
  555. int free_memory;
  556. if ((int)__brkval == 0)
  557. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  558. else
  559. free_memory = ((int)&free_memory) - ((int)__brkval);
  560. return free_memory;
  561. }
  562. }
  563. #endif //!SDSUPPORT
  564. #if ENABLED(DIGIPOT_I2C)
  565. extern void digipot_i2c_set_current(int channel, float current);
  566. extern void digipot_i2c_init();
  567. #endif
  568. /**
  569. * Inject the next "immediate" command, when possible.
  570. * Return true if any immediate commands remain to inject.
  571. */
  572. static bool drain_queued_commands_P() {
  573. if (queued_commands_P != NULL) {
  574. size_t i = 0;
  575. char c, cmd[30];
  576. strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  577. cmd[sizeof(cmd) - 1] = '\0';
  578. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  579. cmd[i] = '\0';
  580. if (enqueue_and_echo_command(cmd)) { // success?
  581. if (c) // newline char?
  582. queued_commands_P += i + 1; // advance to the next command
  583. else
  584. queued_commands_P = NULL; // nul char? no more commands
  585. }
  586. }
  587. return (queued_commands_P != NULL); // return whether any more remain
  588. }
  589. /**
  590. * Record one or many commands to run from program memory.
  591. * Aborts the current queue, if any.
  592. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  593. */
  594. void enqueue_and_echo_commands_P(const char* pgcode) {
  595. queued_commands_P = pgcode;
  596. drain_queued_commands_P(); // first command executed asap (when possible)
  597. }
  598. void clear_command_queue() {
  599. cmd_queue_index_r = cmd_queue_index_w;
  600. commands_in_queue = 0;
  601. }
  602. /**
  603. * Once a new command is in the ring buffer, call this to commit it
  604. */
  605. inline void _commit_command(bool say_ok) {
  606. send_ok[cmd_queue_index_w] = say_ok;
  607. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  608. commands_in_queue++;
  609. }
  610. /**
  611. * Copy a command directly into the main command buffer, from RAM.
  612. * Returns true if successfully adds the command
  613. */
  614. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  615. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  616. strcpy(command_queue[cmd_queue_index_w], cmd);
  617. _commit_command(say_ok);
  618. return true;
  619. }
  620. void enqueue_and_echo_command_now(const char* cmd) {
  621. while (!enqueue_and_echo_command(cmd)) idle();
  622. }
  623. /**
  624. * Enqueue with Serial Echo
  625. */
  626. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  627. if (_enqueuecommand(cmd, say_ok)) {
  628. SERIAL_ECHO_START;
  629. SERIAL_ECHOPGM(MSG_Enqueueing);
  630. SERIAL_ECHO(cmd);
  631. SERIAL_ECHOLNPGM("\"");
  632. return true;
  633. }
  634. return false;
  635. }
  636. void setup_killpin() {
  637. #if HAS_KILL
  638. SET_INPUT(KILL_PIN);
  639. WRITE(KILL_PIN, HIGH);
  640. #endif
  641. }
  642. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  643. void setup_filrunoutpin() {
  644. pinMode(FIL_RUNOUT_PIN, INPUT);
  645. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  646. WRITE(FIL_RUNOUT_PIN, HIGH);
  647. #endif
  648. }
  649. #endif
  650. // Set home pin
  651. void setup_homepin(void) {
  652. #if HAS_HOME
  653. SET_INPUT(HOME_PIN);
  654. WRITE(HOME_PIN, HIGH);
  655. #endif
  656. }
  657. void setup_photpin() {
  658. #if HAS_PHOTOGRAPH
  659. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  660. #endif
  661. }
  662. void setup_powerhold() {
  663. #if HAS_SUICIDE
  664. OUT_WRITE(SUICIDE_PIN, HIGH);
  665. #endif
  666. #if HAS_POWER_SWITCH
  667. #if ENABLED(PS_DEFAULT_OFF)
  668. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  669. #else
  670. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  671. #endif
  672. #endif
  673. }
  674. void suicide() {
  675. #if HAS_SUICIDE
  676. OUT_WRITE(SUICIDE_PIN, LOW);
  677. #endif
  678. }
  679. void servo_init() {
  680. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  681. servo[0].attach(SERVO0_PIN);
  682. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  683. #endif
  684. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  685. servo[1].attach(SERVO1_PIN);
  686. servo[1].detach();
  687. #endif
  688. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  689. servo[2].attach(SERVO2_PIN);
  690. servo[2].detach();
  691. #endif
  692. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  693. servo[3].attach(SERVO3_PIN);
  694. servo[3].detach();
  695. #endif
  696. #if HAS_Z_SERVO_ENDSTOP
  697. /**
  698. * Set position of Z Servo Endstop
  699. *
  700. * The servo might be deployed and positioned too low to stow
  701. * when starting up the machine or rebooting the board.
  702. * There's no way to know where the nozzle is positioned until
  703. * homing has been done - no homing with z-probe without init!
  704. *
  705. */
  706. STOW_Z_SERVO();
  707. #endif
  708. #if HAS_BED_PROBE
  709. endstops.enable_z_probe(false);
  710. #endif
  711. }
  712. /**
  713. * Stepper Reset (RigidBoard, et.al.)
  714. */
  715. #if HAS_STEPPER_RESET
  716. void disableStepperDrivers() {
  717. pinMode(STEPPER_RESET_PIN, OUTPUT);
  718. digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  719. }
  720. void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
  721. #endif
  722. /**
  723. * Marlin entry-point: Set up before the program loop
  724. * - Set up the kill pin, filament runout, power hold
  725. * - Start the serial port
  726. * - Print startup messages and diagnostics
  727. * - Get EEPROM or default settings
  728. * - Initialize managers for:
  729. * • temperature
  730. * • planner
  731. * • watchdog
  732. * • stepper
  733. * • photo pin
  734. * • servos
  735. * • LCD controller
  736. * • Digipot I2C
  737. * • Z probe sled
  738. * • status LEDs
  739. */
  740. void setup() {
  741. #ifdef DISABLE_JTAG
  742. // Disable JTAG on AT90USB chips to free up pins for IO
  743. MCUCR = 0x80;
  744. MCUCR = 0x80;
  745. #endif
  746. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  747. setup_filrunoutpin();
  748. #endif
  749. setup_killpin();
  750. setup_powerhold();
  751. #if HAS_STEPPER_RESET
  752. disableStepperDrivers();
  753. #endif
  754. MYSERIAL.begin(BAUDRATE);
  755. SERIAL_PROTOCOLLNPGM("start");
  756. SERIAL_ECHO_START;
  757. // Check startup - does nothing if bootloader sets MCUSR to 0
  758. byte mcu = MCUSR;
  759. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  760. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  761. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  762. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  763. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  764. MCUSR = 0;
  765. SERIAL_ECHOPGM(MSG_MARLIN);
  766. SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
  767. #ifdef STRING_DISTRIBUTION_DATE
  768. #ifdef STRING_CONFIG_H_AUTHOR
  769. SERIAL_ECHO_START;
  770. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  771. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  772. SERIAL_ECHOPGM(MSG_AUTHOR);
  773. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  774. SERIAL_ECHOPGM("Compiled: ");
  775. SERIAL_ECHOLNPGM(__DATE__);
  776. #endif // STRING_CONFIG_H_AUTHOR
  777. #endif // STRING_DISTRIBUTION_DATE
  778. SERIAL_ECHO_START;
  779. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  780. SERIAL_ECHO(freeMemory());
  781. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  782. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  783. // Send "ok" after commands by default
  784. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  785. // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  786. Config_RetrieveSettings();
  787. // Initialize current position based on home_offset
  788. memcpy(current_position, home_offset, sizeof(home_offset));
  789. #if ENABLED(DELTA) || ENABLED(SCARA)
  790. // Vital to init kinematic equivalent for X0 Y0 Z0
  791. SYNC_PLAN_POSITION_KINEMATIC();
  792. #endif
  793. thermalManager.init(); // Initialize temperature loop
  794. #if ENABLED(USE_WATCHDOG)
  795. watchdog_init();
  796. #endif
  797. stepper.init(); // Initialize stepper, this enables interrupts!
  798. setup_photpin();
  799. servo_init();
  800. #if HAS_CONTROLLERFAN
  801. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  802. #endif
  803. #if HAS_STEPPER_RESET
  804. enableStepperDrivers();
  805. #endif
  806. #if ENABLED(DIGIPOT_I2C)
  807. digipot_i2c_init();
  808. #endif
  809. #if ENABLED(DAC_STEPPER_CURRENT)
  810. dac_init();
  811. #endif
  812. #if ENABLED(Z_PROBE_SLED)
  813. pinMode(SLED_PIN, OUTPUT);
  814. digitalWrite(SLED_PIN, LOW); // turn it off
  815. #endif // Z_PROBE_SLED
  816. setup_homepin();
  817. #ifdef STAT_LED_RED
  818. pinMode(STAT_LED_RED, OUTPUT);
  819. digitalWrite(STAT_LED_RED, LOW); // turn it off
  820. #endif
  821. #ifdef STAT_LED_BLUE
  822. pinMode(STAT_LED_BLUE, OUTPUT);
  823. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  824. #endif
  825. lcd_init();
  826. #if ENABLED(SHOW_BOOTSCREEN)
  827. #if ENABLED(DOGLCD)
  828. safe_delay(BOOTSCREEN_TIMEOUT);
  829. #elif ENABLED(ULTRA_LCD)
  830. bootscreen();
  831. lcd_init();
  832. #endif
  833. #endif
  834. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  835. // Initialize mixing to 100% color 1
  836. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  837. mixing_factor[i] = (i == 0) ? 1 : 0;
  838. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  839. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  840. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  841. #endif
  842. }
  843. /**
  844. * The main Marlin program loop
  845. *
  846. * - Save or log commands to SD
  847. * - Process available commands (if not saving)
  848. * - Call heater manager
  849. * - Call inactivity manager
  850. * - Call endstop manager
  851. * - Call LCD update
  852. */
  853. void loop() {
  854. if (commands_in_queue < BUFSIZE) get_available_commands();
  855. #if ENABLED(SDSUPPORT)
  856. card.checkautostart(false);
  857. #endif
  858. if (commands_in_queue) {
  859. #if ENABLED(SDSUPPORT)
  860. if (card.saving) {
  861. char* command = command_queue[cmd_queue_index_r];
  862. if (strstr_P(command, PSTR("M29"))) {
  863. // M29 closes the file
  864. card.closefile();
  865. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  866. ok_to_send();
  867. }
  868. else {
  869. // Write the string from the read buffer to SD
  870. card.write_command(command);
  871. if (card.logging)
  872. process_next_command(); // The card is saving because it's logging
  873. else
  874. ok_to_send();
  875. }
  876. }
  877. else
  878. process_next_command();
  879. #else
  880. process_next_command();
  881. #endif // SDSUPPORT
  882. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  883. if (commands_in_queue) {
  884. --commands_in_queue;
  885. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  886. }
  887. }
  888. endstops.report_state();
  889. idle();
  890. }
  891. void gcode_line_error(const char* err, bool doFlush = true) {
  892. SERIAL_ERROR_START;
  893. serialprintPGM(err);
  894. SERIAL_ERRORLN(gcode_LastN);
  895. //Serial.println(gcode_N);
  896. if (doFlush) FlushSerialRequestResend();
  897. serial_count = 0;
  898. }
  899. inline void get_serial_commands() {
  900. static char serial_line_buffer[MAX_CMD_SIZE];
  901. static boolean serial_comment_mode = false;
  902. // If the command buffer is empty for too long,
  903. // send "wait" to indicate Marlin is still waiting.
  904. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  905. static millis_t last_command_time = 0;
  906. millis_t ms = millis();
  907. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  908. SERIAL_ECHOLNPGM(MSG_WAIT);
  909. last_command_time = ms;
  910. }
  911. #endif
  912. /**
  913. * Loop while serial characters are incoming and the queue is not full
  914. */
  915. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  916. char serial_char = MYSERIAL.read();
  917. /**
  918. * If the character ends the line
  919. */
  920. if (serial_char == '\n' || serial_char == '\r') {
  921. serial_comment_mode = false; // end of line == end of comment
  922. if (!serial_count) continue; // skip empty lines
  923. serial_line_buffer[serial_count] = 0; // terminate string
  924. serial_count = 0; //reset buffer
  925. char* command = serial_line_buffer;
  926. while (*command == ' ') command++; // skip any leading spaces
  927. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  928. char* apos = strchr(command, '*');
  929. if (npos) {
  930. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  931. if (M110) {
  932. char* n2pos = strchr(command + 4, 'N');
  933. if (n2pos) npos = n2pos;
  934. }
  935. gcode_N = strtol(npos + 1, NULL, 10);
  936. if (gcode_N != gcode_LastN + 1 && !M110) {
  937. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  938. return;
  939. }
  940. if (apos) {
  941. byte checksum = 0, count = 0;
  942. while (command[count] != '*') checksum ^= command[count++];
  943. if (strtol(apos + 1, NULL, 10) != checksum) {
  944. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  945. return;
  946. }
  947. // if no errors, continue parsing
  948. }
  949. else {
  950. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  951. return;
  952. }
  953. gcode_LastN = gcode_N;
  954. // if no errors, continue parsing
  955. }
  956. else if (apos) { // No '*' without 'N'
  957. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  958. return;
  959. }
  960. // Movement commands alert when stopped
  961. if (IsStopped()) {
  962. char* gpos = strchr(command, 'G');
  963. if (gpos) {
  964. int codenum = strtol(gpos + 1, NULL, 10);
  965. switch (codenum) {
  966. case 0:
  967. case 1:
  968. case 2:
  969. case 3:
  970. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  971. LCD_MESSAGEPGM(MSG_STOPPED);
  972. break;
  973. }
  974. }
  975. }
  976. #if DISABLED(EMERGENCY_PARSER)
  977. // If command was e-stop process now
  978. if (strcmp(command, "M108") == 0) wait_for_heatup = false;
  979. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  980. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  981. #endif
  982. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  983. last_command_time = ms;
  984. #endif
  985. // Add the command to the queue
  986. _enqueuecommand(serial_line_buffer, true);
  987. }
  988. else if (serial_count >= MAX_CMD_SIZE - 1) {
  989. // Keep fetching, but ignore normal characters beyond the max length
  990. // The command will be injected when EOL is reached
  991. }
  992. else if (serial_char == '\\') { // Handle escapes
  993. if (MYSERIAL.available() > 0) {
  994. // if we have one more character, copy it over
  995. serial_char = MYSERIAL.read();
  996. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  997. }
  998. // otherwise do nothing
  999. }
  1000. else { // it's not a newline, carriage return or escape char
  1001. if (serial_char == ';') serial_comment_mode = true;
  1002. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1003. }
  1004. } // queue has space, serial has data
  1005. }
  1006. #if ENABLED(SDSUPPORT)
  1007. inline void get_sdcard_commands() {
  1008. static bool stop_buffering = false,
  1009. sd_comment_mode = false;
  1010. if (!card.sdprinting) return;
  1011. /**
  1012. * '#' stops reading from SD to the buffer prematurely, so procedural
  1013. * macro calls are possible. If it occurs, stop_buffering is triggered
  1014. * and the buffer is run dry; this character _can_ occur in serial com
  1015. * due to checksums, however, no checksums are used in SD printing.
  1016. */
  1017. if (commands_in_queue == 0) stop_buffering = false;
  1018. uint16_t sd_count = 0;
  1019. bool card_eof = card.eof();
  1020. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1021. int16_t n = card.get();
  1022. char sd_char = (char)n;
  1023. card_eof = card.eof();
  1024. if (card_eof || n == -1
  1025. || sd_char == '\n' || sd_char == '\r'
  1026. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1027. ) {
  1028. if (card_eof) {
  1029. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1030. card.printingHasFinished();
  1031. card.checkautostart(true);
  1032. }
  1033. else if (n == -1) {
  1034. SERIAL_ERROR_START;
  1035. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1036. }
  1037. if (sd_char == '#') stop_buffering = true;
  1038. sd_comment_mode = false; //for new command
  1039. if (!sd_count) continue; //skip empty lines
  1040. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  1041. sd_count = 0; //clear buffer
  1042. _commit_command(false);
  1043. }
  1044. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1045. /**
  1046. * Keep fetching, but ignore normal characters beyond the max length
  1047. * The command will be injected when EOL is reached
  1048. */
  1049. }
  1050. else {
  1051. if (sd_char == ';') sd_comment_mode = true;
  1052. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1053. }
  1054. }
  1055. }
  1056. #endif // SDSUPPORT
  1057. /**
  1058. * Add to the circular command queue the next command from:
  1059. * - The command-injection queue (queued_commands_P)
  1060. * - The active serial input (usually USB)
  1061. * - The SD card file being actively printed
  1062. */
  1063. void get_available_commands() {
  1064. // if any immediate commands remain, don't get other commands yet
  1065. if (drain_queued_commands_P()) return;
  1066. get_serial_commands();
  1067. #if ENABLED(SDSUPPORT)
  1068. get_sdcard_commands();
  1069. #endif
  1070. }
  1071. inline bool code_has_value() {
  1072. int i = 1;
  1073. char c = seen_pointer[i];
  1074. while (c == ' ') c = seen_pointer[++i];
  1075. if (c == '-' || c == '+') c = seen_pointer[++i];
  1076. if (c == '.') c = seen_pointer[++i];
  1077. return NUMERIC(c);
  1078. }
  1079. inline float code_value_float() {
  1080. float ret;
  1081. char* e = strchr(seen_pointer, 'E');
  1082. if (e) {
  1083. *e = 0;
  1084. ret = strtod(seen_pointer + 1, NULL);
  1085. *e = 'E';
  1086. }
  1087. else
  1088. ret = strtod(seen_pointer + 1, NULL);
  1089. return ret;
  1090. }
  1091. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1092. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1093. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1094. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1095. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1096. inline bool code_value_bool() { return code_value_byte() > 0; }
  1097. #if ENABLED(INCH_MODE_SUPPORT)
  1098. inline void set_input_linear_units(LinearUnit units) {
  1099. switch (units) {
  1100. case LINEARUNIT_INCH:
  1101. linear_unit_factor = 25.4;
  1102. break;
  1103. case LINEARUNIT_MM:
  1104. default:
  1105. linear_unit_factor = 1.0;
  1106. break;
  1107. }
  1108. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1109. }
  1110. inline float axis_unit_factor(int axis) {
  1111. return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1112. }
  1113. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1114. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  1115. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  1116. #else
  1117. inline float code_value_linear_units() { return code_value_float(); }
  1118. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  1119. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  1120. #endif
  1121. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1122. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1123. float code_value_temp_abs() {
  1124. switch (input_temp_units) {
  1125. case TEMPUNIT_C:
  1126. return code_value_float();
  1127. case TEMPUNIT_F:
  1128. return (code_value_float() - 32) / 1.8;
  1129. case TEMPUNIT_K:
  1130. return code_value_float() - 272.15;
  1131. default:
  1132. return code_value_float();
  1133. }
  1134. }
  1135. float code_value_temp_diff() {
  1136. switch (input_temp_units) {
  1137. case TEMPUNIT_C:
  1138. case TEMPUNIT_K:
  1139. return code_value_float();
  1140. case TEMPUNIT_F:
  1141. return code_value_float() / 1.8;
  1142. default:
  1143. return code_value_float();
  1144. }
  1145. }
  1146. #else
  1147. float code_value_temp_abs() { return code_value_float(); }
  1148. float code_value_temp_diff() { return code_value_float(); }
  1149. #endif
  1150. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1151. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1152. bool code_seen(char code) {
  1153. seen_pointer = strchr(current_command_args, code);
  1154. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1155. }
  1156. /**
  1157. * Set target_extruder from the T parameter or the active_extruder
  1158. *
  1159. * Returns TRUE if the target is invalid
  1160. */
  1161. bool get_target_extruder_from_command(int code) {
  1162. if (code_seen('T')) {
  1163. if (code_value_byte() >= EXTRUDERS) {
  1164. SERIAL_ECHO_START;
  1165. SERIAL_CHAR('M');
  1166. SERIAL_ECHO(code);
  1167. SERIAL_ECHOPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1168. SERIAL_EOL;
  1169. return true;
  1170. }
  1171. target_extruder = code_value_byte();
  1172. }
  1173. else
  1174. target_extruder = active_extruder;
  1175. return false;
  1176. }
  1177. #define DEFINE_PGM_READ_ANY(type, reader) \
  1178. static inline type pgm_read_any(const type *p) \
  1179. { return pgm_read_##reader##_near(p); }
  1180. DEFINE_PGM_READ_ANY(float, float);
  1181. DEFINE_PGM_READ_ANY(signed char, byte);
  1182. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  1183. static const PROGMEM type array##_P[3] = \
  1184. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  1185. static inline type array(int axis) \
  1186. { return pgm_read_any(&array##_P[axis]); }
  1187. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  1188. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  1189. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  1190. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  1191. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  1192. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  1193. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1194. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1195. #endif
  1196. #if ENABLED(DUAL_X_CARRIAGE)
  1197. #define DXC_FULL_CONTROL_MODE 0
  1198. #define DXC_AUTO_PARK_MODE 1
  1199. #define DXC_DUPLICATION_MODE 2
  1200. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1201. static float x_home_pos(int extruder) {
  1202. if (extruder == 0)
  1203. return LOGICAL_POSITION(base_home_pos(X_AXIS), X_AXIS);
  1204. else
  1205. /**
  1206. * In dual carriage mode the extruder offset provides an override of the
  1207. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1208. * This allow soft recalibration of the second extruder offset position
  1209. * without firmware reflash (through the M218 command).
  1210. */
  1211. return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1212. }
  1213. static int x_home_dir(int extruder) {
  1214. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1215. }
  1216. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1217. static bool active_extruder_parked = false; // used in mode 1 & 2
  1218. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1219. static millis_t delayed_move_time = 0; // used in mode 1
  1220. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1221. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1222. #endif //DUAL_X_CARRIAGE
  1223. /**
  1224. * Software endstops can be used to monitor the open end of
  1225. * an axis that has a hardware endstop on the other end. Or
  1226. * they can prevent axes from moving past endstops and grinding.
  1227. *
  1228. * To keep doing their job as the coordinate system changes,
  1229. * the software endstop positions must be refreshed to remain
  1230. * at the same positions relative to the machine.
  1231. */
  1232. static void update_software_endstops(AxisEnum axis) {
  1233. float offs = LOGICAL_POSITION(0, axis);
  1234. #if ENABLED(DUAL_X_CARRIAGE)
  1235. if (axis == X_AXIS) {
  1236. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1237. if (active_extruder != 0) {
  1238. sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1239. sw_endstop_max[X_AXIS] = dual_max_x + offs;
  1240. return;
  1241. }
  1242. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1243. sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1244. sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1245. return;
  1246. }
  1247. }
  1248. else
  1249. #endif
  1250. {
  1251. sw_endstop_min[axis] = base_min_pos(axis) + offs;
  1252. sw_endstop_max[axis] = base_max_pos(axis) + offs;
  1253. }
  1254. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1255. if (DEBUGGING(LEVELING)) {
  1256. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1257. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1258. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1259. SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]);
  1260. SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]);
  1261. SERIAL_EOL;
  1262. }
  1263. #endif
  1264. #if ENABLED(DELTA)
  1265. if (axis == Z_AXIS) {
  1266. delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
  1267. }
  1268. #endif
  1269. }
  1270. /**
  1271. * Change the home offset for an axis, update the current
  1272. * position and the software endstops to retain the same
  1273. * relative distance to the new home.
  1274. *
  1275. * Since this changes the current_position, code should
  1276. * call sync_plan_position soon after this.
  1277. */
  1278. static void set_home_offset(AxisEnum axis, float v) {
  1279. current_position[axis] += v - home_offset[axis];
  1280. home_offset[axis] = v;
  1281. update_software_endstops(axis);
  1282. }
  1283. static void set_axis_is_at_home(AxisEnum axis) {
  1284. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1285. if (DEBUGGING(LEVELING)) {
  1286. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis);
  1287. SERIAL_ECHOLNPGM(")");
  1288. }
  1289. #endif
  1290. position_shift[axis] = 0;
  1291. #if ENABLED(DUAL_X_CARRIAGE)
  1292. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1293. if (active_extruder != 0)
  1294. current_position[X_AXIS] = x_home_pos(active_extruder);
  1295. else
  1296. current_position[X_AXIS] = LOGICAL_POSITION(base_home_pos(X_AXIS), X_AXIS);
  1297. update_software_endstops(X_AXIS);
  1298. return;
  1299. }
  1300. #endif
  1301. #if ENABLED(SCARA)
  1302. if (axis == X_AXIS || axis == Y_AXIS) {
  1303. float homeposition[3];
  1304. for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
  1305. homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
  1306. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  1307. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  1308. /**
  1309. * Works out real Homeposition angles using inverse kinematics,
  1310. * and calculates homing offset using forward kinematics
  1311. */
  1312. inverse_kinematics(homeposition);
  1313. forward_kinematics_SCARA(delta);
  1314. // SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
  1315. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  1316. current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
  1317. /**
  1318. * SCARA home positions are based on configuration since the actual
  1319. * limits are determined by the inverse kinematic transform.
  1320. */
  1321. sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1322. sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1323. }
  1324. else
  1325. #endif
  1326. {
  1327. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1328. update_software_endstops(axis);
  1329. #if HAS_BED_PROBE && Z_HOME_DIR < 0 && DISABLED(Z_MIN_PROBE_ENDSTOP)
  1330. if (axis == Z_AXIS) {
  1331. current_position[Z_AXIS] -= zprobe_zoffset;
  1332. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1333. if (DEBUGGING(LEVELING)) {
  1334. SERIAL_ECHOPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1335. SERIAL_EOL;
  1336. }
  1337. #endif
  1338. }
  1339. #endif
  1340. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1341. if (DEBUGGING(LEVELING)) {
  1342. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1343. SERIAL_ECHOPAIR("] = ", home_offset[axis]);
  1344. SERIAL_EOL;
  1345. DEBUG_POS("", current_position);
  1346. }
  1347. #endif
  1348. }
  1349. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1350. if (DEBUGGING(LEVELING)) {
  1351. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis);
  1352. SERIAL_ECHOLNPGM(")");
  1353. }
  1354. #endif
  1355. }
  1356. /**
  1357. * Some planner shorthand inline functions
  1358. */
  1359. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1360. const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1361. int hbd = homing_bump_divisor[axis];
  1362. if (hbd < 1) {
  1363. hbd = 10;
  1364. SERIAL_ECHO_START;
  1365. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1366. }
  1367. return homing_feedrate_mm_m[axis] / hbd;
  1368. }
  1369. //
  1370. // line_to_current_position
  1371. // Move the planner to the current position from wherever it last moved
  1372. // (or from wherever it has been told it is located).
  1373. //
  1374. inline void line_to_current_position() {
  1375. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
  1376. }
  1377. inline void line_to_z(float zPosition) {
  1378. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
  1379. }
  1380. inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
  1381. float old_feedrate_mm_m = feedrate_mm_m;
  1382. current_position[axis] = where;
  1383. feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
  1384. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
  1385. stepper.synchronize();
  1386. feedrate_mm_m = old_feedrate_mm_m;
  1387. }
  1388. //
  1389. // line_to_destination
  1390. // Move the planner, not necessarily synced with current_position
  1391. //
  1392. inline void line_to_destination(float fr_mm_m) {
  1393. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], MMM_TO_MMS(fr_mm_m), active_extruder);
  1394. }
  1395. inline void line_to_destination() { line_to_destination(feedrate_mm_m); }
  1396. /**
  1397. * sync_plan_position
  1398. * Set planner / stepper positions to the cartesian current_position.
  1399. * The stepper code translates these coordinates into step units.
  1400. * Allows translation between steps and millimeters for cartesian & core robots
  1401. */
  1402. inline void sync_plan_position() {
  1403. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1404. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  1405. #endif
  1406. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1407. }
  1408. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  1409. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1410. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1411. #if ENABLED(DELTA)
  1412. /**
  1413. * Calculate delta, start a line, and set current_position to destination
  1414. */
  1415. void prepare_move_to_destination_raw() {
  1416. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1417. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
  1418. #endif
  1419. refresh_cmd_timeout();
  1420. inverse_kinematics(destination);
  1421. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
  1422. set_current_to_destination();
  1423. }
  1424. #endif
  1425. /**
  1426. * Plan a move to (X, Y, Z) and set the current_position
  1427. * The final current_position may not be the one that was requested
  1428. */
  1429. void do_blocking_move_to(float x, float y, float z, float fr_mm_m /*=0.0*/) {
  1430. float old_feedrate_mm_m = feedrate_mm_m;
  1431. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1432. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1433. #endif
  1434. #if ENABLED(DELTA)
  1435. feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
  1436. set_destination_to_current(); // sync destination at the start
  1437. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1438. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1439. #endif
  1440. // when in the danger zone
  1441. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1442. if (z > delta_clip_start_height) { // staying in the danger zone
  1443. destination[X_AXIS] = x; // move directly (uninterpolated)
  1444. destination[Y_AXIS] = y;
  1445. destination[Z_AXIS] = z;
  1446. prepare_move_to_destination_raw(); // set_current_to_destination
  1447. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1448. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1449. #endif
  1450. return;
  1451. }
  1452. else {
  1453. destination[Z_AXIS] = delta_clip_start_height;
  1454. prepare_move_to_destination_raw(); // set_current_to_destination
  1455. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1456. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1457. #endif
  1458. }
  1459. }
  1460. if (z > current_position[Z_AXIS]) { // raising?
  1461. destination[Z_AXIS] = z;
  1462. prepare_move_to_destination_raw(); // set_current_to_destination
  1463. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1464. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1465. #endif
  1466. }
  1467. destination[X_AXIS] = x;
  1468. destination[Y_AXIS] = y;
  1469. prepare_move_to_destination(); // set_current_to_destination
  1470. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1471. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1472. #endif
  1473. if (z < current_position[Z_AXIS]) { // lowering?
  1474. destination[Z_AXIS] = z;
  1475. prepare_move_to_destination_raw(); // set_current_to_destination
  1476. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1477. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1478. #endif
  1479. }
  1480. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1481. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1482. #endif
  1483. #else
  1484. // If Z needs to raise, do it before moving XY
  1485. if (current_position[Z_AXIS] < z) {
  1486. feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
  1487. current_position[Z_AXIS] = z;
  1488. line_to_current_position();
  1489. }
  1490. feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : XY_PROBE_FEEDRATE_MM_M;
  1491. current_position[X_AXIS] = x;
  1492. current_position[Y_AXIS] = y;
  1493. line_to_current_position();
  1494. // If Z needs to lower, do it after moving XY
  1495. if (current_position[Z_AXIS] > z) {
  1496. feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[Z_AXIS];
  1497. current_position[Z_AXIS] = z;
  1498. line_to_current_position();
  1499. }
  1500. #endif
  1501. stepper.synchronize();
  1502. feedrate_mm_m = old_feedrate_mm_m;
  1503. }
  1504. void do_blocking_move_to_x(float x, float fr_mm_m/*=0.0*/) {
  1505. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
  1506. }
  1507. void do_blocking_move_to_z(float z, float fr_mm_m/*=0.0*/) {
  1508. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_m);
  1509. }
  1510. void do_blocking_move_to_xy(float x, float y, float fr_mm_m/*=0.0*/) {
  1511. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_m);
  1512. }
  1513. //
  1514. // Prepare to do endstop or probe moves
  1515. // with custom feedrates.
  1516. //
  1517. // - Save current feedrates
  1518. // - Reset the rate multiplier
  1519. // - Reset the command timeout
  1520. // - Enable the endstops (for endstop moves)
  1521. //
  1522. static void setup_for_endstop_or_probe_move() {
  1523. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1524. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1525. #endif
  1526. saved_feedrate_mm_m = feedrate_mm_m;
  1527. saved_feedrate_percentage = feedrate_percentage;
  1528. feedrate_percentage = 100;
  1529. refresh_cmd_timeout();
  1530. }
  1531. static void clean_up_after_endstop_or_probe_move() {
  1532. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1533. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1534. #endif
  1535. feedrate_mm_m = saved_feedrate_mm_m;
  1536. feedrate_percentage = saved_feedrate_percentage;
  1537. refresh_cmd_timeout();
  1538. }
  1539. #if HAS_BED_PROBE
  1540. /**
  1541. * Raise Z to a minimum height to make room for a probe to move
  1542. */
  1543. inline void do_probe_raise(float z_raise) {
  1544. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1545. if (DEBUGGING(LEVELING)) {
  1546. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1547. SERIAL_ECHOLNPGM(")");
  1548. }
  1549. #endif
  1550. float z_dest = LOGICAL_POSITION(z_raise, Z_AXIS);
  1551. if (zprobe_zoffset < 0)
  1552. z_dest -= zprobe_zoffset;
  1553. if (z_dest > current_position[Z_AXIS])
  1554. do_blocking_move_to_z(z_dest);
  1555. }
  1556. #endif //HAS_BED_PROBE
  1557. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1558. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1559. const bool xx = x && !axis_homed[X_AXIS],
  1560. yy = y && !axis_homed[Y_AXIS],
  1561. zz = z && !axis_homed[Z_AXIS];
  1562. if (xx || yy || zz) {
  1563. SERIAL_ECHO_START;
  1564. SERIAL_ECHOPGM(MSG_HOME " ");
  1565. if (xx) SERIAL_ECHOPGM(MSG_X);
  1566. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1567. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1568. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1569. #if ENABLED(ULTRA_LCD)
  1570. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1571. strcat_P(message, PSTR(MSG_HOME " "));
  1572. if (xx) strcat_P(message, PSTR(MSG_X));
  1573. if (yy) strcat_P(message, PSTR(MSG_Y));
  1574. if (zz) strcat_P(message, PSTR(MSG_Z));
  1575. strcat_P(message, PSTR(" " MSG_FIRST));
  1576. lcd_setstatus(message);
  1577. #endif
  1578. return true;
  1579. }
  1580. return false;
  1581. }
  1582. #endif
  1583. #if ENABLED(Z_PROBE_SLED)
  1584. #ifndef SLED_DOCKING_OFFSET
  1585. #define SLED_DOCKING_OFFSET 0
  1586. #endif
  1587. /**
  1588. * Method to dock/undock a sled designed by Charles Bell.
  1589. *
  1590. * stow[in] If false, move to MAX_X and engage the solenoid
  1591. * If true, move to MAX_X and release the solenoid
  1592. */
  1593. static void dock_sled(bool stow) {
  1594. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1595. if (DEBUGGING(LEVELING)) {
  1596. SERIAL_ECHOPAIR("dock_sled(", stow);
  1597. SERIAL_ECHOLNPGM(")");
  1598. }
  1599. #endif
  1600. // Dock sled a bit closer to ensure proper capturing
  1601. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1602. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1603. }
  1604. #endif // Z_PROBE_SLED
  1605. #if ENABLED(Z_PROBE_ALLEN_KEY)
  1606. void run_deploy_moves_script() {
  1607. #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)
  1608. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1609. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1610. #endif
  1611. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1612. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1613. #endif
  1614. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1615. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1616. #endif
  1617. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1618. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1619. #endif
  1620. 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, Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE);
  1621. #endif
  1622. #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)
  1623. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1624. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1625. #endif
  1626. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1627. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1628. #endif
  1629. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1630. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1631. #endif
  1632. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1633. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1634. #endif
  1635. 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, Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE);
  1636. #endif
  1637. #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)
  1638. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1639. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1640. #endif
  1641. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1642. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1643. #endif
  1644. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1645. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1646. #endif
  1647. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1648. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1649. #endif
  1650. 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, Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE);
  1651. #endif
  1652. #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)
  1653. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1654. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1655. #endif
  1656. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1657. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1658. #endif
  1659. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1660. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1661. #endif
  1662. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1663. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1664. #endif
  1665. 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, Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE);
  1666. #endif
  1667. #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)
  1668. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1669. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1670. #endif
  1671. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1672. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1673. #endif
  1674. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1675. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1676. #endif
  1677. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1678. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1679. #endif
  1680. 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, Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE);
  1681. #endif
  1682. }
  1683. void run_stow_moves_script() {
  1684. #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)
  1685. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1686. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1687. #endif
  1688. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1689. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1690. #endif
  1691. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1692. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1693. #endif
  1694. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1695. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1696. #endif
  1697. 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, Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE);
  1698. #endif
  1699. #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)
  1700. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1701. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1702. #endif
  1703. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1704. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1705. #endif
  1706. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1707. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1708. #endif
  1709. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1710. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1711. #endif
  1712. 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, Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE);
  1713. #endif
  1714. #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)
  1715. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1716. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1717. #endif
  1718. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1719. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1720. #endif
  1721. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1722. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1723. #endif
  1724. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1725. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1726. #endif
  1727. 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, Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE);
  1728. #endif
  1729. #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)
  1730. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1731. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1732. #endif
  1733. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1734. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1735. #endif
  1736. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1737. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1738. #endif
  1739. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1740. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1741. #endif
  1742. 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, Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE);
  1743. #endif
  1744. #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)
  1745. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1746. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1747. #endif
  1748. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1749. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1750. #endif
  1751. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1752. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1753. #endif
  1754. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1755. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1756. #endif
  1757. 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, Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE);
  1758. #endif
  1759. }
  1760. #endif
  1761. #if HAS_BED_PROBE
  1762. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1763. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1764. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1765. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1766. #else
  1767. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1768. #endif
  1769. #endif
  1770. #define DEPLOY_PROBE() set_probe_deployed( true )
  1771. #define STOW_PROBE() set_probe_deployed( false )
  1772. // returns false for ok and true for failure
  1773. static bool set_probe_deployed(bool deploy) {
  1774. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1775. if (DEBUGGING(LEVELING)) {
  1776. DEBUG_POS("set_probe_deployed", current_position);
  1777. SERIAL_ECHOPAIR("deploy: ", deploy);
  1778. SERIAL_EOL;
  1779. }
  1780. #endif
  1781. if (endstops.z_probe_enabled == deploy) return false;
  1782. // Make room for probe
  1783. do_probe_raise(_Z_RAISE_PROBE_DEPLOY_STOW);
  1784. #if ENABLED(Z_PROBE_SLED)
  1785. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1786. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1787. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1788. #endif
  1789. float oldXpos = current_position[X_AXIS]; // save x position
  1790. float oldYpos = current_position[Y_AXIS]; // save y position
  1791. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1792. // If endstop is already false, the Z probe is deployed
  1793. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1794. // Would a goto be less ugly?
  1795. //while (!_TRIGGERED_WHEN_STOWED_TEST) { idle(); // would offer the opportunity
  1796. // for a triggered when stowed manual probe.
  1797. #endif
  1798. #if ENABLED(Z_PROBE_SLED)
  1799. dock_sled(!deploy);
  1800. #elif HAS_Z_SERVO_ENDSTOP
  1801. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[((deploy) ? 0 : 1)]);
  1802. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1803. if (!deploy) run_stow_moves_script();
  1804. else run_deploy_moves_script();
  1805. #else
  1806. // Nothing to be done. Just enable_z_probe below...
  1807. #endif
  1808. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1809. }; // opened before the probe specific actions
  1810. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {
  1811. if (IsRunning()) {
  1812. SERIAL_ERROR_START;
  1813. SERIAL_ERRORLNPGM("Z-Probe failed");
  1814. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1815. }
  1816. stop();
  1817. return true;
  1818. }
  1819. #endif
  1820. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1821. endstops.enable_z_probe( deploy );
  1822. return false;
  1823. }
  1824. #if ENABLED(DELTA)
  1825. #define SET_Z_FROM_STEPPERS() set_current_from_steppers()
  1826. #else
  1827. #define SET_Z_FROM_STEPPERS() current_position[Z_AXIS] = LOGICAL_POSITION(stepper.get_axis_position_mm(Z_AXIS), Z_AXIS)
  1828. #endif
  1829. // Do a single Z probe and return with current_position[Z_AXIS]
  1830. // at the height where the probe triggered.
  1831. static float run_z_probe() {
  1832. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1833. refresh_cmd_timeout();
  1834. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1835. planner.bed_level_matrix.set_to_identity();
  1836. #endif
  1837. #if ENABLED(DELTA)
  1838. float z_before = current_position[Z_AXIS], // Current Z
  1839. z_mm = stepper.get_axis_position_mm(Z_AXIS); // Some tower's current position
  1840. #endif
  1841. do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
  1842. endstops.hit_on_purpose();
  1843. SET_Z_FROM_STEPPERS();
  1844. SYNC_PLAN_POSITION_KINEMATIC();
  1845. // move up the retract distance
  1846. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST);
  1847. #if ENABLED(DELTA)
  1848. z_before = current_position[Z_AXIS];
  1849. z_mm = stepper.get_axis_position_mm(Z_AXIS);
  1850. #endif
  1851. // move back down slowly to find bed
  1852. do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
  1853. endstops.hit_on_purpose();
  1854. SET_Z_FROM_STEPPERS();
  1855. SYNC_PLAN_POSITION_KINEMATIC();
  1856. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1857. if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
  1858. #endif
  1859. return current_position[Z_AXIS];
  1860. }
  1861. //
  1862. // - Move to the given XY
  1863. // - Deploy the probe, if not already deployed
  1864. // - Probe the bed, get the Z position
  1865. // - Depending on the 'stow' flag
  1866. // - Stow the probe, or
  1867. // - Raise to the BETWEEN height
  1868. // - Return the probed Z position
  1869. //
  1870. static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) {
  1871. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1872. if (DEBUGGING(LEVELING)) {
  1873. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1874. SERIAL_ECHOPAIR(", ", y);
  1875. SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
  1876. SERIAL_ECHOLNPGM(")");
  1877. DEBUG_POS("", current_position);
  1878. }
  1879. #endif
  1880. float old_feedrate_mm_m = feedrate_mm_m;
  1881. // Ensure a minimum height before moving the probe
  1882. do_probe_raise(Z_RAISE_BETWEEN_PROBINGS);
  1883. // Move to the XY where we shall probe
  1884. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1885. if (DEBUGGING(LEVELING)) {
  1886. SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
  1887. SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1888. SERIAL_ECHOLNPGM(")");
  1889. }
  1890. #endif
  1891. feedrate_mm_m = XY_PROBE_FEEDRATE_MM_M;
  1892. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1893. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1894. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  1895. #endif
  1896. if (DEPLOY_PROBE()) return NAN;
  1897. float measured_z = run_z_probe();
  1898. if (stow) {
  1899. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1900. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  1901. #endif
  1902. if (STOW_PROBE()) return NAN;
  1903. }
  1904. else {
  1905. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1906. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> do_probe_raise");
  1907. #endif
  1908. do_probe_raise(Z_RAISE_BETWEEN_PROBINGS);
  1909. }
  1910. if (verbose_level > 2) {
  1911. SERIAL_PROTOCOLPGM("Bed X: ");
  1912. SERIAL_PROTOCOL_F(x, 3);
  1913. SERIAL_PROTOCOLPGM(" Y: ");
  1914. SERIAL_PROTOCOL_F(y, 3);
  1915. SERIAL_PROTOCOLPGM(" Z: ");
  1916. SERIAL_PROTOCOL_F(measured_z, 3);
  1917. SERIAL_EOL;
  1918. }
  1919. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1920. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1921. #endif
  1922. feedrate_mm_m = old_feedrate_mm_m;
  1923. return measured_z;
  1924. }
  1925. #endif // HAS_BED_PROBE
  1926. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1927. #if ENABLED(AUTO_BED_LEVELING_GRID)
  1928. #if DISABLED(DELTA)
  1929. static void set_bed_level_equation_lsq(double* plane_equation_coefficients) {
  1930. //planner.bed_level_matrix.debug("bed level before");
  1931. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1932. planner.bed_level_matrix.set_to_identity();
  1933. if (DEBUGGING(LEVELING)) {
  1934. vector_3 uncorrected_position = planner.adjusted_position();
  1935. DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
  1936. DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
  1937. }
  1938. #endif
  1939. vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
  1940. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1941. vector_3 corrected_position = planner.adjusted_position();
  1942. current_position[X_AXIS] = corrected_position.x;
  1943. current_position[Y_AXIS] = corrected_position.y;
  1944. current_position[Z_AXIS] = corrected_position.z;
  1945. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1946. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
  1947. #endif
  1948. SYNC_PLAN_POSITION_KINEMATIC();
  1949. }
  1950. #endif // !DELTA
  1951. #else // !AUTO_BED_LEVELING_GRID
  1952. static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
  1953. planner.bed_level_matrix.set_to_identity();
  1954. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1955. if (DEBUGGING(LEVELING)) {
  1956. vector_3 uncorrected_position = planner.adjusted_position();
  1957. DEBUG_POS("set_bed_level_equation_3pts", uncorrected_position);
  1958. }
  1959. #endif
  1960. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
  1961. vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
  1962. vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  1963. vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
  1964. if (planeNormal.z < 0) {
  1965. planeNormal.x = -planeNormal.x;
  1966. planeNormal.y = -planeNormal.y;
  1967. planeNormal.z = -planeNormal.z;
  1968. }
  1969. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  1970. vector_3 corrected_position = planner.adjusted_position();
  1971. current_position[X_AXIS] = corrected_position.x;
  1972. current_position[Y_AXIS] = corrected_position.y;
  1973. current_position[Z_AXIS] = corrected_position.z;
  1974. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1975. if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
  1976. #endif
  1977. SYNC_PLAN_POSITION_KINEMATIC();
  1978. }
  1979. #endif // !AUTO_BED_LEVELING_GRID
  1980. #if ENABLED(DELTA)
  1981. /**
  1982. * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
  1983. */
  1984. static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
  1985. if (bed_level[x][y] != 0.0) {
  1986. return; // Don't overwrite good values.
  1987. }
  1988. float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
  1989. float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
  1990. float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
  1991. float median = c; // Median is robust (ignores outliers).
  1992. if (a < b) {
  1993. if (b < c) median = b;
  1994. if (c < a) median = a;
  1995. }
  1996. else { // b <= a
  1997. if (c < b) median = b;
  1998. if (a < c) median = a;
  1999. }
  2000. bed_level[x][y] = median;
  2001. }
  2002. /**
  2003. * Fill in the unprobed points (corners of circular print surface)
  2004. * using linear extrapolation, away from the center.
  2005. */
  2006. static void extrapolate_unprobed_bed_level() {
  2007. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  2008. for (int y = 0; y <= half; y++) {
  2009. for (int x = 0; x <= half; x++) {
  2010. if (x + y < 3) continue;
  2011. extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
  2012. extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
  2013. extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
  2014. extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
  2015. }
  2016. }
  2017. }
  2018. /**
  2019. * Print calibration results for plotting or manual frame adjustment.
  2020. */
  2021. static void print_bed_level() {
  2022. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  2023. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  2024. SERIAL_PROTOCOL_F(bed_level[x][y], 2);
  2025. SERIAL_PROTOCOLCHAR(' ');
  2026. }
  2027. SERIAL_EOL;
  2028. }
  2029. }
  2030. /**
  2031. * Reset calibration results to zero.
  2032. */
  2033. void reset_bed_level() {
  2034. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2035. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2036. #endif
  2037. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  2038. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  2039. bed_level[x][y] = 0.0;
  2040. }
  2041. }
  2042. }
  2043. #endif // DELTA
  2044. #endif // AUTO_BED_LEVELING_FEATURE
  2045. /**
  2046. * Home an individual axis
  2047. */
  2048. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2049. static void homeaxis(AxisEnum axis) {
  2050. #define HOMEAXIS_DO(LETTER) \
  2051. ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
  2052. if (!(axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0)) return;
  2053. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2054. if (DEBUGGING(LEVELING)) {
  2055. SERIAL_ECHOPAIR(">>> homeaxis(", axis);
  2056. SERIAL_ECHOLNPGM(")");
  2057. }
  2058. #endif
  2059. int axis_home_dir =
  2060. #if ENABLED(DUAL_X_CARRIAGE)
  2061. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2062. #endif
  2063. home_dir(axis);
  2064. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2065. #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
  2066. if (axis == Z_AXIS && axis_home_dir < 0) {
  2067. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2068. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  2069. #endif
  2070. if (DEPLOY_PROBE()) return;
  2071. }
  2072. #endif
  2073. // Set the axis position as setup for the move
  2074. current_position[axis] = 0;
  2075. sync_plan_position();
  2076. // Set a flag for Z motor locking
  2077. #if ENABLED(Z_DUAL_ENDSTOPS)
  2078. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2079. #endif
  2080. // Move towards the endstop until an endstop is triggered
  2081. line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
  2082. // Set the axis position as setup for the move
  2083. current_position[axis] = 0;
  2084. sync_plan_position();
  2085. // Move away from the endstop by the axis HOME_BUMP_MM
  2086. line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
  2087. // Move slowly towards the endstop until triggered
  2088. line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
  2089. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2090. if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
  2091. #endif
  2092. #if ENABLED(Z_DUAL_ENDSTOPS)
  2093. if (axis == Z_AXIS) {
  2094. float adj = fabs(z_endstop_adj);
  2095. bool lockZ1;
  2096. if (axis_home_dir > 0) {
  2097. adj = -adj;
  2098. lockZ1 = (z_endstop_adj > 0);
  2099. }
  2100. else
  2101. lockZ1 = (z_endstop_adj < 0);
  2102. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2103. sync_plan_position();
  2104. // Move to the adjusted endstop height
  2105. line_to_axis_pos(axis, adj);
  2106. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2107. stepper.set_homing_flag(false);
  2108. } // Z_AXIS
  2109. #endif
  2110. #if ENABLED(DELTA)
  2111. // retrace by the amount specified in endstop_adj
  2112. if (endstop_adj[axis] * axis_home_dir < 0) {
  2113. sync_plan_position();
  2114. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2115. if (DEBUGGING(LEVELING)) {
  2116. SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
  2117. DEBUG_POS("", current_position);
  2118. }
  2119. #endif
  2120. line_to_axis_pos(axis, endstop_adj[axis]);
  2121. }
  2122. #endif
  2123. // Set the axis position to its home position (plus home offsets)
  2124. set_axis_is_at_home(axis);
  2125. SYNC_PLAN_POSITION_KINEMATIC();
  2126. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2127. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2128. #endif
  2129. destination[axis] = current_position[axis];
  2130. endstops.hit_on_purpose(); // clear endstop hit flags
  2131. axis_known_position[axis] = true;
  2132. axis_homed[axis] = true;
  2133. // Put away the Z probe
  2134. #if HAS_BED_PROBE && DISABLED(Z_MIN_PROBE_ENDSTOP)
  2135. if (axis == Z_AXIS && axis_home_dir < 0) {
  2136. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2137. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  2138. #endif
  2139. if (STOW_PROBE()) return;
  2140. }
  2141. #endif
  2142. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2143. if (DEBUGGING(LEVELING)) {
  2144. SERIAL_ECHOPAIR("<<< homeaxis(", axis);
  2145. SERIAL_ECHOLNPGM(")");
  2146. }
  2147. #endif
  2148. }
  2149. #if ENABLED(FWRETRACT)
  2150. void retract(bool retracting, bool swapping = false) {
  2151. if (retracting == retracted[active_extruder]) return;
  2152. float old_feedrate_mm_m = feedrate_mm_m;
  2153. set_destination_to_current();
  2154. if (retracting) {
  2155. feedrate_mm_m = MMS_TO_MMM(retract_feedrate_mm_s);
  2156. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2157. sync_plan_position_e();
  2158. prepare_move_to_destination();
  2159. if (retract_zlift > 0.01) {
  2160. current_position[Z_AXIS] -= retract_zlift;
  2161. SYNC_PLAN_POSITION_KINEMATIC();
  2162. prepare_move_to_destination();
  2163. }
  2164. }
  2165. else {
  2166. if (retract_zlift > 0.01) {
  2167. current_position[Z_AXIS] += retract_zlift;
  2168. SYNC_PLAN_POSITION_KINEMATIC();
  2169. }
  2170. feedrate_mm_m = MMM_TO_MMS(retract_recover_feedrate_mm_s);
  2171. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2172. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2173. sync_plan_position_e();
  2174. prepare_move_to_destination();
  2175. }
  2176. feedrate_mm_m = old_feedrate_mm_m;
  2177. retracted[active_extruder] = retracting;
  2178. } // retract()
  2179. #endif // FWRETRACT
  2180. #if ENABLED(MIXING_EXTRUDER)
  2181. void normalize_mix() {
  2182. float mix_total = 0.0;
  2183. for (int i = 0; i < MIXING_STEPPERS; i++) {
  2184. float v = mixing_factor[i];
  2185. if (v < 0) v = mixing_factor[i] = 0;
  2186. mix_total += v;
  2187. }
  2188. // Scale all values if they don't add up to ~1.0
  2189. if (mix_total < 0.9999 || mix_total > 1.0001) {
  2190. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2191. float mix_scale = 1.0 / mix_total;
  2192. for (int i = 0; i < MIXING_STEPPERS; i++)
  2193. mixing_factor[i] *= mix_scale;
  2194. }
  2195. }
  2196. #if ENABLED(DIRECT_MIXING_IN_G1)
  2197. // Get mixing parameters from the GCode
  2198. // Factors that are left out are set to 0
  2199. // The total "must" be 1.0 (but it will be normalized)
  2200. void gcode_get_mix() {
  2201. const char* mixing_codes = "ABCDHI";
  2202. for (int i = 0; i < MIXING_STEPPERS; i++)
  2203. mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
  2204. normalize_mix();
  2205. }
  2206. #endif
  2207. #endif
  2208. /**
  2209. * ***************************************************************************
  2210. * ***************************** G-CODE HANDLING *****************************
  2211. * ***************************************************************************
  2212. */
  2213. /**
  2214. * Set XYZE destination and feedrate from the current GCode command
  2215. *
  2216. * - Set destination from included axis codes
  2217. * - Set to current for missing axis codes
  2218. * - Set the feedrate, if included
  2219. */
  2220. void gcode_get_destination() {
  2221. for (int i = 0; i < NUM_AXIS; i++) {
  2222. if (code_seen(axis_codes[i]))
  2223. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2224. else
  2225. destination[i] = current_position[i];
  2226. }
  2227. if (code_seen('F') && code_value_linear_units() > 0.0)
  2228. feedrate_mm_m = code_value_linear_units();
  2229. #if ENABLED(PRINTCOUNTER)
  2230. if (!DEBUGGING(DRYRUN))
  2231. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2232. #endif
  2233. // Get ABCDHI mixing factors
  2234. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2235. gcode_get_mix();
  2236. #endif
  2237. }
  2238. void unknown_command_error() {
  2239. SERIAL_ECHO_START;
  2240. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  2241. SERIAL_ECHO(current_command);
  2242. SERIAL_ECHOLNPGM("\"");
  2243. }
  2244. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2245. /**
  2246. * Output a "busy" message at regular intervals
  2247. * while the machine is not accepting commands.
  2248. */
  2249. void host_keepalive() {
  2250. millis_t ms = millis();
  2251. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2252. if (PENDING(ms, next_busy_signal_ms)) return;
  2253. switch (busy_state) {
  2254. case IN_HANDLER:
  2255. case IN_PROCESS:
  2256. SERIAL_ECHO_START;
  2257. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2258. break;
  2259. case PAUSED_FOR_USER:
  2260. SERIAL_ECHO_START;
  2261. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2262. break;
  2263. case PAUSED_FOR_INPUT:
  2264. SERIAL_ECHO_START;
  2265. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2266. break;
  2267. default:
  2268. break;
  2269. }
  2270. }
  2271. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2272. }
  2273. #endif //HOST_KEEPALIVE_FEATURE
  2274. /**
  2275. * G0, G1: Coordinated movement of X Y Z E axes
  2276. */
  2277. inline void gcode_G0_G1() {
  2278. if (IsRunning()) {
  2279. gcode_get_destination(); // For X Y Z E F
  2280. #if ENABLED(FWRETRACT)
  2281. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2282. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2283. // Is this move an attempt to retract or recover?
  2284. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2285. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2286. sync_plan_position_e(); // AND from the planner
  2287. retract(!retracted[active_extruder]);
  2288. return;
  2289. }
  2290. }
  2291. #endif //FWRETRACT
  2292. prepare_move_to_destination();
  2293. }
  2294. }
  2295. /**
  2296. * G2: Clockwise Arc
  2297. * G3: Counterclockwise Arc
  2298. */
  2299. #if ENABLED(ARC_SUPPORT)
  2300. inline void gcode_G2_G3(bool clockwise) {
  2301. if (IsRunning()) {
  2302. #if ENABLED(SF_ARC_FIX)
  2303. bool relative_mode_backup = relative_mode;
  2304. relative_mode = true;
  2305. #endif
  2306. gcode_get_destination();
  2307. #if ENABLED(SF_ARC_FIX)
  2308. relative_mode = relative_mode_backup;
  2309. #endif
  2310. // Center of arc as offset from current_position
  2311. float arc_offset[2] = {
  2312. code_seen('I') ? code_value_axis_units(X_AXIS) : 0,
  2313. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0
  2314. };
  2315. // Send an arc to the planner
  2316. plan_arc(destination, arc_offset, clockwise);
  2317. refresh_cmd_timeout();
  2318. }
  2319. }
  2320. #endif
  2321. /**
  2322. * G4: Dwell S<seconds> or P<milliseconds>
  2323. */
  2324. inline void gcode_G4() {
  2325. millis_t dwell_ms = 0;
  2326. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2327. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2328. stepper.synchronize();
  2329. refresh_cmd_timeout();
  2330. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2331. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2332. while (PENDING(millis(), dwell_ms)) idle();
  2333. }
  2334. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2335. /**
  2336. * Parameters interpreted according to:
  2337. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2338. * However I, J omission is not supported at this point; all
  2339. * parameters can be omitted and default to zero.
  2340. */
  2341. /**
  2342. * G5: Cubic B-spline
  2343. */
  2344. inline void gcode_G5() {
  2345. if (IsRunning()) {
  2346. gcode_get_destination();
  2347. float offset[] = {
  2348. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2349. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2350. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2351. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2352. };
  2353. plan_cubic_move(offset);
  2354. }
  2355. }
  2356. #endif // BEZIER_CURVE_SUPPORT
  2357. #if ENABLED(FWRETRACT)
  2358. /**
  2359. * G10 - Retract filament according to settings of M207
  2360. * G11 - Recover filament according to settings of M208
  2361. */
  2362. inline void gcode_G10_G11(bool doRetract=false) {
  2363. #if EXTRUDERS > 1
  2364. if (doRetract) {
  2365. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2366. }
  2367. #endif
  2368. retract(doRetract
  2369. #if EXTRUDERS > 1
  2370. , retracted_swap[active_extruder]
  2371. #endif
  2372. );
  2373. }
  2374. #endif //FWRETRACT
  2375. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2376. /**
  2377. * G12: Clean the nozzle
  2378. */
  2379. inline void gcode_G12() {
  2380. // Don't allow nozzle cleaning without homing first
  2381. if (axis_unhomed_error(true, true, true)) { return; }
  2382. uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
  2383. uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
  2384. uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  2385. Nozzle::clean(pattern, strokes, objects);
  2386. }
  2387. #endif
  2388. #if ENABLED(INCH_MODE_SUPPORT)
  2389. /**
  2390. * G20: Set input mode to inches
  2391. */
  2392. inline void gcode_G20() {
  2393. set_input_linear_units(LINEARUNIT_INCH);
  2394. }
  2395. /**
  2396. * G21: Set input mode to millimeters
  2397. */
  2398. inline void gcode_G21() {
  2399. set_input_linear_units(LINEARUNIT_MM);
  2400. }
  2401. #endif
  2402. #if ENABLED(NOZZLE_PARK_FEATURE)
  2403. /**
  2404. * G27: Park the nozzle
  2405. */
  2406. inline void gcode_G27() {
  2407. // Don't allow nozzle parking without homing first
  2408. if (axis_unhomed_error(true, true, true)) { return; }
  2409. uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
  2410. Nozzle::park(z_action);
  2411. }
  2412. #endif // NOZZLE_PARK_FEATURE
  2413. #if ENABLED(QUICK_HOME)
  2414. static void quick_home_xy() {
  2415. // Pretend the current position is 0,0
  2416. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2417. sync_plan_position();
  2418. int x_axis_home_dir =
  2419. #if ENABLED(DUAL_X_CARRIAGE)
  2420. x_home_dir(active_extruder)
  2421. #else
  2422. home_dir(X_AXIS)
  2423. #endif
  2424. ;
  2425. float mlx = max_length(X_AXIS),
  2426. mly = max_length(Y_AXIS),
  2427. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2428. fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2429. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
  2430. endstops.hit_on_purpose(); // clear endstop hit flags
  2431. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2432. }
  2433. #endif // QUICK_HOME
  2434. /**
  2435. * G28: Home all axes according to settings
  2436. *
  2437. * Parameters
  2438. *
  2439. * None Home to all axes with no parameters.
  2440. * With QUICK_HOME enabled XY will home together, then Z.
  2441. *
  2442. * Cartesian parameters
  2443. *
  2444. * X Home to the X endstop
  2445. * Y Home to the Y endstop
  2446. * Z Home to the Z endstop
  2447. *
  2448. */
  2449. inline void gcode_G28() {
  2450. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2451. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(">>> gcode_G28");
  2452. #endif
  2453. // Wait for planner moves to finish!
  2454. stepper.synchronize();
  2455. // For auto bed leveling, clear the level matrix
  2456. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  2457. planner.bed_level_matrix.set_to_identity();
  2458. #if ENABLED(DELTA)
  2459. reset_bed_level();
  2460. #endif
  2461. #endif
  2462. // Always home with tool 0 active
  2463. #if HOTENDS > 1
  2464. uint8_t old_tool_index = active_extruder;
  2465. tool_change(0, 0, true);
  2466. #endif
  2467. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2468. extruder_duplication_enabled = false;
  2469. #endif
  2470. /**
  2471. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2472. * on again when homing all axis
  2473. */
  2474. #if ENABLED(MESH_BED_LEVELING)
  2475. float pre_home_z = MESH_HOME_SEARCH_Z;
  2476. if (mbl.active()) {
  2477. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2478. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2479. #endif
  2480. // Save known Z position if already homed
  2481. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2482. pre_home_z = current_position[Z_AXIS];
  2483. pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2484. }
  2485. mbl.set_active(false);
  2486. current_position[Z_AXIS] = pre_home_z;
  2487. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2488. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2489. #endif
  2490. }
  2491. #endif
  2492. setup_for_endstop_or_probe_move();
  2493. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2494. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  2495. #endif
  2496. endstops.enable(true); // Enable endstops for next homing move
  2497. #if ENABLED(DELTA)
  2498. /**
  2499. * A delta can only safely home all axes at the same time
  2500. */
  2501. // Pretend the current position is 0,0,0
  2502. // This is like quick_home_xy() but for 3 towers.
  2503. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
  2504. sync_plan_position();
  2505. // Move all carriages up together until the first endstop is hit.
  2506. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
  2507. feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
  2508. line_to_current_position();
  2509. stepper.synchronize();
  2510. endstops.hit_on_purpose(); // clear endstop hit flags
  2511. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
  2512. // take care of back off and rehome. Now one carriage is at the top.
  2513. HOMEAXIS(X);
  2514. HOMEAXIS(Y);
  2515. HOMEAXIS(Z);
  2516. SYNC_PLAN_POSITION_KINEMATIC();
  2517. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2518. if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
  2519. #endif
  2520. #else // NOT DELTA
  2521. bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  2522. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2523. set_destination_to_current();
  2524. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2525. if (home_all_axis || homeZ) {
  2526. HOMEAXIS(Z);
  2527. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2528. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2529. #endif
  2530. }
  2531. #else
  2532. if (home_all_axis || homeX || homeY) {
  2533. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2534. destination[Z_AXIS] = LOGICAL_POSITION(MIN_Z_HEIGHT_FOR_HOMING, Z_AXIS);
  2535. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  2536. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2537. if (DEBUGGING(LEVELING)) {
  2538. SERIAL_ECHOPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  2539. SERIAL_EOL;
  2540. }
  2541. #endif
  2542. do_blocking_move_to_z(destination[Z_AXIS]);
  2543. }
  2544. }
  2545. #endif
  2546. #if ENABLED(QUICK_HOME)
  2547. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  2548. #endif
  2549. #if ENABLED(HOME_Y_BEFORE_X)
  2550. // Home Y
  2551. if (home_all_axis || homeY) {
  2552. HOMEAXIS(Y);
  2553. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2554. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2555. #endif
  2556. }
  2557. #endif
  2558. // Home X
  2559. if (home_all_axis || homeX) {
  2560. #if ENABLED(DUAL_X_CARRIAGE)
  2561. int tmp_extruder = active_extruder;
  2562. active_extruder = !active_extruder;
  2563. HOMEAXIS(X);
  2564. inactive_extruder_x_pos = current_position[X_AXIS];
  2565. active_extruder = tmp_extruder;
  2566. HOMEAXIS(X);
  2567. // reset state used by the different modes
  2568. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2569. delayed_move_time = 0;
  2570. active_extruder_parked = true;
  2571. #else
  2572. HOMEAXIS(X);
  2573. #endif
  2574. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2575. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2576. #endif
  2577. }
  2578. #if DISABLED(HOME_Y_BEFORE_X)
  2579. // Home Y
  2580. if (home_all_axis || homeY) {
  2581. HOMEAXIS(Y);
  2582. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2583. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2584. #endif
  2585. }
  2586. #endif
  2587. // Home Z last if homing towards the bed
  2588. #if Z_HOME_DIR < 0
  2589. if (home_all_axis || homeZ) {
  2590. #if ENABLED(Z_SAFE_HOMING)
  2591. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2592. if (DEBUGGING(LEVELING)) {
  2593. SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
  2594. }
  2595. #endif
  2596. if (home_all_axis) {
  2597. /**
  2598. * At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
  2599. * No need to move Z any more as this height should already be safe
  2600. * enough to reach Z_SAFE_HOMING XY positions.
  2601. * Just make sure the planner is in sync.
  2602. */
  2603. SYNC_PLAN_POSITION_KINEMATIC();
  2604. /**
  2605. * Set the Z probe (or just the nozzle) destination to the safe
  2606. * homing point
  2607. */
  2608. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
  2609. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  2610. destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
  2611. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2612. if (DEBUGGING(LEVELING)) {
  2613. DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", current_position);
  2614. DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
  2615. }
  2616. #endif
  2617. // Move in the XY plane
  2618. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2619. }
  2620. // Let's see if X and Y are homed
  2621. if (axis_unhomed_error(true, true, false)) return;
  2622. /**
  2623. * Make sure the Z probe is within the physical limits
  2624. * NOTE: This doesn't necessarily ensure the Z probe is also
  2625. * within the bed!
  2626. */
  2627. float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
  2628. if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2629. && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2630. && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
  2631. && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
  2632. // Home the Z axis
  2633. HOMEAXIS(Z);
  2634. }
  2635. else {
  2636. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2637. SERIAL_ECHO_START;
  2638. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2639. }
  2640. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2641. if (DEBUGGING(LEVELING)) {
  2642. SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2643. }
  2644. #endif
  2645. #else // !Z_SAFE_HOMING
  2646. HOMEAXIS(Z);
  2647. #endif // !Z_SAFE_HOMING
  2648. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2649. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2650. #endif
  2651. } // home_all_axis || homeZ
  2652. #endif // Z_HOME_DIR < 0
  2653. SYNC_PLAN_POSITION_KINEMATIC();
  2654. #endif // !DELTA (gcode_G28)
  2655. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2656. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.not_homing()");
  2657. #endif
  2658. endstops.not_homing();
  2659. endstops.hit_on_purpose(); // clear endstop hit flags
  2660. // Enable mesh leveling again
  2661. #if ENABLED(MESH_BED_LEVELING)
  2662. if (mbl.has_mesh()) {
  2663. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2664. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  2665. #endif
  2666. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  2667. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2668. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  2669. #endif
  2670. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2671. #if Z_HOME_DIR > 0
  2672. + Z_MAX_POS
  2673. #endif
  2674. ;
  2675. SYNC_PLAN_POSITION_KINEMATIC();
  2676. mbl.set_active(true);
  2677. #if ENABLED(MESH_G28_REST_ORIGIN)
  2678. current_position[Z_AXIS] = 0.0;
  2679. set_destination_to_current();
  2680. feedrate_mm_m = homing_feedrate_mm_m[Z_AXIS];
  2681. line_to_destination();
  2682. stepper.synchronize();
  2683. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2684. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  2685. #endif
  2686. #else
  2687. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
  2688. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
  2689. #if Z_HOME_DIR > 0
  2690. + Z_MAX_POS
  2691. #endif
  2692. ;
  2693. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2694. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  2695. #endif
  2696. #endif
  2697. }
  2698. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  2699. current_position[Z_AXIS] = pre_home_z;
  2700. SYNC_PLAN_POSITION_KINEMATIC();
  2701. mbl.set_active(true);
  2702. current_position[Z_AXIS] = pre_home_z -
  2703. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2704. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2705. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  2706. #endif
  2707. }
  2708. }
  2709. #endif
  2710. #if ENABLED(DELTA)
  2711. // move to a height where we can use the full xy-area
  2712. do_blocking_move_to_z(delta_clip_start_height);
  2713. #endif
  2714. clean_up_after_endstop_or_probe_move();
  2715. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2716. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  2717. #endif
  2718. // Restore the active tool after homing
  2719. #if HOTENDS > 1
  2720. tool_change(old_tool_index, 0, true);
  2721. #endif
  2722. report_current_position();
  2723. }
  2724. #if HAS_PROBING_PROCEDURE
  2725. void out_of_range_error(const char* p_edge) {
  2726. SERIAL_PROTOCOLPGM("?Probe ");
  2727. serialprintPGM(p_edge);
  2728. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2729. }
  2730. #endif
  2731. #if ENABLED(MESH_BED_LEVELING)
  2732. inline void _mbl_goto_xy(float x, float y) {
  2733. float old_feedrate_mm_m = feedrate_mm_m;
  2734. feedrate_mm_m = homing_feedrate_mm_m[X_AXIS];
  2735. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2736. #if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING
  2737. + Z_RAISE_BETWEEN_PROBINGS
  2738. #elif MIN_Z_HEIGHT_FOR_HOMING > 0
  2739. + MIN_Z_HEIGHT_FOR_HOMING
  2740. #endif
  2741. ;
  2742. line_to_current_position();
  2743. current_position[X_AXIS] = LOGICAL_POSITION(x, X_AXIS);
  2744. current_position[Y_AXIS] = LOGICAL_POSITION(y, Y_AXIS);
  2745. line_to_current_position();
  2746. #if Z_RAISE_BETWEEN_PROBINGS > 0 || MIN_Z_HEIGHT_FOR_HOMING > 0
  2747. current_position[Z_AXIS] = LOGICAL_POSITION(MESH_HOME_SEARCH_Z, Z_AXIS);
  2748. line_to_current_position();
  2749. #endif
  2750. feedrate_mm_m = old_feedrate_mm_m;
  2751. stepper.synchronize();
  2752. }
  2753. /**
  2754. * G29: Mesh-based Z probe, probes a grid and produces a
  2755. * mesh to compensate for variable bed height
  2756. *
  2757. * Parameters With MESH_BED_LEVELING:
  2758. *
  2759. * S0 Produce a mesh report
  2760. * S1 Start probing mesh points
  2761. * S2 Probe the next mesh point
  2762. * S3 Xn Yn Zn.nn Manually modify a single point
  2763. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2764. * S5 Reset and disable mesh
  2765. *
  2766. * The S0 report the points as below
  2767. *
  2768. * +----> X-axis 1-n
  2769. * |
  2770. * |
  2771. * v Y-axis 1-n
  2772. *
  2773. */
  2774. inline void gcode_G29() {
  2775. static int probe_point = -1;
  2776. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  2777. if (state < 0 || state > 5) {
  2778. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  2779. return;
  2780. }
  2781. int8_t px, py;
  2782. switch (state) {
  2783. case MeshReport:
  2784. if (mbl.has_mesh()) {
  2785. SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? "On" : "Off");
  2786. SERIAL_PROTOCOLPAIR("\nNum X,Y: ", MESH_NUM_X_POINTS);
  2787. SERIAL_PROTOCOLCHAR(','); SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
  2788. SERIAL_PROTOCOLPAIR("\nZ search height: ", MESH_HOME_SEARCH_Z);
  2789. SERIAL_PROTOCOLPGM("\nZ offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  2790. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2791. for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
  2792. for (px = 0; px < MESH_NUM_X_POINTS; px++) {
  2793. SERIAL_PROTOCOLPGM(" ");
  2794. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  2795. }
  2796. SERIAL_EOL;
  2797. }
  2798. }
  2799. else
  2800. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2801. break;
  2802. case MeshStart:
  2803. mbl.reset();
  2804. probe_point = 0;
  2805. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  2806. break;
  2807. case MeshNext:
  2808. if (probe_point < 0) {
  2809. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  2810. return;
  2811. }
  2812. // For each G29 S2...
  2813. if (probe_point == 0) {
  2814. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  2815. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2816. #if Z_HOME_DIR > 0
  2817. + Z_MAX_POS
  2818. #endif
  2819. ;
  2820. SYNC_PLAN_POSITION_KINEMATIC();
  2821. }
  2822. else {
  2823. // For G29 S2 after adjusting Z.
  2824. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  2825. }
  2826. // If there's another point to sample, move there with optional lift.
  2827. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  2828. mbl.zigzag(probe_point, px, py);
  2829. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  2830. probe_point++;
  2831. }
  2832. else {
  2833. // One last "return to the bed" (as originally coded) at completion
  2834. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2835. #if Z_RAISE_BETWEEN_PROBINGS > MIN_Z_HEIGHT_FOR_HOMING
  2836. + Z_RAISE_BETWEEN_PROBINGS
  2837. #elif MIN_Z_HEIGHT_FOR_HOMING > 0
  2838. + MIN_Z_HEIGHT_FOR_HOMING
  2839. #endif
  2840. ;
  2841. line_to_current_position();
  2842. stepper.synchronize();
  2843. // After recording the last point, activate the mbl and home
  2844. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  2845. probe_point = -1;
  2846. mbl.set_has_mesh(true);
  2847. enqueue_and_echo_commands_P(PSTR("G28"));
  2848. }
  2849. break;
  2850. case MeshSet:
  2851. if (code_seen('X')) {
  2852. px = code_value_int() - 1;
  2853. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  2854. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  2855. return;
  2856. }
  2857. }
  2858. else {
  2859. SERIAL_PROTOCOLLNPGM("X not entered.");
  2860. return;
  2861. }
  2862. if (code_seen('Y')) {
  2863. py = code_value_int() - 1;
  2864. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  2865. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  2866. return;
  2867. }
  2868. }
  2869. else {
  2870. SERIAL_PROTOCOLLNPGM("Y not entered.");
  2871. return;
  2872. }
  2873. if (code_seen('Z')) {
  2874. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  2875. }
  2876. else {
  2877. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2878. return;
  2879. }
  2880. break;
  2881. case MeshSetZOffset:
  2882. if (code_seen('Z')) {
  2883. mbl.z_offset = code_value_axis_units(Z_AXIS);
  2884. }
  2885. else {
  2886. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2887. return;
  2888. }
  2889. break;
  2890. case MeshReset:
  2891. if (mbl.active()) {
  2892. current_position[Z_AXIS] +=
  2893. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
  2894. mbl.reset();
  2895. SYNC_PLAN_POSITION_KINEMATIC();
  2896. }
  2897. else
  2898. mbl.reset();
  2899. } // switch(state)
  2900. report_current_position();
  2901. }
  2902. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  2903. /**
  2904. * G29: Detailed Z probe, probes the bed at 3 or more points.
  2905. * Will fail if the printer has not been homed with G28.
  2906. *
  2907. * Enhanced G29 Auto Bed Leveling Probe Routine
  2908. *
  2909. * Parameters With AUTO_BED_LEVELING_GRID:
  2910. *
  2911. * P Set the size of the grid that will be probed (P x P points).
  2912. * Not supported by non-linear delta printer bed leveling.
  2913. * Example: "G29 P4"
  2914. *
  2915. * S Set the XY travel speed between probe points (in units/min)
  2916. *
  2917. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  2918. * or clean the rotation Matrix. Useful to check the topology
  2919. * after a first run of G29.
  2920. *
  2921. * V Set the verbose level (0-4). Example: "G29 V3"
  2922. *
  2923. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  2924. * This is useful for manual bed leveling and finding flaws in the bed (to
  2925. * assist with part placement).
  2926. * Not supported by non-linear delta printer bed leveling.
  2927. *
  2928. * F Set the Front limit of the probing grid
  2929. * B Set the Back limit of the probing grid
  2930. * L Set the Left limit of the probing grid
  2931. * R Set the Right limit of the probing grid
  2932. *
  2933. * Global Parameters:
  2934. *
  2935. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  2936. * Include "E" to engage/disengage the Z probe for each sample.
  2937. * There's no extra effect if you have a fixed Z probe.
  2938. * Usage: "G29 E" or "G29 e"
  2939. *
  2940. */
  2941. inline void gcode_G29() {
  2942. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2943. if (DEBUGGING(LEVELING)) {
  2944. SERIAL_ECHOLNPGM(">>> gcode_G29");
  2945. DEBUG_POS("", current_position);
  2946. }
  2947. #endif
  2948. // Don't allow auto-leveling without homing first
  2949. if (axis_unhomed_error(true, true, true)) return;
  2950. int verbose_level = code_seen('V') ? code_value_int() : 1;
  2951. if (verbose_level < 0 || verbose_level > 4) {
  2952. SERIAL_ECHOLNPGM("?(V)erbose Level is implausible (0-4).");
  2953. return;
  2954. }
  2955. bool dryrun = code_seen('D');
  2956. bool stow_probe_after_each = code_seen('E');
  2957. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2958. #if DISABLED(DELTA)
  2959. bool do_topography_map = verbose_level > 2 || code_seen('T');
  2960. #endif
  2961. if (verbose_level > 0) {
  2962. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  2963. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  2964. }
  2965. int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
  2966. #if DISABLED(DELTA)
  2967. if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
  2968. if (auto_bed_leveling_grid_points < 2) {
  2969. SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
  2970. return;
  2971. }
  2972. #endif
  2973. xy_probe_feedrate_mm_m = code_seen('S') ? (int)code_value_linear_units() : XY_PROBE_SPEED;
  2974. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LEFT_PROBE_BED_POSITION,
  2975. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : RIGHT_PROBE_BED_POSITION,
  2976. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : FRONT_PROBE_BED_POSITION,
  2977. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : BACK_PROBE_BED_POSITION;
  2978. bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
  2979. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  2980. right_out_r = right_probe_bed_position > MAX_PROBE_X,
  2981. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  2982. front_out_f = front_probe_bed_position < MIN_PROBE_Y,
  2983. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  2984. back_out_b = back_probe_bed_position > MAX_PROBE_Y,
  2985. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  2986. if (left_out || right_out || front_out || back_out) {
  2987. if (left_out) {
  2988. out_of_range_error(PSTR("(L)eft"));
  2989. left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
  2990. }
  2991. if (right_out) {
  2992. out_of_range_error(PSTR("(R)ight"));
  2993. right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
  2994. }
  2995. if (front_out) {
  2996. out_of_range_error(PSTR("(F)ront"));
  2997. front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
  2998. }
  2999. if (back_out) {
  3000. out_of_range_error(PSTR("(B)ack"));
  3001. back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
  3002. }
  3003. return;
  3004. }
  3005. #endif // AUTO_BED_LEVELING_GRID
  3006. if (!dryrun) {
  3007. #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(DELTA)
  3008. if (DEBUGGING(LEVELING)) {
  3009. vector_3 corrected_position = planner.adjusted_position();
  3010. DEBUG_POS("BEFORE matrix.set_to_identity", corrected_position);
  3011. DEBUG_POS("BEFORE matrix.set_to_identity", current_position);
  3012. }
  3013. #endif
  3014. // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
  3015. planner.bed_level_matrix.set_to_identity();
  3016. #if ENABLED(DELTA)
  3017. reset_bed_level();
  3018. #else //!DELTA
  3019. //vector_3 corrected_position = planner.adjusted_position();
  3020. //corrected_position.debug("position before G29");
  3021. vector_3 uncorrected_position = planner.adjusted_position();
  3022. //uncorrected_position.debug("position during G29");
  3023. current_position[X_AXIS] = uncorrected_position.x;
  3024. current_position[Y_AXIS] = uncorrected_position.y;
  3025. current_position[Z_AXIS] = uncorrected_position.z;
  3026. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3027. if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
  3028. #endif
  3029. SYNC_PLAN_POSITION_KINEMATIC();
  3030. #endif // !DELTA
  3031. }
  3032. stepper.synchronize();
  3033. setup_for_endstop_or_probe_move();
  3034. // Deploy the probe. Probe will raise if needed.
  3035. if (DEPLOY_PROBE()) return;
  3036. bed_leveling_in_progress = true;
  3037. #if ENABLED(AUTO_BED_LEVELING_GRID)
  3038. // probe at the points of a lattice grid
  3039. const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
  3040. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
  3041. #if ENABLED(DELTA)
  3042. delta_grid_spacing[0] = xGridSpacing;
  3043. delta_grid_spacing[1] = yGridSpacing;
  3044. float zoffset = zprobe_zoffset;
  3045. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  3046. #else // !DELTA
  3047. /**
  3048. * solve the plane equation ax + by + d = z
  3049. * A is the matrix with rows [x y 1] for all the probed points
  3050. * B is the vector of the Z positions
  3051. * the normal vector to the plane is formed by the coefficients of the
  3052. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3053. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3054. */
  3055. int abl2 = sq(auto_bed_leveling_grid_points);
  3056. double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  3057. eqnBVector[abl2], // "B" vector of Z points
  3058. mean = 0.0;
  3059. int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
  3060. #endif // !DELTA
  3061. int probePointCounter = 0;
  3062. bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
  3063. for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
  3064. double yProbe = front_probe_bed_position + yGridSpacing * yCount;
  3065. int xStart, xStop, xInc;
  3066. if (zig) {
  3067. xStart = 0;
  3068. xStop = auto_bed_leveling_grid_points;
  3069. xInc = 1;
  3070. }
  3071. else {
  3072. xStart = auto_bed_leveling_grid_points - 1;
  3073. xStop = -1;
  3074. xInc = -1;
  3075. }
  3076. zig = !zig;
  3077. for (int xCount = xStart; xCount != xStop; xCount += xInc) {
  3078. double xProbe = left_probe_bed_position + xGridSpacing * xCount;
  3079. #if ENABLED(DELTA)
  3080. // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
  3081. float distance_from_center = HYPOT(xProbe, yProbe);
  3082. if (distance_from_center > DELTA_PROBEABLE_RADIUS) continue;
  3083. #endif //DELTA
  3084. float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3085. #if DISABLED(DELTA)
  3086. mean += measured_z;
  3087. eqnBVector[probePointCounter] = measured_z;
  3088. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  3089. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  3090. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  3091. indexIntoAB[xCount][yCount] = probePointCounter;
  3092. #else
  3093. bed_level[xCount][yCount] = measured_z + zoffset;
  3094. #endif
  3095. probePointCounter++;
  3096. idle();
  3097. } //xProbe
  3098. } //yProbe
  3099. #else // !AUTO_BED_LEVELING_GRID
  3100. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3101. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3102. #endif
  3103. // Probe at 3 arbitrary points
  3104. float z_at_pt_1 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_1_X, X_AXIS),
  3105. LOGICAL_POSITION(ABL_PROBE_PT_1_Y, Y_AXIS),
  3106. stow_probe_after_each, verbose_level),
  3107. z_at_pt_2 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_2_X, X_AXIS),
  3108. LOGICAL_POSITION(ABL_PROBE_PT_2_Y, Y_AXIS),
  3109. stow_probe_after_each, verbose_level),
  3110. z_at_pt_3 = probe_pt( LOGICAL_POSITION(ABL_PROBE_PT_3_X, X_AXIS),
  3111. LOGICAL_POSITION(ABL_PROBE_PT_3_Y, Y_AXIS),
  3112. stow_probe_after_each, verbose_level);
  3113. if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
  3114. #endif // !AUTO_BED_LEVELING_GRID
  3115. // Raise to _Z_RAISE_PROBE_DEPLOY_STOW. Stow the probe.
  3116. if (STOW_PROBE()) return;
  3117. // Restore state after probing
  3118. clean_up_after_endstop_or_probe_move();
  3119. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3120. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3121. #endif
  3122. // Calculate leveling, print reports, correct the position
  3123. #if ENABLED(AUTO_BED_LEVELING_GRID)
  3124. #if ENABLED(DELTA)
  3125. if (!dryrun) extrapolate_unprobed_bed_level();
  3126. print_bed_level();
  3127. #else // !DELTA
  3128. // solve lsq problem
  3129. double plane_equation_coefficients[3];
  3130. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3131. mean /= abl2;
  3132. if (verbose_level) {
  3133. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3134. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3135. SERIAL_PROTOCOLPGM(" b: ");
  3136. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3137. SERIAL_PROTOCOLPGM(" d: ");
  3138. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3139. SERIAL_EOL;
  3140. if (verbose_level > 2) {
  3141. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3142. SERIAL_PROTOCOL_F(mean, 8);
  3143. SERIAL_EOL;
  3144. }
  3145. }
  3146. if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
  3147. // Show the Topography map if enabled
  3148. if (do_topography_map) {
  3149. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3150. " +--- BACK --+\n"
  3151. " | |\n"
  3152. " L | (+) | R\n"
  3153. " E | | I\n"
  3154. " F | (-) N (+) | G\n"
  3155. " T | | H\n"
  3156. " | (-) | T\n"
  3157. " | |\n"
  3158. " O-- FRONT --+\n"
  3159. " (0,0)");
  3160. float min_diff = 999;
  3161. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3162. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3163. int ind = indexIntoAB[xx][yy];
  3164. float diff = eqnBVector[ind] - mean;
  3165. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3166. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3167. z_tmp = 0;
  3168. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3169. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3170. if (diff >= 0.0)
  3171. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3172. else
  3173. SERIAL_PROTOCOLCHAR(' ');
  3174. SERIAL_PROTOCOL_F(diff, 5);
  3175. } // xx
  3176. SERIAL_EOL;
  3177. } // yy
  3178. SERIAL_EOL;
  3179. if (verbose_level > 3) {
  3180. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3181. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3182. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3183. int ind = indexIntoAB[xx][yy];
  3184. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3185. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3186. z_tmp = 0;
  3187. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3188. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3189. if (diff >= 0.0)
  3190. SERIAL_PROTOCOLPGM(" +");
  3191. // Include + for column alignment
  3192. else
  3193. SERIAL_PROTOCOLCHAR(' ');
  3194. SERIAL_PROTOCOL_F(diff, 5);
  3195. } // xx
  3196. SERIAL_EOL;
  3197. } // yy
  3198. SERIAL_EOL;
  3199. }
  3200. } //do_topography_map
  3201. #endif //!DELTA
  3202. #endif // AUTO_BED_LEVELING_GRID
  3203. #if DISABLED(DELTA)
  3204. if (verbose_level > 0)
  3205. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3206. if (!dryrun) {
  3207. /**
  3208. * Correct the Z height difference from Z probe position and nozzle tip position.
  3209. * The Z height on homing is measured by Z probe, but the Z probe is quite far
  3210. * from the nozzle. When the bed is uneven, this height must be corrected.
  3211. */
  3212. float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3213. y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3214. z_tmp = current_position[Z_AXIS],
  3215. stepper_z = stepper.get_axis_position_mm(Z_AXIS); //get the real Z (since planner.adjusted_position is now correcting the plane)
  3216. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3217. if (DEBUGGING(LEVELING)) {
  3218. SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > stepper_z = ", stepper_z);
  3219. SERIAL_ECHOPAIR(" ... z_tmp = ", z_tmp);
  3220. SERIAL_EOL;
  3221. }
  3222. #endif
  3223. // Apply the correction sending the Z probe offset
  3224. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3225. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3226. if (DEBUGGING(LEVELING)) {
  3227. SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
  3228. SERIAL_EOL;
  3229. }
  3230. #endif
  3231. // Adjust the current Z and send it to the planner.
  3232. current_position[Z_AXIS] += z_tmp - stepper_z;
  3233. SYNC_PLAN_POSITION_KINEMATIC();
  3234. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3235. if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
  3236. #endif
  3237. }
  3238. #endif // !DELTA
  3239. #ifdef Z_PROBE_END_SCRIPT
  3240. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3241. if (DEBUGGING(LEVELING)) {
  3242. SERIAL_ECHOPGM("Z Probe End Script: ");
  3243. SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
  3244. }
  3245. #endif
  3246. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3247. stepper.synchronize();
  3248. #endif
  3249. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3250. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3251. #endif
  3252. bed_leveling_in_progress = false;
  3253. report_current_position();
  3254. KEEPALIVE_STATE(IN_HANDLER);
  3255. }
  3256. #endif //AUTO_BED_LEVELING_FEATURE
  3257. #if HAS_BED_PROBE
  3258. /**
  3259. * G30: Do a single Z probe at the current XY
  3260. */
  3261. inline void gcode_G30() {
  3262. setup_for_endstop_or_probe_move();
  3263. // TODO: clear the leveling matrix or the planner will be set incorrectly
  3264. float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3265. current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3266. true, 1);
  3267. SERIAL_PROTOCOLPGM("Bed X: ");
  3268. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3269. SERIAL_PROTOCOLPGM(" Y: ");
  3270. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3271. SERIAL_PROTOCOLPGM(" Z: ");
  3272. SERIAL_PROTOCOL(measured_z + 0.0001);
  3273. SERIAL_EOL;
  3274. clean_up_after_endstop_or_probe_move();
  3275. report_current_position();
  3276. }
  3277. #if ENABLED(Z_PROBE_SLED)
  3278. /**
  3279. * G31: Deploy the Z probe
  3280. */
  3281. inline void gcode_G31() { DEPLOY_PROBE(); }
  3282. /**
  3283. * G32: Stow the Z probe
  3284. */
  3285. inline void gcode_G32() { STOW_PROBE(); }
  3286. #endif // Z_PROBE_SLED
  3287. #endif // HAS_BED_PROBE
  3288. /**
  3289. * G92: Set current position to given X Y Z E
  3290. */
  3291. inline void gcode_G92() {
  3292. bool didE = code_seen('E');
  3293. if (!didE) stepper.synchronize();
  3294. bool didXYZ = false;
  3295. for (int i = 0; i < NUM_AXIS; i++) {
  3296. if (code_seen(axis_codes[i])) {
  3297. float p = current_position[i],
  3298. v = code_value_axis_units(i);
  3299. current_position[i] = v;
  3300. if (i != E_AXIS) {
  3301. position_shift[i] += v - p; // Offset the coordinate space
  3302. update_software_endstops((AxisEnum)i);
  3303. didXYZ = true;
  3304. }
  3305. }
  3306. }
  3307. if (didXYZ)
  3308. SYNC_PLAN_POSITION_KINEMATIC();
  3309. else if (didE)
  3310. sync_plan_position_e();
  3311. }
  3312. #if ENABLED(ULTIPANEL)
  3313. /**
  3314. * M0: Unconditional stop - Wait for user button press on LCD
  3315. * M1: Conditional stop - Wait for user button press on LCD
  3316. */
  3317. inline void gcode_M0_M1() {
  3318. char* args = current_command_args;
  3319. millis_t codenum = 0;
  3320. bool hasP = false, hasS = false;
  3321. if (code_seen('P')) {
  3322. codenum = code_value_millis(); // milliseconds to wait
  3323. hasP = codenum > 0;
  3324. }
  3325. if (code_seen('S')) {
  3326. codenum = code_value_millis_from_seconds(); // seconds to wait
  3327. hasS = codenum > 0;
  3328. }
  3329. if (!hasP && !hasS && *args != '\0')
  3330. lcd_setstatus(args, true);
  3331. else {
  3332. LCD_MESSAGEPGM(MSG_USERWAIT);
  3333. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3334. dontExpireStatus();
  3335. #endif
  3336. }
  3337. lcd_ignore_click();
  3338. stepper.synchronize();
  3339. refresh_cmd_timeout();
  3340. if (codenum > 0) {
  3341. codenum += previous_cmd_ms; // wait until this time for a click
  3342. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3343. while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
  3344. KEEPALIVE_STATE(IN_HANDLER);
  3345. lcd_ignore_click(false);
  3346. }
  3347. else {
  3348. if (!lcd_detected()) return;
  3349. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3350. while (!lcd_clicked()) idle();
  3351. KEEPALIVE_STATE(IN_HANDLER);
  3352. }
  3353. if (IS_SD_PRINTING)
  3354. LCD_MESSAGEPGM(MSG_RESUMING);
  3355. else
  3356. LCD_MESSAGEPGM(WELCOME_MSG);
  3357. }
  3358. #endif // ULTIPANEL
  3359. /**
  3360. * M17: Enable power on all stepper motors
  3361. */
  3362. inline void gcode_M17() {
  3363. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3364. enable_all_steppers();
  3365. }
  3366. #if ENABLED(SDSUPPORT)
  3367. /**
  3368. * M20: List SD card to serial output
  3369. */
  3370. inline void gcode_M20() {
  3371. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3372. card.ls();
  3373. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3374. }
  3375. /**
  3376. * M21: Init SD Card
  3377. */
  3378. inline void gcode_M21() {
  3379. card.initsd();
  3380. }
  3381. /**
  3382. * M22: Release SD Card
  3383. */
  3384. inline void gcode_M22() {
  3385. card.release();
  3386. }
  3387. /**
  3388. * M23: Open a file
  3389. */
  3390. inline void gcode_M23() {
  3391. card.openFile(current_command_args, true);
  3392. }
  3393. /**
  3394. * M24: Start SD Print
  3395. */
  3396. inline void gcode_M24() {
  3397. card.startFileprint();
  3398. print_job_timer.start();
  3399. }
  3400. /**
  3401. * M25: Pause SD Print
  3402. */
  3403. inline void gcode_M25() {
  3404. card.pauseSDPrint();
  3405. }
  3406. /**
  3407. * M26: Set SD Card file index
  3408. */
  3409. inline void gcode_M26() {
  3410. if (card.cardOK && code_seen('S'))
  3411. card.setIndex(code_value_long());
  3412. }
  3413. /**
  3414. * M27: Get SD Card status
  3415. */
  3416. inline void gcode_M27() {
  3417. card.getStatus();
  3418. }
  3419. /**
  3420. * M28: Start SD Write
  3421. */
  3422. inline void gcode_M28() {
  3423. card.openFile(current_command_args, false);
  3424. }
  3425. /**
  3426. * M29: Stop SD Write
  3427. * Processed in write to file routine above
  3428. */
  3429. inline void gcode_M29() {
  3430. // card.saving = false;
  3431. }
  3432. /**
  3433. * M30 <filename>: Delete SD Card file
  3434. */
  3435. inline void gcode_M30() {
  3436. if (card.cardOK) {
  3437. card.closefile();
  3438. card.removeFile(current_command_args);
  3439. }
  3440. }
  3441. #endif //SDSUPPORT
  3442. /**
  3443. * M31: Get the time since the start of SD Print (or last M109)
  3444. */
  3445. inline void gcode_M31() {
  3446. char buffer[21];
  3447. timestamp_t time(print_job_timer.duration());
  3448. time.toString(buffer);
  3449. lcd_setstatus(buffer);
  3450. SERIAL_ECHO_START;
  3451. SERIAL_ECHOPGM(MSG_PRINT_TIME " ");
  3452. SERIAL_ECHOLN(buffer);
  3453. thermalManager.autotempShutdown();
  3454. }
  3455. #if ENABLED(SDSUPPORT)
  3456. /**
  3457. * M32: Select file and start SD Print
  3458. */
  3459. inline void gcode_M32() {
  3460. if (card.sdprinting)
  3461. stepper.synchronize();
  3462. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3463. if (!namestartpos)
  3464. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3465. else
  3466. namestartpos++; //to skip the '!'
  3467. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3468. if (card.cardOK) {
  3469. card.openFile(namestartpos, true, call_procedure);
  3470. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3471. card.setIndex(code_value_long());
  3472. card.startFileprint();
  3473. // Procedure calls count as normal print time.
  3474. if (!call_procedure) print_job_timer.start();
  3475. }
  3476. }
  3477. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3478. /**
  3479. * M33: Get the long full path of a file or folder
  3480. *
  3481. * Parameters:
  3482. * <dospath> Case-insensitive DOS-style path to a file or folder
  3483. *
  3484. * Example:
  3485. * M33 miscel~1/armchair/armcha~1.gco
  3486. *
  3487. * Output:
  3488. * /Miscellaneous/Armchair/Armchair.gcode
  3489. */
  3490. inline void gcode_M33() {
  3491. card.printLongPath(current_command_args);
  3492. }
  3493. #endif
  3494. /**
  3495. * M928: Start SD Write
  3496. */
  3497. inline void gcode_M928() {
  3498. card.openLogFile(current_command_args);
  3499. }
  3500. #endif // SDSUPPORT
  3501. /**
  3502. * M42: Change pin status via GCode
  3503. *
  3504. * P<pin> Pin number (LED if omitted)
  3505. * S<byte> Pin status from 0 - 255
  3506. */
  3507. inline void gcode_M42() {
  3508. if (!code_seen('S')) return;
  3509. int pin_status = code_value_int();
  3510. if (pin_status < 0 || pin_status > 255) return;
  3511. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  3512. if (pin_number < 0) return;
  3513. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3514. if (pin_number == sensitive_pins[i]) return;
  3515. pinMode(pin_number, OUTPUT);
  3516. digitalWrite(pin_number, pin_status);
  3517. analogWrite(pin_number, pin_status);
  3518. #if FAN_COUNT > 0
  3519. switch (pin_number) {
  3520. #if HAS_FAN0
  3521. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3522. #endif
  3523. #if HAS_FAN1
  3524. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3525. #endif
  3526. #if HAS_FAN2
  3527. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3528. #endif
  3529. }
  3530. #endif
  3531. }
  3532. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3533. /**
  3534. * M48: Z probe repeatability measurement function.
  3535. *
  3536. * Usage:
  3537. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3538. * P = Number of sampled points (4-50, default 10)
  3539. * X = Sample X position
  3540. * Y = Sample Y position
  3541. * V = Verbose level (0-4, default=1)
  3542. * E = Engage Z probe for each reading
  3543. * L = Number of legs of movement before probe
  3544. * S = Schizoid (Or Star if you prefer)
  3545. *
  3546. * This function assumes the bed has been homed. Specifically, that a G28 command
  3547. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3548. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3549. * regenerated.
  3550. */
  3551. inline void gcode_M48() {
  3552. if (axis_unhomed_error(true, true, true)) return;
  3553. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  3554. if (verbose_level < 0 || verbose_level > 4) {
  3555. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  3556. return;
  3557. }
  3558. if (verbose_level > 0)
  3559. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability test");
  3560. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  3561. if (n_samples < 4 || n_samples > 50) {
  3562. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  3563. return;
  3564. }
  3565. float X_current = current_position[X_AXIS],
  3566. Y_current = current_position[Y_AXIS];
  3567. bool stow_probe_after_each = code_seen('E');
  3568. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  3569. #if DISABLED(DELTA)
  3570. if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
  3571. out_of_range_error(PSTR("X"));
  3572. return;
  3573. }
  3574. #endif
  3575. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3576. #if DISABLED(DELTA)
  3577. if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
  3578. out_of_range_error(PSTR("Y"));
  3579. return;
  3580. }
  3581. #else
  3582. if (HYPOT(X_probe_location, Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
  3583. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  3584. return;
  3585. }
  3586. #endif
  3587. bool seen_L = code_seen('L');
  3588. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  3589. if (n_legs > 15) {
  3590. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  3591. return;
  3592. }
  3593. if (n_legs == 1) n_legs = 2;
  3594. bool schizoid_flag = code_seen('S');
  3595. if (schizoid_flag && !seen_L) n_legs = 7;
  3596. /**
  3597. * Now get everything to the specified probe point So we can safely do a
  3598. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  3599. * we don't want to use that as a starting point for each probe.
  3600. */
  3601. if (verbose_level > 2)
  3602. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  3603. #if ENABLED(DELTA)
  3604. // we don't do bed level correction in M48 because we want the raw data when we probe
  3605. reset_bed_level();
  3606. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  3607. // we don't do bed level correction in M48 because we want the raw data when we probe
  3608. planner.bed_level_matrix.set_to_identity();
  3609. #endif
  3610. setup_for_endstop_or_probe_move();
  3611. // Move to the first point, deploy, and probe
  3612. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3613. randomSeed(millis());
  3614. double mean = 0, sigma = 0, sample_set[n_samples];
  3615. for (uint8_t n = 0; n < n_samples; n++) {
  3616. if (n_legs) {
  3617. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  3618. float angle = random(0.0, 360.0),
  3619. radius = random(
  3620. #if ENABLED(DELTA)
  3621. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  3622. #else
  3623. 5, X_MAX_LENGTH / 8
  3624. #endif
  3625. );
  3626. if (verbose_level > 3) {
  3627. SERIAL_ECHOPAIR("Starting radius: ", radius);
  3628. SERIAL_ECHOPAIR(" angle: ", angle);
  3629. SERIAL_ECHOPGM(" Direction: ");
  3630. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  3631. SERIAL_ECHOLNPGM("Clockwise");
  3632. }
  3633. for (uint8_t l = 0; l < n_legs - 1; l++) {
  3634. double delta_angle;
  3635. if (schizoid_flag)
  3636. // The points of a 5 point star are 72 degrees apart. We need to
  3637. // skip a point and go to the next one on the star.
  3638. delta_angle = dir * 2.0 * 72.0;
  3639. else
  3640. // If we do this line, we are just trying to move further
  3641. // around the circle.
  3642. delta_angle = dir * (float) random(25, 45);
  3643. angle += delta_angle;
  3644. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  3645. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  3646. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  3647. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  3648. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  3649. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  3650. #if DISABLED(DELTA)
  3651. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  3652. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  3653. #else
  3654. // If we have gone out too far, we can do a simple fix and scale the numbers
  3655. // back in closer to the origin.
  3656. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  3657. X_current /= 1.25;
  3658. Y_current /= 1.25;
  3659. if (verbose_level > 3) {
  3660. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  3661. SERIAL_ECHOPAIR(", ", Y_current);
  3662. SERIAL_EOL;
  3663. }
  3664. }
  3665. #endif
  3666. if (verbose_level > 3) {
  3667. SERIAL_PROTOCOLPGM("Going to:");
  3668. SERIAL_ECHOPAIR(" X", X_current);
  3669. SERIAL_ECHOPAIR(" Y", Y_current);
  3670. SERIAL_ECHOPAIR(" Z", current_position[Z_AXIS]);
  3671. SERIAL_EOL;
  3672. }
  3673. do_blocking_move_to_xy(X_current, Y_current);
  3674. } // n_legs loop
  3675. } // n_legs
  3676. // Probe a single point
  3677. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3678. /**
  3679. * Get the current mean for the data points we have so far
  3680. */
  3681. double sum = 0.0;
  3682. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  3683. mean = sum / (n + 1);
  3684. /**
  3685. * Now, use that mean to calculate the standard deviation for the
  3686. * data points we have so far
  3687. */
  3688. sum = 0.0;
  3689. for (uint8_t j = 0; j <= n; j++)
  3690. sum += sq(sample_set[j] - mean);
  3691. sigma = sqrt(sum / (n + 1));
  3692. if (verbose_level > 0) {
  3693. if (verbose_level > 1) {
  3694. SERIAL_PROTOCOL(n + 1);
  3695. SERIAL_PROTOCOLPGM(" of ");
  3696. SERIAL_PROTOCOL((int)n_samples);
  3697. SERIAL_PROTOCOLPGM(" z: ");
  3698. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3699. if (verbose_level > 2) {
  3700. SERIAL_PROTOCOLPGM(" mean: ");
  3701. SERIAL_PROTOCOL_F(mean, 6);
  3702. SERIAL_PROTOCOLPGM(" sigma: ");
  3703. SERIAL_PROTOCOL_F(sigma, 6);
  3704. }
  3705. }
  3706. SERIAL_EOL;
  3707. }
  3708. } // End of probe loop
  3709. if (STOW_PROBE()) return;
  3710. if (verbose_level > 0) {
  3711. SERIAL_PROTOCOLPGM("Mean: ");
  3712. SERIAL_PROTOCOL_F(mean, 6);
  3713. SERIAL_EOL;
  3714. }
  3715. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3716. SERIAL_PROTOCOL_F(sigma, 6);
  3717. SERIAL_EOL; SERIAL_EOL;
  3718. clean_up_after_endstop_or_probe_move();
  3719. report_current_position();
  3720. }
  3721. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  3722. /**
  3723. * M75: Start print timer
  3724. */
  3725. inline void gcode_M75() { print_job_timer.start(); }
  3726. /**
  3727. * M76: Pause print timer
  3728. */
  3729. inline void gcode_M76() { print_job_timer.pause(); }
  3730. /**
  3731. * M77: Stop print timer
  3732. */
  3733. inline void gcode_M77() { print_job_timer.stop(); }
  3734. #if ENABLED(PRINTCOUNTER)
  3735. /**
  3736. * M78: Show print statistics
  3737. */
  3738. inline void gcode_M78() {
  3739. // "M78 S78" will reset the statistics
  3740. if (code_seen('S') && code_value_int() == 78)
  3741. print_job_timer.initStats();
  3742. else print_job_timer.showStats();
  3743. }
  3744. #endif
  3745. /**
  3746. * M104: Set hot end temperature
  3747. */
  3748. inline void gcode_M104() {
  3749. if (get_target_extruder_from_command(104)) return;
  3750. if (DEBUGGING(DRYRUN)) return;
  3751. #if ENABLED(SINGLENOZZLE)
  3752. if (target_extruder != active_extruder) return;
  3753. #endif
  3754. if (code_seen('S')) {
  3755. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3756. #if ENABLED(DUAL_X_CARRIAGE)
  3757. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3758. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3759. #endif
  3760. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3761. /**
  3762. * Stop the timer at the end of print, starting is managed by
  3763. * 'heat and wait' M109.
  3764. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3765. * stand by mode, for instance in a dual extruder setup, without affecting
  3766. * the running print timer.
  3767. */
  3768. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3769. print_job_timer.stop();
  3770. LCD_MESSAGEPGM(WELCOME_MSG);
  3771. }
  3772. #endif
  3773. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3774. }
  3775. }
  3776. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3777. void print_heaterstates() {
  3778. #if HAS_TEMP_HOTEND
  3779. SERIAL_PROTOCOLPGM(" T:");
  3780. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  3781. SERIAL_PROTOCOLPGM(" /");
  3782. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  3783. #endif
  3784. #if HAS_TEMP_BED
  3785. SERIAL_PROTOCOLPGM(" B:");
  3786. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  3787. SERIAL_PROTOCOLPGM(" /");
  3788. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  3789. #endif
  3790. #if HOTENDS > 1
  3791. HOTEND_LOOP() {
  3792. SERIAL_PROTOCOLPGM(" T");
  3793. SERIAL_PROTOCOL(e);
  3794. SERIAL_PROTOCOLCHAR(':');
  3795. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  3796. SERIAL_PROTOCOLPGM(" /");
  3797. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  3798. }
  3799. #endif
  3800. #if HAS_TEMP_BED
  3801. SERIAL_PROTOCOLPGM(" B@:");
  3802. #ifdef BED_WATTS
  3803. SERIAL_PROTOCOL(((BED_WATTS) * thermalManager.getHeaterPower(-1)) / 127);
  3804. SERIAL_PROTOCOLCHAR('W');
  3805. #else
  3806. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  3807. #endif
  3808. #endif
  3809. SERIAL_PROTOCOLPGM(" @:");
  3810. #ifdef EXTRUDER_WATTS
  3811. SERIAL_PROTOCOL(((EXTRUDER_WATTS) * thermalManager.getHeaterPower(target_extruder)) / 127);
  3812. SERIAL_PROTOCOLCHAR('W');
  3813. #else
  3814. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  3815. #endif
  3816. #if HOTENDS > 1
  3817. HOTEND_LOOP() {
  3818. SERIAL_PROTOCOLPGM(" @");
  3819. SERIAL_PROTOCOL(e);
  3820. SERIAL_PROTOCOLCHAR(':');
  3821. #ifdef EXTRUDER_WATTS
  3822. SERIAL_PROTOCOL(((EXTRUDER_WATTS) * thermalManager.getHeaterPower(e)) / 127);
  3823. SERIAL_PROTOCOLCHAR('W');
  3824. #else
  3825. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  3826. #endif
  3827. }
  3828. #endif
  3829. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3830. #if HAS_TEMP_BED
  3831. SERIAL_PROTOCOLPGM(" ADC B:");
  3832. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  3833. SERIAL_PROTOCOLPGM("C->");
  3834. SERIAL_PROTOCOL_F(thermalManager.rawBedTemp() / OVERSAMPLENR, 0);
  3835. #endif
  3836. HOTEND_LOOP() {
  3837. SERIAL_PROTOCOLPGM(" T");
  3838. SERIAL_PROTOCOL(e);
  3839. SERIAL_PROTOCOLCHAR(':');
  3840. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  3841. SERIAL_PROTOCOLPGM("C->");
  3842. SERIAL_PROTOCOL_F(thermalManager.rawHotendTemp(e) / OVERSAMPLENR, 0);
  3843. }
  3844. #endif
  3845. }
  3846. #endif
  3847. /**
  3848. * M105: Read hot end and bed temperature
  3849. */
  3850. inline void gcode_M105() {
  3851. if (get_target_extruder_from_command(105)) return;
  3852. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3853. SERIAL_PROTOCOLPGM(MSG_OK);
  3854. print_heaterstates();
  3855. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  3856. SERIAL_ERROR_START;
  3857. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  3858. #endif
  3859. SERIAL_EOL;
  3860. }
  3861. #if FAN_COUNT > 0
  3862. /**
  3863. * M106: Set Fan Speed
  3864. *
  3865. * S<int> Speed between 0-255
  3866. * P<index> Fan index, if more than one fan
  3867. */
  3868. inline void gcode_M106() {
  3869. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  3870. p = code_seen('P') ? code_value_ushort() : 0;
  3871. NOMORE(s, 255);
  3872. if (p < FAN_COUNT) fanSpeeds[p] = s;
  3873. }
  3874. /**
  3875. * M107: Fan Off
  3876. */
  3877. inline void gcode_M107() {
  3878. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  3879. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  3880. }
  3881. #endif // FAN_COUNT > 0
  3882. #if DISABLED(EMERGENCY_PARSER)
  3883. /**
  3884. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  3885. */
  3886. inline void gcode_M108() { wait_for_heatup = false; }
  3887. /**
  3888. * M112: Emergency Stop
  3889. */
  3890. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  3891. /**
  3892. * M410: Quickstop - Abort all planned moves
  3893. *
  3894. * This will stop the carriages mid-move, so most likely they
  3895. * will be out of sync with the stepper position after this.
  3896. */
  3897. inline void gcode_M410() { quickstop_stepper(); }
  3898. #endif
  3899. #ifndef MIN_COOLING_SLOPE_DEG
  3900. #define MIN_COOLING_SLOPE_DEG 1.50
  3901. #endif
  3902. #ifndef MIN_COOLING_SLOPE_TIME
  3903. #define MIN_COOLING_SLOPE_TIME 60
  3904. #endif
  3905. /**
  3906. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  3907. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  3908. */
  3909. inline void gcode_M109() {
  3910. if (get_target_extruder_from_command(109)) return;
  3911. if (DEBUGGING(DRYRUN)) return;
  3912. #if ENABLED(SINGLENOZZLE)
  3913. if (target_extruder != active_extruder) return;
  3914. #endif
  3915. bool no_wait_for_cooling = code_seen('S');
  3916. if (no_wait_for_cooling || code_seen('R')) {
  3917. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3918. #if ENABLED(DUAL_X_CARRIAGE)
  3919. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3920. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3921. #endif
  3922. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3923. /**
  3924. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3925. * stand by mode, for instance in a dual extruder setup, without affecting
  3926. * the running print timer.
  3927. */
  3928. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3929. print_job_timer.stop();
  3930. LCD_MESSAGEPGM(WELCOME_MSG);
  3931. }
  3932. /**
  3933. * We do not check if the timer is already running because this check will
  3934. * be done for us inside the Stopwatch::start() method thus a running timer
  3935. * will not restart.
  3936. */
  3937. else print_job_timer.start();
  3938. #endif
  3939. if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3940. }
  3941. #if ENABLED(AUTOTEMP)
  3942. planner.autotemp_M109();
  3943. #endif
  3944. #if TEMP_RESIDENCY_TIME > 0
  3945. millis_t residency_start_ms = 0;
  3946. // Loop until the temperature has stabilized
  3947. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  3948. #else
  3949. // Loop until the temperature is very close target
  3950. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  3951. #endif //TEMP_RESIDENCY_TIME > 0
  3952. float theTarget = -1.0, old_temp = 9999.0;
  3953. bool wants_to_cool = false;
  3954. wait_for_heatup = true;
  3955. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  3956. KEEPALIVE_STATE(NOT_BUSY);
  3957. do {
  3958. // Target temperature might be changed during the loop
  3959. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  3960. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  3961. theTarget = thermalManager.degTargetHotend(target_extruder);
  3962. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3963. if (no_wait_for_cooling && wants_to_cool) break;
  3964. }
  3965. now = millis();
  3966. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  3967. next_temp_ms = now + 1000UL;
  3968. print_heaterstates();
  3969. #if TEMP_RESIDENCY_TIME > 0
  3970. SERIAL_PROTOCOLPGM(" W:");
  3971. if (residency_start_ms) {
  3972. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3973. SERIAL_PROTOCOLLN(rem);
  3974. }
  3975. else {
  3976. SERIAL_PROTOCOLLNPGM("?");
  3977. }
  3978. #else
  3979. SERIAL_EOL;
  3980. #endif
  3981. }
  3982. idle();
  3983. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3984. float temp = thermalManager.degHotend(target_extruder);
  3985. #if TEMP_RESIDENCY_TIME > 0
  3986. float temp_diff = fabs(theTarget - temp);
  3987. if (!residency_start_ms) {
  3988. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  3989. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  3990. }
  3991. else if (temp_diff > TEMP_HYSTERESIS) {
  3992. // Restart the timer whenever the temperature falls outside the hysteresis.
  3993. residency_start_ms = now;
  3994. }
  3995. #endif //TEMP_RESIDENCY_TIME > 0
  3996. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  3997. if (wants_to_cool) {
  3998. // break after MIN_COOLING_SLOPE_TIME seconds
  3999. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  4000. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4001. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  4002. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  4003. old_temp = temp;
  4004. }
  4005. }
  4006. } while (wait_for_heatup && TEMP_CONDITIONS);
  4007. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  4008. KEEPALIVE_STATE(IN_HANDLER);
  4009. }
  4010. #if HAS_TEMP_BED
  4011. #ifndef MIN_COOLING_SLOPE_DEG_BED
  4012. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  4013. #endif
  4014. #ifndef MIN_COOLING_SLOPE_TIME_BED
  4015. #define MIN_COOLING_SLOPE_TIME_BED 60
  4016. #endif
  4017. /**
  4018. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  4019. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  4020. */
  4021. inline void gcode_M190() {
  4022. if (DEBUGGING(DRYRUN)) return;
  4023. LCD_MESSAGEPGM(MSG_BED_HEATING);
  4024. bool no_wait_for_cooling = code_seen('S');
  4025. if (no_wait_for_cooling || code_seen('R')) {
  4026. thermalManager.setTargetBed(code_value_temp_abs());
  4027. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4028. if (code_value_temp_abs() > BED_MINTEMP) {
  4029. /**
  4030. * We start the timer when 'heating and waiting' command arrives, LCD
  4031. * functions never wait. Cooling down managed by extruders.
  4032. *
  4033. * We do not check if the timer is already running because this check will
  4034. * be done for us inside the Stopwatch::start() method thus a running timer
  4035. * will not restart.
  4036. */
  4037. print_job_timer.start();
  4038. }
  4039. #endif
  4040. }
  4041. #if TEMP_BED_RESIDENCY_TIME > 0
  4042. millis_t residency_start_ms = 0;
  4043. // Loop until the temperature has stabilized
  4044. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  4045. #else
  4046. // Loop until the temperature is very close target
  4047. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  4048. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4049. float theTarget = -1.0, old_temp = 9999.0;
  4050. bool wants_to_cool = false;
  4051. wait_for_heatup = true;
  4052. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4053. KEEPALIVE_STATE(NOT_BUSY);
  4054. target_extruder = active_extruder; // for print_heaterstates
  4055. do {
  4056. // Target temperature might be changed during the loop
  4057. if (theTarget != thermalManager.degTargetBed()) {
  4058. wants_to_cool = thermalManager.isCoolingBed();
  4059. theTarget = thermalManager.degTargetBed();
  4060. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4061. if (no_wait_for_cooling && wants_to_cool) break;
  4062. }
  4063. now = millis();
  4064. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  4065. next_temp_ms = now + 1000UL;
  4066. print_heaterstates();
  4067. #if TEMP_BED_RESIDENCY_TIME > 0
  4068. SERIAL_PROTOCOLPGM(" W:");
  4069. if (residency_start_ms) {
  4070. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4071. SERIAL_PROTOCOLLN(rem);
  4072. }
  4073. else {
  4074. SERIAL_PROTOCOLLNPGM("?");
  4075. }
  4076. #else
  4077. SERIAL_EOL;
  4078. #endif
  4079. }
  4080. idle();
  4081. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4082. float temp = thermalManager.degBed();
  4083. #if TEMP_BED_RESIDENCY_TIME > 0
  4084. float temp_diff = fabs(theTarget - temp);
  4085. if (!residency_start_ms) {
  4086. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  4087. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  4088. }
  4089. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  4090. // Restart the timer whenever the temperature falls outside the hysteresis.
  4091. residency_start_ms = now;
  4092. }
  4093. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4094. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  4095. if (wants_to_cool) {
  4096. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  4097. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  4098. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4099. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  4100. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  4101. old_temp = temp;
  4102. }
  4103. }
  4104. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  4105. LCD_MESSAGEPGM(MSG_BED_DONE);
  4106. KEEPALIVE_STATE(IN_HANDLER);
  4107. }
  4108. #endif // HAS_TEMP_BED
  4109. /**
  4110. * M110: Set Current Line Number
  4111. */
  4112. inline void gcode_M110() {
  4113. if (code_seen('N')) gcode_N = code_value_long();
  4114. }
  4115. /**
  4116. * M111: Set the debug level
  4117. */
  4118. inline void gcode_M111() {
  4119. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  4120. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  4121. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  4122. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  4123. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  4124. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  4125. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4126. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  4127. #endif
  4128. const static char* const debug_strings[] PROGMEM = {
  4129. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  4130. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4131. str_debug_32
  4132. #endif
  4133. };
  4134. SERIAL_ECHO_START;
  4135. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  4136. if (marlin_debug_flags) {
  4137. uint8_t comma = 0;
  4138. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  4139. if (TEST(marlin_debug_flags, i)) {
  4140. if (comma++) SERIAL_CHAR(',');
  4141. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  4142. }
  4143. }
  4144. }
  4145. else {
  4146. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  4147. }
  4148. SERIAL_EOL;
  4149. }
  4150. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  4151. /**
  4152. * M113: Get or set Host Keepalive interval (0 to disable)
  4153. *
  4154. * S<seconds> Optional. Set the keepalive interval.
  4155. */
  4156. inline void gcode_M113() {
  4157. if (code_seen('S')) {
  4158. host_keepalive_interval = code_value_byte();
  4159. NOMORE(host_keepalive_interval, 60);
  4160. }
  4161. else {
  4162. SERIAL_ECHO_START;
  4163. SERIAL_ECHOPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4164. SERIAL_EOL;
  4165. }
  4166. }
  4167. #endif
  4168. #if ENABLED(BARICUDA)
  4169. #if HAS_HEATER_1
  4170. /**
  4171. * M126: Heater 1 valve open
  4172. */
  4173. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4174. /**
  4175. * M127: Heater 1 valve close
  4176. */
  4177. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4178. #endif
  4179. #if HAS_HEATER_2
  4180. /**
  4181. * M128: Heater 2 valve open
  4182. */
  4183. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4184. /**
  4185. * M129: Heater 2 valve close
  4186. */
  4187. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4188. #endif
  4189. #endif //BARICUDA
  4190. /**
  4191. * M140: Set bed temperature
  4192. */
  4193. inline void gcode_M140() {
  4194. if (DEBUGGING(DRYRUN)) return;
  4195. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4196. }
  4197. #if ENABLED(ULTIPANEL)
  4198. /**
  4199. * M145: Set the heatup state for a material in the LCD menu
  4200. * S<material> (0=PLA, 1=ABS)
  4201. * H<hotend temp>
  4202. * B<bed temp>
  4203. * F<fan speed>
  4204. */
  4205. inline void gcode_M145() {
  4206. int8_t material = code_seen('S') ? (int8_t)code_value_int() : 0;
  4207. if (material < 0 || material > 1) {
  4208. SERIAL_ERROR_START;
  4209. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4210. }
  4211. else {
  4212. int v;
  4213. switch (material) {
  4214. case 0:
  4215. if (code_seen('H')) {
  4216. v = code_value_int();
  4217. preheatHotendTemp1 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4218. }
  4219. if (code_seen('F')) {
  4220. v = code_value_int();
  4221. preheatFanSpeed1 = constrain(v, 0, 255);
  4222. }
  4223. #if TEMP_SENSOR_BED != 0
  4224. if (code_seen('B')) {
  4225. v = code_value_int();
  4226. preheatBedTemp1 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4227. }
  4228. #endif
  4229. break;
  4230. case 1:
  4231. if (code_seen('H')) {
  4232. v = code_value_int();
  4233. preheatHotendTemp2 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4234. }
  4235. if (code_seen('F')) {
  4236. v = code_value_int();
  4237. preheatFanSpeed2 = constrain(v, 0, 255);
  4238. }
  4239. #if TEMP_SENSOR_BED != 0
  4240. if (code_seen('B')) {
  4241. v = code_value_int();
  4242. preheatBedTemp2 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4243. }
  4244. #endif
  4245. break;
  4246. }
  4247. }
  4248. }
  4249. #endif
  4250. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4251. /**
  4252. * M149: Set temperature units
  4253. */
  4254. inline void gcode_M149() {
  4255. if (code_seen('C')) {
  4256. set_input_temp_units(TEMPUNIT_C);
  4257. } else if (code_seen('K')) {
  4258. set_input_temp_units(TEMPUNIT_K);
  4259. } else if (code_seen('F')) {
  4260. set_input_temp_units(TEMPUNIT_F);
  4261. }
  4262. }
  4263. #endif
  4264. #if HAS_POWER_SWITCH
  4265. /**
  4266. * M80: Turn on Power Supply
  4267. */
  4268. inline void gcode_M80() {
  4269. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4270. /**
  4271. * If you have a switch on suicide pin, this is useful
  4272. * if you want to start another print with suicide feature after
  4273. * a print without suicide...
  4274. */
  4275. #if HAS_SUICIDE
  4276. OUT_WRITE(SUICIDE_PIN, HIGH);
  4277. #endif
  4278. #if ENABLED(ULTIPANEL)
  4279. powersupply = true;
  4280. LCD_MESSAGEPGM(WELCOME_MSG);
  4281. lcd_update();
  4282. #endif
  4283. }
  4284. #endif // HAS_POWER_SWITCH
  4285. /**
  4286. * M81: Turn off Power, including Power Supply, if there is one.
  4287. *
  4288. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4289. */
  4290. inline void gcode_M81() {
  4291. thermalManager.disable_all_heaters();
  4292. stepper.finish_and_disable();
  4293. #if FAN_COUNT > 0
  4294. #if FAN_COUNT > 1
  4295. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4296. #else
  4297. fanSpeeds[0] = 0;
  4298. #endif
  4299. #endif
  4300. delay(1000); // Wait 1 second before switching off
  4301. #if HAS_SUICIDE
  4302. stepper.synchronize();
  4303. suicide();
  4304. #elif HAS_POWER_SWITCH
  4305. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4306. #endif
  4307. #if ENABLED(ULTIPANEL)
  4308. #if HAS_POWER_SWITCH
  4309. powersupply = false;
  4310. #endif
  4311. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4312. lcd_update();
  4313. #endif
  4314. }
  4315. /**
  4316. * M82: Set E codes absolute (default)
  4317. */
  4318. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4319. /**
  4320. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4321. */
  4322. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4323. /**
  4324. * M18, M84: Disable all stepper motors
  4325. */
  4326. inline void gcode_M18_M84() {
  4327. if (code_seen('S')) {
  4328. stepper_inactive_time = code_value_millis_from_seconds();
  4329. }
  4330. else {
  4331. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  4332. if (all_axis) {
  4333. stepper.finish_and_disable();
  4334. }
  4335. else {
  4336. stepper.synchronize();
  4337. if (code_seen('X')) disable_x();
  4338. if (code_seen('Y')) disable_y();
  4339. if (code_seen('Z')) disable_z();
  4340. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4341. if (code_seen('E')) {
  4342. disable_e0();
  4343. disable_e1();
  4344. disable_e2();
  4345. disable_e3();
  4346. }
  4347. #endif
  4348. }
  4349. }
  4350. }
  4351. /**
  4352. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4353. */
  4354. inline void gcode_M85() {
  4355. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  4356. }
  4357. /**
  4358. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4359. * (Follows the same syntax as G92)
  4360. */
  4361. inline void gcode_M92() {
  4362. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4363. if (code_seen(axis_codes[i])) {
  4364. if (i == E_AXIS) {
  4365. float value = code_value_per_axis_unit(i);
  4366. if (value < 20.0) {
  4367. float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
  4368. planner.max_e_jerk *= factor;
  4369. planner.max_feedrate_mm_s[i] *= factor;
  4370. planner.max_acceleration_steps_per_s2[i] *= factor;
  4371. }
  4372. planner.axis_steps_per_mm[i] = value;
  4373. }
  4374. else {
  4375. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  4376. }
  4377. }
  4378. }
  4379. }
  4380. /**
  4381. * Output the current position to serial
  4382. */
  4383. static void report_current_position() {
  4384. SERIAL_PROTOCOLPGM("X:");
  4385. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4386. SERIAL_PROTOCOLPGM(" Y:");
  4387. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4388. SERIAL_PROTOCOLPGM(" Z:");
  4389. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4390. SERIAL_PROTOCOLPGM(" E:");
  4391. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4392. stepper.report_positions();
  4393. #if ENABLED(SCARA)
  4394. SERIAL_PROTOCOLPGM("SCARA Theta:");
  4395. SERIAL_PROTOCOL(delta[X_AXIS]);
  4396. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4397. SERIAL_PROTOCOL(delta[Y_AXIS]);
  4398. SERIAL_EOL;
  4399. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  4400. SERIAL_PROTOCOL(delta[X_AXIS]);
  4401. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  4402. SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
  4403. SERIAL_EOL;
  4404. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  4405. SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
  4406. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4407. SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
  4408. SERIAL_EOL; SERIAL_EOL;
  4409. #endif
  4410. }
  4411. /**
  4412. * M114: Output current position to serial port
  4413. */
  4414. inline void gcode_M114() { report_current_position(); }
  4415. /**
  4416. * M115: Capabilities string
  4417. */
  4418. inline void gcode_M115() {
  4419. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4420. }
  4421. /**
  4422. * M117: Set LCD Status Message
  4423. */
  4424. inline void gcode_M117() {
  4425. lcd_setstatus(current_command_args);
  4426. }
  4427. /**
  4428. * M119: Output endstop states to serial output
  4429. */
  4430. inline void gcode_M119() { endstops.M119(); }
  4431. /**
  4432. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4433. */
  4434. inline void gcode_M120() { endstops.enable_globally(true); }
  4435. /**
  4436. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4437. */
  4438. inline void gcode_M121() { endstops.enable_globally(false); }
  4439. #if ENABLED(BLINKM)
  4440. /**
  4441. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4442. */
  4443. inline void gcode_M150() {
  4444. SendColors(
  4445. code_seen('R') ? code_value_byte() : 0,
  4446. code_seen('U') ? code_value_byte() : 0,
  4447. code_seen('B') ? code_value_byte() : 0
  4448. );
  4449. }
  4450. #endif // BLINKM
  4451. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4452. /**
  4453. * M155: Send data to a I2C slave device
  4454. *
  4455. * This is a PoC, the formating and arguments for the GCODE will
  4456. * change to be more compatible, the current proposal is:
  4457. *
  4458. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4459. *
  4460. * M155 B<byte-1 value in base 10>
  4461. * M155 B<byte-2 value in base 10>
  4462. * M155 B<byte-3 value in base 10>
  4463. *
  4464. * M155 S1 ; Send the buffered data and reset the buffer
  4465. * M155 R1 ; Reset the buffer without sending data
  4466. *
  4467. */
  4468. inline void gcode_M155() {
  4469. // Set the target address
  4470. if (code_seen('A'))
  4471. i2c.address(code_value_byte());
  4472. // Add a new byte to the buffer
  4473. else if (code_seen('B'))
  4474. i2c.addbyte(code_value_int());
  4475. // Flush the buffer to the bus
  4476. else if (code_seen('S')) i2c.send();
  4477. // Reset and rewind the buffer
  4478. else if (code_seen('R')) i2c.reset();
  4479. }
  4480. /**
  4481. * M156: Request X bytes from I2C slave device
  4482. *
  4483. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4484. */
  4485. inline void gcode_M156() {
  4486. uint8_t addr = code_seen('A') ? code_value_byte() : 0;
  4487. int bytes = code_seen('B') ? code_value_int() : 1;
  4488. if (addr && bytes > 0 && bytes <= 32) {
  4489. i2c.address(addr);
  4490. i2c.reqbytes(bytes);
  4491. }
  4492. else {
  4493. SERIAL_ERROR_START;
  4494. SERIAL_ERRORLN("Bad i2c request");
  4495. }
  4496. }
  4497. #endif //EXPERIMENTAL_I2CBUS
  4498. /**
  4499. * M200: Set filament diameter and set E axis units to cubic units
  4500. *
  4501. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4502. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  4503. */
  4504. inline void gcode_M200() {
  4505. if (get_target_extruder_from_command(200)) return;
  4506. if (code_seen('D')) {
  4507. // setting any extruder filament size disables volumetric on the assumption that
  4508. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4509. // for all extruders
  4510. volumetric_enabled = (code_value_linear_units() != 0.0);
  4511. if (volumetric_enabled) {
  4512. filament_size[target_extruder] = code_value_linear_units();
  4513. // make sure all extruders have some sane value for the filament size
  4514. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  4515. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4516. }
  4517. }
  4518. else {
  4519. //reserved for setting filament diameter via UFID or filament measuring device
  4520. return;
  4521. }
  4522. calculate_volumetric_multipliers();
  4523. }
  4524. /**
  4525. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4526. */
  4527. inline void gcode_M201() {
  4528. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4529. if (code_seen(axis_codes[i])) {
  4530. planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
  4531. }
  4532. }
  4533. // 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)
  4534. planner.reset_acceleration_rates();
  4535. }
  4536. #if 0 // Not used for Sprinter/grbl gen6
  4537. inline void gcode_M202() {
  4538. for (int8_t i = 0; i < NUM_AXIS; i++) {
  4539. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  4540. }
  4541. }
  4542. #endif
  4543. /**
  4544. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  4545. */
  4546. inline void gcode_M203() {
  4547. for (int8_t i = 0; i < NUM_AXIS; i++)
  4548. if (code_seen(axis_codes[i]))
  4549. planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
  4550. }
  4551. /**
  4552. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  4553. *
  4554. * P = Printing moves
  4555. * R = Retract only (no X, Y, Z) moves
  4556. * T = Travel (non printing) moves
  4557. *
  4558. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4559. */
  4560. inline void gcode_M204() {
  4561. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4562. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  4563. SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  4564. SERIAL_EOL;
  4565. }
  4566. if (code_seen('P')) {
  4567. planner.acceleration = code_value_linear_units();
  4568. SERIAL_ECHOPAIR("Setting Print Acceleration: ", planner.acceleration);
  4569. SERIAL_EOL;
  4570. }
  4571. if (code_seen('R')) {
  4572. planner.retract_acceleration = code_value_linear_units();
  4573. SERIAL_ECHOPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  4574. SERIAL_EOL;
  4575. }
  4576. if (code_seen('T')) {
  4577. planner.travel_acceleration = code_value_linear_units();
  4578. SERIAL_ECHOPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  4579. SERIAL_EOL;
  4580. }
  4581. }
  4582. /**
  4583. * M205: Set Advanced Settings
  4584. *
  4585. * S = Min Feed Rate (units/s)
  4586. * T = Min Travel Feed Rate (units/s)
  4587. * B = Min Segment Time (µs)
  4588. * X = Max XY Jerk (units/sec^2)
  4589. * Z = Max Z Jerk (units/sec^2)
  4590. * E = Max E Jerk (units/sec^2)
  4591. */
  4592. inline void gcode_M205() {
  4593. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  4594. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  4595. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  4596. if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
  4597. if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
  4598. if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
  4599. }
  4600. /**
  4601. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  4602. */
  4603. inline void gcode_M206() {
  4604. for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
  4605. if (code_seen(axis_codes[i]))
  4606. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  4607. #if ENABLED(SCARA)
  4608. if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
  4609. if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
  4610. #endif
  4611. SYNC_PLAN_POSITION_KINEMATIC();
  4612. report_current_position();
  4613. }
  4614. #if ENABLED(DELTA)
  4615. /**
  4616. * M665: Set delta configurations
  4617. *
  4618. * L = diagonal rod
  4619. * R = delta radius
  4620. * S = segments per second
  4621. * A = Alpha (Tower 1) diagonal rod trim
  4622. * B = Beta (Tower 2) diagonal rod trim
  4623. * C = Gamma (Tower 3) diagonal rod trim
  4624. */
  4625. inline void gcode_M665() {
  4626. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  4627. if (code_seen('R')) delta_radius = code_value_linear_units();
  4628. if (code_seen('S')) delta_segments_per_second = code_value_float();
  4629. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  4630. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  4631. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  4632. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4633. }
  4634. /**
  4635. * M666: Set delta endstop adjustment
  4636. */
  4637. inline void gcode_M666() {
  4638. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4639. if (DEBUGGING(LEVELING)) {
  4640. SERIAL_ECHOLNPGM(">>> gcode_M666");
  4641. }
  4642. #endif
  4643. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  4644. if (code_seen(axis_codes[i])) {
  4645. endstop_adj[i] = code_value_axis_units(i);
  4646. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4647. if (DEBUGGING(LEVELING)) {
  4648. SERIAL_ECHOPGM("endstop_adj[");
  4649. SERIAL_ECHO(axis_codes[i]);
  4650. SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
  4651. SERIAL_EOL;
  4652. }
  4653. #endif
  4654. }
  4655. }
  4656. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4657. if (DEBUGGING(LEVELING)) {
  4658. SERIAL_ECHOLNPGM("<<< gcode_M666");
  4659. }
  4660. #endif
  4661. }
  4662. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  4663. /**
  4664. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  4665. */
  4666. inline void gcode_M666() {
  4667. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  4668. SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  4669. SERIAL_EOL;
  4670. }
  4671. #endif // !DELTA && Z_DUAL_ENDSTOPS
  4672. #if ENABLED(FWRETRACT)
  4673. /**
  4674. * M207: Set firmware retraction values
  4675. *
  4676. * S[+units] retract_length
  4677. * W[+units] retract_length_swap (multi-extruder)
  4678. * F[units/min] retract_feedrate_mm_s
  4679. * Z[units] retract_zlift
  4680. */
  4681. inline void gcode_M207() {
  4682. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  4683. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4684. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  4685. #if EXTRUDERS > 1
  4686. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  4687. #endif
  4688. }
  4689. /**
  4690. * M208: Set firmware un-retraction values
  4691. *
  4692. * S[+units] retract_recover_length (in addition to M207 S*)
  4693. * W[+units] retract_recover_length_swap (multi-extruder)
  4694. * F[units/min] retract_recover_feedrate_mm_s
  4695. */
  4696. inline void gcode_M208() {
  4697. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  4698. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4699. #if EXTRUDERS > 1
  4700. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  4701. #endif
  4702. }
  4703. /**
  4704. * M209: Enable automatic retract (M209 S1)
  4705. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4706. */
  4707. inline void gcode_M209() {
  4708. if (code_seen('S')) {
  4709. int t = code_value_int();
  4710. switch (t) {
  4711. case 0:
  4712. autoretract_enabled = false;
  4713. break;
  4714. case 1:
  4715. autoretract_enabled = true;
  4716. break;
  4717. default:
  4718. unknown_command_error();
  4719. return;
  4720. }
  4721. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  4722. }
  4723. }
  4724. #endif // FWRETRACT
  4725. #if HOTENDS > 1
  4726. /**
  4727. * M218 - set hotend offset (in linear units)
  4728. *
  4729. * T<tool>
  4730. * X<xoffset>
  4731. * Y<yoffset>
  4732. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  4733. */
  4734. inline void gcode_M218() {
  4735. if (get_target_extruder_from_command(218)) return;
  4736. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  4737. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  4738. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4739. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  4740. #endif
  4741. SERIAL_ECHO_START;
  4742. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  4743. HOTEND_LOOP() {
  4744. SERIAL_CHAR(' ');
  4745. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  4746. SERIAL_CHAR(',');
  4747. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  4748. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4749. SERIAL_CHAR(',');
  4750. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  4751. #endif
  4752. }
  4753. SERIAL_EOL;
  4754. }
  4755. #endif // HOTENDS > 1
  4756. /**
  4757. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  4758. */
  4759. inline void gcode_M220() {
  4760. if (code_seen('S')) feedrate_percentage = code_value_int();
  4761. }
  4762. /**
  4763. * M221: Set extrusion percentage (M221 T0 S95)
  4764. */
  4765. inline void gcode_M221() {
  4766. if (get_target_extruder_from_command(221)) return;
  4767. if (code_seen('S'))
  4768. extruder_multiplier[target_extruder] = code_value_int();
  4769. }
  4770. /**
  4771. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  4772. */
  4773. inline void gcode_M226() {
  4774. if (code_seen('P')) {
  4775. int pin_number = code_value_int();
  4776. int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  4777. if (pin_state >= -1 && pin_state <= 1) {
  4778. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  4779. if (sensitive_pins[i] == pin_number) {
  4780. pin_number = -1;
  4781. break;
  4782. }
  4783. }
  4784. if (pin_number > -1) {
  4785. int target = LOW;
  4786. stepper.synchronize();
  4787. pinMode(pin_number, INPUT);
  4788. switch (pin_state) {
  4789. case 1:
  4790. target = HIGH;
  4791. break;
  4792. case 0:
  4793. target = LOW;
  4794. break;
  4795. case -1:
  4796. target = !digitalRead(pin_number);
  4797. break;
  4798. }
  4799. while (digitalRead(pin_number) != target) idle();
  4800. } // pin_number > -1
  4801. } // pin_state -1 0 1
  4802. } // code_seen('P')
  4803. }
  4804. #if HAS_SERVOS
  4805. /**
  4806. * M280: Get or set servo position. P<index> [S<angle>]
  4807. */
  4808. inline void gcode_M280() {
  4809. if (!code_seen('P')) return;
  4810. int servo_index = code_value_int();
  4811. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  4812. if (code_seen('S'))
  4813. MOVE_SERVO(servo_index, code_value_int());
  4814. else {
  4815. SERIAL_ECHO_START;
  4816. SERIAL_ECHOPGM(" Servo ");
  4817. SERIAL_ECHO(servo_index);
  4818. SERIAL_ECHOPGM(": ");
  4819. SERIAL_ECHOLN(servo[servo_index].read());
  4820. }
  4821. }
  4822. else {
  4823. SERIAL_ERROR_START;
  4824. SERIAL_ERROR("Servo ");
  4825. SERIAL_ERROR(servo_index);
  4826. SERIAL_ERRORLN(" out of range");
  4827. }
  4828. }
  4829. #endif // HAS_SERVOS
  4830. #if HAS_BUZZER
  4831. /**
  4832. * M300: Play beep sound S<frequency Hz> P<duration ms>
  4833. */
  4834. inline void gcode_M300() {
  4835. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  4836. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  4837. // Limits the tone duration to 0-5 seconds.
  4838. NOMORE(duration, 5000);
  4839. buzzer.tone(duration, frequency);
  4840. }
  4841. #endif // HAS_BUZZER
  4842. #if ENABLED(PIDTEMP)
  4843. /**
  4844. * M301: Set PID parameters P I D (and optionally C, L)
  4845. *
  4846. * P[float] Kp term
  4847. * I[float] Ki term (unscaled)
  4848. * D[float] Kd term (unscaled)
  4849. *
  4850. * With PID_ADD_EXTRUSION_RATE:
  4851. *
  4852. * C[float] Kc term
  4853. * L[float] LPQ length
  4854. */
  4855. inline void gcode_M301() {
  4856. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  4857. // default behaviour (omitting E parameter) is to update for extruder 0 only
  4858. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  4859. if (e < HOTENDS) { // catch bad input value
  4860. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  4861. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  4862. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  4863. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  4864. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  4865. if (code_seen('L')) lpq_len = code_value_float();
  4866. NOMORE(lpq_len, LPQ_MAX_LEN);
  4867. #endif
  4868. thermalManager.updatePID();
  4869. SERIAL_ECHO_START;
  4870. #if ENABLED(PID_PARAMS_PER_HOTEND)
  4871. SERIAL_ECHOPGM(" e:"); // specify extruder in serial output
  4872. SERIAL_ECHO(e);
  4873. #endif // PID_PARAMS_PER_HOTEND
  4874. SERIAL_ECHOPGM(" p:");
  4875. SERIAL_ECHO(PID_PARAM(Kp, e));
  4876. SERIAL_ECHOPGM(" i:");
  4877. SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
  4878. SERIAL_ECHOPGM(" d:");
  4879. SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
  4880. #if ENABLED(PID_ADD_EXTRUSION_RATE)
  4881. SERIAL_ECHOPGM(" c:");
  4882. //Kc does not have scaling applied above, or in resetting defaults
  4883. SERIAL_ECHO(PID_PARAM(Kc, e));
  4884. #endif
  4885. SERIAL_EOL;
  4886. }
  4887. else {
  4888. SERIAL_ERROR_START;
  4889. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  4890. }
  4891. }
  4892. #endif // PIDTEMP
  4893. #if ENABLED(PIDTEMPBED)
  4894. inline void gcode_M304() {
  4895. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  4896. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  4897. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  4898. thermalManager.updatePID();
  4899. SERIAL_ECHO_START;
  4900. SERIAL_ECHOPGM(" p:");
  4901. SERIAL_ECHO(thermalManager.bedKp);
  4902. SERIAL_ECHOPGM(" i:");
  4903. SERIAL_ECHO(unscalePID_i(thermalManager.bedKi));
  4904. SERIAL_ECHOPGM(" d:");
  4905. SERIAL_ECHOLN(unscalePID_d(thermalManager.bedKd));
  4906. }
  4907. #endif // PIDTEMPBED
  4908. #if defined(CHDK) || HAS_PHOTOGRAPH
  4909. /**
  4910. * M240: Trigger a camera by emulating a Canon RC-1
  4911. * See http://www.doc-diy.net/photo/rc-1_hacked/
  4912. */
  4913. inline void gcode_M240() {
  4914. #ifdef CHDK
  4915. OUT_WRITE(CHDK, HIGH);
  4916. chdkHigh = millis();
  4917. chdkActive = true;
  4918. #elif HAS_PHOTOGRAPH
  4919. const uint8_t NUM_PULSES = 16;
  4920. const float PULSE_LENGTH = 0.01524;
  4921. for (int i = 0; i < NUM_PULSES; i++) {
  4922. WRITE(PHOTOGRAPH_PIN, HIGH);
  4923. _delay_ms(PULSE_LENGTH);
  4924. WRITE(PHOTOGRAPH_PIN, LOW);
  4925. _delay_ms(PULSE_LENGTH);
  4926. }
  4927. delay(7.33);
  4928. for (int i = 0; i < NUM_PULSES; i++) {
  4929. WRITE(PHOTOGRAPH_PIN, HIGH);
  4930. _delay_ms(PULSE_LENGTH);
  4931. WRITE(PHOTOGRAPH_PIN, LOW);
  4932. _delay_ms(PULSE_LENGTH);
  4933. }
  4934. #endif // !CHDK && HAS_PHOTOGRAPH
  4935. }
  4936. #endif // CHDK || PHOTOGRAPH_PIN
  4937. #if HAS_LCD_CONTRAST
  4938. /**
  4939. * M250: Read and optionally set the LCD contrast
  4940. */
  4941. inline void gcode_M250() {
  4942. if (code_seen('C')) set_lcd_contrast(code_value_int());
  4943. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4944. SERIAL_PROTOCOL(lcd_contrast);
  4945. SERIAL_EOL;
  4946. }
  4947. #endif // HAS_LCD_CONTRAST
  4948. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  4949. /**
  4950. * M302: Allow cold extrudes, or set the minimum extrude temperature
  4951. *
  4952. * S<temperature> sets the minimum extrude temperature
  4953. * P<bool> enables (1) or disables (0) cold extrusion
  4954. *
  4955. * Examples:
  4956. *
  4957. * M302 ; report current cold extrusion state
  4958. * M302 P0 ; enable cold extrusion checking
  4959. * M302 P1 ; disables cold extrusion checking
  4960. * M302 S0 ; always allow extrusion (disables checking)
  4961. * M302 S170 ; only allow extrusion above 170
  4962. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  4963. */
  4964. inline void gcode_M302() {
  4965. bool seen_S = code_seen('S');
  4966. if (seen_S) {
  4967. thermalManager.extrude_min_temp = code_value_temp_abs();
  4968. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  4969. }
  4970. if (code_seen('P'))
  4971. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  4972. else if (!seen_S) {
  4973. // Report current state
  4974. SERIAL_ECHO_START;
  4975. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  4976. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  4977. SERIAL_ECHOLNPGM("C)");
  4978. }
  4979. }
  4980. #endif // PREVENT_DANGEROUS_EXTRUDE
  4981. /**
  4982. * M303: PID relay autotune
  4983. *
  4984. * S<temperature> sets the target temperature. (default 150C)
  4985. * E<extruder> (-1 for the bed) (default 0)
  4986. * C<cycles>
  4987. * U<bool> with a non-zero value will apply the result to current settings
  4988. */
  4989. inline void gcode_M303() {
  4990. #if HAS_PID_HEATING
  4991. int e = code_seen('E') ? code_value_int() : 0;
  4992. int c = code_seen('C') ? code_value_int() : 5;
  4993. bool u = code_seen('U') && code_value_bool();
  4994. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  4995. if (e >= 0 && e < HOTENDS)
  4996. target_extruder = e;
  4997. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  4998. thermalManager.PID_autotune(temp, e, c, u);
  4999. KEEPALIVE_STATE(IN_HANDLER);
  5000. #else
  5001. SERIAL_ERROR_START;
  5002. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  5003. #endif
  5004. }
  5005. #if ENABLED(SCARA)
  5006. bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
  5007. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  5008. //SERIAL_ECHOLNPGM(" Soft endstops disabled");
  5009. if (IsRunning()) {
  5010. //gcode_get_destination(); // For X Y Z E F
  5011. delta[X_AXIS] = delta_x;
  5012. delta[Y_AXIS] = delta_y;
  5013. forward_kinematics_SCARA(delta);
  5014. destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
  5015. destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
  5016. prepare_move_to_destination();
  5017. //ok_to_send();
  5018. return true;
  5019. }
  5020. return false;
  5021. }
  5022. /**
  5023. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  5024. */
  5025. inline bool gcode_M360() {
  5026. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  5027. return SCARA_move_to_cal(0, 120);
  5028. }
  5029. /**
  5030. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  5031. */
  5032. inline bool gcode_M361() {
  5033. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  5034. return SCARA_move_to_cal(90, 130);
  5035. }
  5036. /**
  5037. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  5038. */
  5039. inline bool gcode_M362() {
  5040. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  5041. return SCARA_move_to_cal(60, 180);
  5042. }
  5043. /**
  5044. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  5045. */
  5046. inline bool gcode_M363() {
  5047. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  5048. return SCARA_move_to_cal(50, 90);
  5049. }
  5050. /**
  5051. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  5052. */
  5053. inline bool gcode_M364() {
  5054. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  5055. return SCARA_move_to_cal(45, 135);
  5056. }
  5057. /**
  5058. * M365: SCARA calibration: Scaling factor, X, Y, Z axis
  5059. */
  5060. inline void gcode_M365() {
  5061. for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
  5062. if (code_seen(axis_codes[i]))
  5063. axis_scaling[i] = code_value_float();
  5064. }
  5065. #endif // SCARA
  5066. #if ENABLED(EXT_SOLENOID)
  5067. void enable_solenoid(uint8_t num) {
  5068. switch (num) {
  5069. case 0:
  5070. OUT_WRITE(SOL0_PIN, HIGH);
  5071. break;
  5072. #if HAS_SOLENOID_1
  5073. case 1:
  5074. OUT_WRITE(SOL1_PIN, HIGH);
  5075. break;
  5076. #endif
  5077. #if HAS_SOLENOID_2
  5078. case 2:
  5079. OUT_WRITE(SOL2_PIN, HIGH);
  5080. break;
  5081. #endif
  5082. #if HAS_SOLENOID_3
  5083. case 3:
  5084. OUT_WRITE(SOL3_PIN, HIGH);
  5085. break;
  5086. #endif
  5087. default:
  5088. SERIAL_ECHO_START;
  5089. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  5090. break;
  5091. }
  5092. }
  5093. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  5094. void disable_all_solenoids() {
  5095. OUT_WRITE(SOL0_PIN, LOW);
  5096. OUT_WRITE(SOL1_PIN, LOW);
  5097. OUT_WRITE(SOL2_PIN, LOW);
  5098. OUT_WRITE(SOL3_PIN, LOW);
  5099. }
  5100. /**
  5101. * M380: Enable solenoid on the active extruder
  5102. */
  5103. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  5104. /**
  5105. * M381: Disable all solenoids
  5106. */
  5107. inline void gcode_M381() { disable_all_solenoids(); }
  5108. #endif // EXT_SOLENOID
  5109. /**
  5110. * M400: Finish all moves
  5111. */
  5112. inline void gcode_M400() { stepper.synchronize(); }
  5113. #if HAS_BED_PROBE
  5114. /**
  5115. * M401: Engage Z Servo endstop if available
  5116. */
  5117. inline void gcode_M401() { DEPLOY_PROBE(); }
  5118. /**
  5119. * M402: Retract Z Servo endstop if enabled
  5120. */
  5121. inline void gcode_M402() { STOW_PROBE(); }
  5122. #endif // HAS_BED_PROBE
  5123. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5124. /**
  5125. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  5126. */
  5127. inline void gcode_M404() {
  5128. if (code_seen('W')) {
  5129. filament_width_nominal = code_value_linear_units();
  5130. }
  5131. else {
  5132. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  5133. SERIAL_PROTOCOLLN(filament_width_nominal);
  5134. }
  5135. }
  5136. /**
  5137. * M405: Turn on filament sensor for control
  5138. */
  5139. inline void gcode_M405() {
  5140. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  5141. // everything else, it uses code_value_int() instead of code_value_linear_units().
  5142. if (code_seen('D')) meas_delay_cm = code_value_int();
  5143. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  5144. if (filwidth_delay_index2 == -1) { // Initialize the ring buffer if not done since startup
  5145. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  5146. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  5147. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  5148. filwidth_delay_index1 = filwidth_delay_index2 = 0;
  5149. }
  5150. filament_sensor = true;
  5151. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5152. //SERIAL_PROTOCOL(filament_width_meas);
  5153. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  5154. //SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
  5155. }
  5156. /**
  5157. * M406: Turn off filament sensor for control
  5158. */
  5159. inline void gcode_M406() { filament_sensor = false; }
  5160. /**
  5161. * M407: Get measured filament diameter on serial output
  5162. */
  5163. inline void gcode_M407() {
  5164. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5165. SERIAL_PROTOCOLLN(filament_width_meas);
  5166. }
  5167. #endif // FILAMENT_WIDTH_SENSOR
  5168. void quickstop_stepper() {
  5169. stepper.quick_stop();
  5170. #if DISABLED(SCARA)
  5171. stepper.synchronize();
  5172. set_current_from_steppers();
  5173. sync_plan_position(); // ...re-apply to planner position
  5174. #endif
  5175. }
  5176. #if ENABLED(MESH_BED_LEVELING)
  5177. /**
  5178. * M420: Enable/Disable Mesh Bed Leveling
  5179. */
  5180. inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.set_has_mesh(code_value_bool()); }
  5181. /**
  5182. * M421: Set a single Mesh Bed Leveling Z coordinate
  5183. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  5184. */
  5185. inline void gcode_M421() {
  5186. int8_t px = 0, py = 0;
  5187. float z = 0;
  5188. bool hasX, hasY, hasZ, hasI, hasJ;
  5189. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  5190. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  5191. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  5192. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  5193. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  5194. if (hasX && hasY && hasZ) {
  5195. if (px >= 0 && py >= 0)
  5196. mbl.set_z(px, py, z);
  5197. else {
  5198. SERIAL_ERROR_START;
  5199. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5200. }
  5201. }
  5202. else if (hasI && hasJ && hasZ) {
  5203. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  5204. mbl.set_z(px, py, z);
  5205. else {
  5206. SERIAL_ERROR_START;
  5207. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5208. }
  5209. }
  5210. else {
  5211. SERIAL_ERROR_START;
  5212. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  5213. }
  5214. }
  5215. #endif
  5216. /**
  5217. * M428: Set home_offset based on the distance between the
  5218. * current_position and the nearest "reference point."
  5219. * If an axis is past center its endstop position
  5220. * is the reference-point. Otherwise it uses 0. This allows
  5221. * the Z offset to be set near the bed when using a max endstop.
  5222. *
  5223. * M428 can't be used more than 2cm away from 0 or an endstop.
  5224. *
  5225. * Use M206 to set these values directly.
  5226. */
  5227. inline void gcode_M428() {
  5228. bool err = false;
  5229. for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
  5230. if (axis_homed[i]) {
  5231. float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
  5232. diff = current_position[i] - LOGICAL_POSITION(base, i);
  5233. if (diff > -20 && diff < 20) {
  5234. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5235. }
  5236. else {
  5237. SERIAL_ERROR_START;
  5238. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5239. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5240. #if HAS_BUZZER
  5241. buzzer.tone(200, 40);
  5242. #endif
  5243. err = true;
  5244. break;
  5245. }
  5246. }
  5247. }
  5248. if (!err) {
  5249. SYNC_PLAN_POSITION_KINEMATIC();
  5250. report_current_position();
  5251. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5252. #if HAS_BUZZER
  5253. buzzer.tone(200, 659);
  5254. buzzer.tone(200, 698);
  5255. #endif
  5256. }
  5257. }
  5258. /**
  5259. * M500: Store settings in EEPROM
  5260. */
  5261. inline void gcode_M500() {
  5262. Config_StoreSettings();
  5263. }
  5264. /**
  5265. * M501: Read settings from EEPROM
  5266. */
  5267. inline void gcode_M501() {
  5268. Config_RetrieveSettings();
  5269. }
  5270. /**
  5271. * M502: Revert to default settings
  5272. */
  5273. inline void gcode_M502() {
  5274. Config_ResetDefault();
  5275. }
  5276. /**
  5277. * M503: print settings currently in memory
  5278. */
  5279. inline void gcode_M503() {
  5280. Config_PrintSettings(code_seen('S') && !code_value_bool());
  5281. }
  5282. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5283. /**
  5284. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5285. */
  5286. inline void gcode_M540() {
  5287. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  5288. }
  5289. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5290. #if HAS_BED_PROBE
  5291. inline void gcode_M851() {
  5292. SERIAL_ECHO_START;
  5293. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5294. SERIAL_CHAR(' ');
  5295. if (code_seen('Z')) {
  5296. float value = code_value_axis_units(Z_AXIS);
  5297. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5298. zprobe_zoffset = value;
  5299. SERIAL_ECHO(zprobe_zoffset);
  5300. }
  5301. else {
  5302. SERIAL_ECHOPGM(MSG_Z_MIN);
  5303. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5304. SERIAL_CHAR(' ');
  5305. SERIAL_ECHOPGM(MSG_Z_MAX);
  5306. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5307. }
  5308. }
  5309. else {
  5310. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5311. }
  5312. SERIAL_EOL;
  5313. }
  5314. #endif // HAS_BED_PROBE
  5315. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  5316. /**
  5317. * M600: Pause for filament change
  5318. *
  5319. * E[distance] - Retract the filament this far (negative value)
  5320. * Z[distance] - Move the Z axis by this distance
  5321. * X[position] - Move to this X position, with Y
  5322. * Y[position] - Move to this Y position, with X
  5323. * L[distance] - Retract distance for removal (manual reload)
  5324. *
  5325. * Default values are used for omitted arguments.
  5326. *
  5327. */
  5328. inline void gcode_M600() {
  5329. if (thermalManager.tooColdToExtrude(active_extruder)) {
  5330. SERIAL_ERROR_START;
  5331. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5332. return;
  5333. }
  5334. // Show initial message and wait for synchronize steppers
  5335. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  5336. stepper.synchronize();
  5337. float lastpos[NUM_AXIS];
  5338. // Save current position of all axes
  5339. for (uint8_t i = 0; i < NUM_AXIS; i++)
  5340. lastpos[i] = destination[i] = current_position[i];
  5341. // Define runplan for move axes
  5342. #if ENABLED(DELTA)
  5343. #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
  5344. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
  5345. #else
  5346. #define RUNPLAN(RATE_MM_S) line_to_destination(MMS_TO_MMM(RATE_MM_S));
  5347. #endif
  5348. KEEPALIVE_STATE(IN_HANDLER);
  5349. // Initial retract before move to filament change position
  5350. if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5351. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5352. else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
  5353. #endif
  5354. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5355. // Lift Z axis
  5356. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5357. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5358. FILAMENT_CHANGE_Z_ADD
  5359. #else
  5360. 0
  5361. #endif
  5362. ;
  5363. if (z_lift > 0) {
  5364. destination[Z_AXIS] += z_lift;
  5365. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5366. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5367. }
  5368. // Move XY axes to filament exchange position
  5369. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  5370. #ifdef FILAMENT_CHANGE_X_POS
  5371. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  5372. #endif
  5373. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5374. #ifdef FILAMENT_CHANGE_Y_POS
  5375. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  5376. #endif
  5377. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5378. stepper.synchronize();
  5379. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  5380. // Unload filament
  5381. if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5382. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  5383. else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
  5384. #endif
  5385. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5386. // Synchronize steppers and then disable extruders steppers for manual filament changing
  5387. stepper.synchronize();
  5388. disable_e0();
  5389. disable_e1();
  5390. disable_e2();
  5391. disable_e3();
  5392. delay(100);
  5393. #if HAS_BUZZER
  5394. millis_t next_tick = 0;
  5395. #endif
  5396. // Wait for filament insert by user and press button
  5397. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  5398. while (!lcd_clicked()) {
  5399. #if HAS_BUZZER
  5400. millis_t ms = millis();
  5401. if (ms >= next_tick) {
  5402. buzzer.tone(300, 2000);
  5403. next_tick = ms + 2500; // Beep every 2.5s while waiting
  5404. }
  5405. #endif
  5406. idle(true);
  5407. }
  5408. delay(100);
  5409. while (lcd_clicked()) idle(true);
  5410. delay(100);
  5411. // Show load message
  5412. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  5413. // Load filament
  5414. if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
  5415. #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
  5416. else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
  5417. #endif
  5418. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5419. stepper.synchronize();
  5420. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  5421. do {
  5422. // Extrude filament to get into hotend
  5423. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  5424. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  5425. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  5426. stepper.synchronize();
  5427. // Ask user if more filament should be extruded
  5428. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5429. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  5430. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  5431. KEEPALIVE_STATE(IN_HANDLER);
  5432. } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
  5433. #endif
  5434. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  5435. KEEPALIVE_STATE(IN_HANDLER);
  5436. // Set extruder to saved position
  5437. current_position[E_AXIS] = lastpos[E_AXIS];
  5438. destination[E_AXIS] = lastpos[E_AXIS];
  5439. planner.set_e_position_mm(current_position[E_AXIS]);
  5440. #if ENABLED(DELTA)
  5441. // Move XYZ to starting position, then E
  5442. inverse_kinematics(lastpos);
  5443. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5444. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5445. #else
  5446. // Move XY to starting position, then Z, then E
  5447. destination[X_AXIS] = lastpos[X_AXIS];
  5448. destination[Y_AXIS] = lastpos[Y_AXIS];
  5449. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5450. destination[Z_AXIS] = lastpos[Z_AXIS];
  5451. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5452. #endif
  5453. stepper.synchronize();
  5454. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5455. filament_ran_out = false;
  5456. #endif
  5457. // Show status screen
  5458. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  5459. }
  5460. #endif // FILAMENT_CHANGE_FEATURE
  5461. #if ENABLED(DUAL_X_CARRIAGE)
  5462. /**
  5463. * M605: Set dual x-carriage movement mode
  5464. *
  5465. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5466. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5467. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5468. * units x-offset and an optional differential hotend temperature of
  5469. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5470. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5471. *
  5472. * Note: the X axis should be homed after changing dual x-carriage mode.
  5473. */
  5474. inline void gcode_M605() {
  5475. stepper.synchronize();
  5476. if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
  5477. switch (dual_x_carriage_mode) {
  5478. case DXC_DUPLICATION_MODE:
  5479. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  5480. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  5481. SERIAL_ECHO_START;
  5482. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5483. SERIAL_CHAR(' ');
  5484. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  5485. SERIAL_CHAR(',');
  5486. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  5487. SERIAL_CHAR(' ');
  5488. SERIAL_ECHO(duplicate_extruder_x_offset);
  5489. SERIAL_CHAR(',');
  5490. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  5491. break;
  5492. case DXC_FULL_CONTROL_MODE:
  5493. case DXC_AUTO_PARK_MODE:
  5494. break;
  5495. default:
  5496. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5497. break;
  5498. }
  5499. active_extruder_parked = false;
  5500. extruder_duplication_enabled = false;
  5501. delayed_move_time = 0;
  5502. }
  5503. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  5504. inline void gcode_M605() {
  5505. stepper.synchronize();
  5506. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  5507. SERIAL_ECHO_START;
  5508. SERIAL_ECHOPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  5509. SERIAL_EOL;
  5510. }
  5511. #endif // M605
  5512. #if ENABLED(LIN_ADVANCE)
  5513. /**
  5514. * M905: Set advance factor
  5515. */
  5516. inline void gcode_M905() {
  5517. stepper.synchronize();
  5518. stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
  5519. }
  5520. #endif
  5521. /**
  5522. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5523. */
  5524. inline void gcode_M907() {
  5525. #if HAS_DIGIPOTSS
  5526. for (int i = 0; i < NUM_AXIS; i++)
  5527. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  5528. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  5529. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  5530. #endif
  5531. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5532. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  5533. #endif
  5534. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5535. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  5536. #endif
  5537. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5538. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  5539. #endif
  5540. #if ENABLED(DIGIPOT_I2C)
  5541. // this one uses actual amps in floating point
  5542. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  5543. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5544. 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());
  5545. #endif
  5546. #if ENABLED(DAC_STEPPER_CURRENT)
  5547. if (code_seen('S')) {
  5548. float dac_percent = code_value_float();
  5549. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5550. }
  5551. for (uint8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  5552. #endif
  5553. }
  5554. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5555. /**
  5556. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5557. */
  5558. inline void gcode_M908() {
  5559. #if HAS_DIGIPOTSS
  5560. stepper.digitalPotWrite(
  5561. code_seen('P') ? code_value_int() : 0,
  5562. code_seen('S') ? code_value_int() : 0
  5563. );
  5564. #endif
  5565. #ifdef DAC_STEPPER_CURRENT
  5566. dac_current_raw(
  5567. code_seen('P') ? code_value_byte() : -1,
  5568. code_seen('S') ? code_value_ushort() : 0
  5569. );
  5570. #endif
  5571. }
  5572. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5573. inline void gcode_M909() { dac_print_values(); }
  5574. inline void gcode_M910() { dac_commit_eeprom(); }
  5575. #endif
  5576. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5577. #if HAS_MICROSTEPS
  5578. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5579. inline void gcode_M350() {
  5580. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  5581. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  5582. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  5583. stepper.microstep_readings();
  5584. }
  5585. /**
  5586. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5587. * S# determines MS1 or MS2, X# sets the pin high/low.
  5588. */
  5589. inline void gcode_M351() {
  5590. if (code_seen('S')) switch (code_value_byte()) {
  5591. case 1:
  5592. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  5593. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  5594. break;
  5595. case 2:
  5596. for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  5597. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  5598. break;
  5599. }
  5600. stepper.microstep_readings();
  5601. }
  5602. #endif // HAS_MICROSTEPS
  5603. #if ENABLED(MIXING_EXTRUDER)
  5604. /**
  5605. * M163: Set a single mix factor for a mixing extruder
  5606. * This is called "weight" by some systems.
  5607. *
  5608. * S[index] The channel index to set
  5609. * P[float] The mix value
  5610. *
  5611. */
  5612. inline void gcode_M163() {
  5613. int mix_index = code_seen('S') ? code_value_int() : 0;
  5614. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  5615. if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
  5616. }
  5617. #if MIXING_VIRTUAL_TOOLS > 1
  5618. /**
  5619. * M164: Store the current mix factors as a virtual tool.
  5620. *
  5621. * S[index] The virtual tool to store
  5622. *
  5623. */
  5624. inline void gcode_M164() {
  5625. int tool_index = code_seen('S') ? code_value_int() : 0;
  5626. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  5627. normalize_mix();
  5628. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  5629. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  5630. }
  5631. }
  5632. #endif
  5633. #if ENABLED(DIRECT_MIXING_IN_G1)
  5634. /**
  5635. * M165: Set multiple mix factors for a mixing extruder.
  5636. * Factors that are left out will be set to 0.
  5637. * All factors together must add up to 1.0.
  5638. *
  5639. * A[factor] Mix factor for extruder stepper 1
  5640. * B[factor] Mix factor for extruder stepper 2
  5641. * C[factor] Mix factor for extruder stepper 3
  5642. * D[factor] Mix factor for extruder stepper 4
  5643. * H[factor] Mix factor for extruder stepper 5
  5644. * I[factor] Mix factor for extruder stepper 6
  5645. *
  5646. */
  5647. inline void gcode_M165() { gcode_get_mix(); }
  5648. #endif
  5649. #endif // MIXING_EXTRUDER
  5650. /**
  5651. * M999: Restart after being stopped
  5652. *
  5653. * Default behaviour is to flush the serial buffer and request
  5654. * a resend to the host starting on the last N line received.
  5655. *
  5656. * Sending "M999 S1" will resume printing without flushing the
  5657. * existing command buffer.
  5658. *
  5659. */
  5660. inline void gcode_M999() {
  5661. Running = true;
  5662. lcd_reset_alert_level();
  5663. if (code_seen('S') && code_value_bool()) return;
  5664. // gcode_LastN = Stopped_gcode_LastN;
  5665. FlushSerialRequestResend();
  5666. }
  5667. #if ENABLED(SWITCHING_EXTRUDER)
  5668. inline void move_extruder_servo(uint8_t e) {
  5669. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  5670. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  5671. }
  5672. #endif
  5673. inline void invalid_extruder_error(const uint8_t &e) {
  5674. SERIAL_ECHO_START;
  5675. SERIAL_CHAR('T');
  5676. SERIAL_PROTOCOL_F(e, DEC);
  5677. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  5678. }
  5679. void tool_change(const uint8_t tmp_extruder, const float fr_mm_m/*=0.0*/, bool no_move/*=false*/) {
  5680. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  5681. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
  5682. invalid_extruder_error(tmp_extruder);
  5683. return;
  5684. }
  5685. // T0-Tnnn: Switch virtual tool by changing the mix
  5686. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  5687. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  5688. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5689. #if HOTENDS > 1
  5690. if (tmp_extruder >= EXTRUDERS) {
  5691. invalid_extruder_error(tmp_extruder);
  5692. return;
  5693. }
  5694. float old_feedrate_mm_m = feedrate_mm_m;
  5695. feedrate_mm_m = fr_mm_m > 0.0 ? (old_feedrate_mm_m = fr_mm_m) : XY_PROBE_FEEDRATE_MM_M;
  5696. if (tmp_extruder != active_extruder) {
  5697. if (!no_move && axis_unhomed_error(true, true, true)) {
  5698. SERIAL_ECHOLNPGM("No move on toolchange");
  5699. no_move = true;
  5700. }
  5701. // Save current position to destination, for use later
  5702. set_destination_to_current();
  5703. #if ENABLED(DUAL_X_CARRIAGE)
  5704. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5705. if (DEBUGGING(LEVELING)) {
  5706. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  5707. switch (dual_x_carriage_mode) {
  5708. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  5709. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  5710. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  5711. }
  5712. }
  5713. #endif
  5714. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  5715. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
  5716. ) {
  5717. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5718. if (DEBUGGING(LEVELING)) {
  5719. SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
  5720. SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
  5721. SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
  5722. }
  5723. #endif
  5724. // Park old head: 1) raise 2) move to park position 3) lower
  5725. for (uint8_t i = 0; i < 3; i++)
  5726. planner.buffer_line(
  5727. i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
  5728. current_position[Y_AXIS],
  5729. current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
  5730. current_position[E_AXIS],
  5731. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  5732. active_extruder
  5733. );
  5734. stepper.synchronize();
  5735. }
  5736. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  5737. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  5738. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  5739. active_extruder = tmp_extruder;
  5740. // This function resets the max/min values - the current position may be overwritten below.
  5741. set_axis_is_at_home(X_AXIS);
  5742. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5743. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  5744. #endif
  5745. switch (dual_x_carriage_mode) {
  5746. case DXC_FULL_CONTROL_MODE:
  5747. current_position[X_AXIS] = inactive_extruder_x_pos;
  5748. inactive_extruder_x_pos = destination[X_AXIS];
  5749. break;
  5750. case DXC_DUPLICATION_MODE:
  5751. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  5752. if (active_extruder_parked)
  5753. current_position[X_AXIS] = inactive_extruder_x_pos;
  5754. else
  5755. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  5756. inactive_extruder_x_pos = destination[X_AXIS];
  5757. extruder_duplication_enabled = false;
  5758. break;
  5759. default:
  5760. // record raised toolhead position for use by unpark
  5761. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  5762. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  5763. active_extruder_parked = true;
  5764. delayed_move_time = 0;
  5765. break;
  5766. }
  5767. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5768. if (DEBUGGING(LEVELING)) {
  5769. SERIAL_ECHOPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  5770. SERIAL_EOL;
  5771. DEBUG_POS("New extruder (parked)", current_position);
  5772. }
  5773. #endif
  5774. // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
  5775. #else // !DUAL_X_CARRIAGE
  5776. #if ENABLED(SWITCHING_EXTRUDER)
  5777. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  5778. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  5779. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  5780. // Always raise by some amount
  5781. planner.buffer_line(
  5782. current_position[X_AXIS],
  5783. current_position[Y_AXIS],
  5784. current_position[Z_AXIS] + z_raise,
  5785. current_position[E_AXIS],
  5786. planner.max_feedrate_mm_s[Z_AXIS],
  5787. active_extruder
  5788. );
  5789. stepper.synchronize();
  5790. move_extruder_servo(active_extruder);
  5791. delay(500);
  5792. // Move back down, if needed
  5793. if (z_raise != z_diff) {
  5794. planner.buffer_line(
  5795. current_position[X_AXIS],
  5796. current_position[Y_AXIS],
  5797. current_position[Z_AXIS] + z_diff,
  5798. current_position[E_AXIS],
  5799. planner.max_feedrate_mm_s[Z_AXIS],
  5800. active_extruder
  5801. );
  5802. stepper.synchronize();
  5803. }
  5804. #endif
  5805. /**
  5806. * Set current_position to the position of the new nozzle.
  5807. * Offsets are based on linear distance, so we need to get
  5808. * the resulting position in coordinate space.
  5809. *
  5810. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  5811. * - With mesh leveling, update Z for the new position
  5812. * - Otherwise, just use the raw linear distance
  5813. *
  5814. * Software endstops are altered here too. Consider a case where:
  5815. * E0 at X=0 ... E1 at X=10
  5816. * When we switch to E1 now X=10, but E1 can't move left.
  5817. * To express this we apply the change in XY to the software endstops.
  5818. * E1 can move farther right than E0, so the right limit is extended.
  5819. *
  5820. * Note that we don't adjust the Z software endstops. Why not?
  5821. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  5822. * because the bed is 1mm lower at the new position. As long as
  5823. * the first nozzle is out of the way, the carriage should be
  5824. * allowed to move 1mm lower. This technically "breaks" the
  5825. * Z software endstop. But this is technically correct (and
  5826. * there is no viable alternative).
  5827. */
  5828. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  5829. // Offset extruder, make sure to apply the bed level rotation matrix
  5830. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  5831. hotend_offset[Y_AXIS][tmp_extruder],
  5832. 0),
  5833. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  5834. hotend_offset[Y_AXIS][active_extruder],
  5835. 0),
  5836. offset_vec = tmp_offset_vec - act_offset_vec;
  5837. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5838. if (DEBUGGING(LEVELING)) {
  5839. tmp_offset_vec.debug("tmp_offset_vec");
  5840. act_offset_vec.debug("act_offset_vec");
  5841. offset_vec.debug("offset_vec (BEFORE)");
  5842. }
  5843. #endif
  5844. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  5845. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5846. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  5847. #endif
  5848. // Adjustments to the current position
  5849. float xydiff[2] = { offset_vec.x, offset_vec.y };
  5850. current_position[Z_AXIS] += offset_vec.z;
  5851. #else // !AUTO_BED_LEVELING_FEATURE
  5852. float xydiff[2] = {
  5853. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  5854. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  5855. };
  5856. #if ENABLED(MESH_BED_LEVELING)
  5857. if (mbl.active()) {
  5858. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5859. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  5860. #endif
  5861. float xpos = RAW_CURRENT_POSITION(X_AXIS),
  5862. ypos = RAW_CURRENT_POSITION(Y_AXIS);
  5863. current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
  5864. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5865. if (DEBUGGING(LEVELING)) {
  5866. SERIAL_ECHOPAIR(" after: ", current_position[Z_AXIS]);
  5867. SERIAL_EOL;
  5868. }
  5869. #endif
  5870. }
  5871. #endif // MESH_BED_LEVELING
  5872. #endif // !AUTO_BED_LEVELING_FEATURE
  5873. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5874. if (DEBUGGING(LEVELING)) {
  5875. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  5876. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  5877. SERIAL_ECHOLNPGM(" }");
  5878. }
  5879. #endif
  5880. // The newly-selected extruder XY is actually at...
  5881. current_position[X_AXIS] += xydiff[X_AXIS];
  5882. current_position[Y_AXIS] += xydiff[Y_AXIS];
  5883. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  5884. position_shift[i] += xydiff[i];
  5885. update_software_endstops((AxisEnum)i);
  5886. }
  5887. // Set the new active extruder
  5888. active_extruder = tmp_extruder;
  5889. #endif // !DUAL_X_CARRIAGE
  5890. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5891. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  5892. #endif
  5893. // Tell the planner the new "current position"
  5894. SYNC_PLAN_POSITION_KINEMATIC();
  5895. // Move to the "old position" (move the extruder into place)
  5896. if (!no_move && IsRunning()) {
  5897. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5898. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  5899. #endif
  5900. prepare_move_to_destination();
  5901. }
  5902. } // (tmp_extruder != active_extruder)
  5903. stepper.synchronize();
  5904. #if ENABLED(EXT_SOLENOID)
  5905. disable_all_solenoids();
  5906. enable_solenoid_on_active_extruder();
  5907. #endif // EXT_SOLENOID
  5908. feedrate_mm_m = old_feedrate_mm_m;
  5909. #else // HOTENDS <= 1
  5910. // Set the new active extruder
  5911. active_extruder = tmp_extruder;
  5912. UNUSED(fr_mm_m);
  5913. UNUSED(no_move);
  5914. #endif // HOTENDS <= 1
  5915. SERIAL_ECHO_START;
  5916. SERIAL_ECHOPGM(MSG_ACTIVE_EXTRUDER);
  5917. SERIAL_PROTOCOLLN((int)active_extruder);
  5918. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5919. }
  5920. /**
  5921. * T0-T3: Switch tool, usually switching extruders
  5922. *
  5923. * F[units/min] Set the movement feedrate
  5924. * S1 Don't move the tool in XY after change
  5925. */
  5926. inline void gcode_T(uint8_t tmp_extruder) {
  5927. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5928. if (DEBUGGING(LEVELING)) {
  5929. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  5930. SERIAL_ECHOLNPGM(")");
  5931. DEBUG_POS("BEFORE", current_position);
  5932. }
  5933. #endif
  5934. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  5935. tool_change(tmp_extruder);
  5936. #elif HOTENDS > 1
  5937. tool_change(
  5938. tmp_extruder,
  5939. code_seen('F') ? code_value_axis_units(X_AXIS) : 0.0,
  5940. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  5941. );
  5942. #endif
  5943. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5944. if (DEBUGGING(LEVELING)) {
  5945. DEBUG_POS("AFTER", current_position);
  5946. SERIAL_ECHOLNPGM("<<< gcode_T");
  5947. }
  5948. #endif
  5949. }
  5950. /**
  5951. * Process a single command and dispatch it to its handler
  5952. * This is called from the main loop()
  5953. */
  5954. void process_next_command() {
  5955. current_command = command_queue[cmd_queue_index_r];
  5956. if (DEBUGGING(ECHO)) {
  5957. SERIAL_ECHO_START;
  5958. SERIAL_ECHOLN(current_command);
  5959. }
  5960. // Sanitize the current command:
  5961. // - Skip leading spaces
  5962. // - Bypass N[-0-9][0-9]*[ ]*
  5963. // - Overwrite * with nul to mark the end
  5964. while (*current_command == ' ') ++current_command;
  5965. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  5966. current_command += 2; // skip N[-0-9]
  5967. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  5968. while (*current_command == ' ') ++current_command; // skip [ ]*
  5969. }
  5970. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  5971. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  5972. char *cmd_ptr = current_command;
  5973. // Get the command code, which must be G, M, or T
  5974. char command_code = *cmd_ptr++;
  5975. // Skip spaces to get the numeric part
  5976. while (*cmd_ptr == ' ') cmd_ptr++;
  5977. uint16_t codenum = 0; // define ahead of goto
  5978. // Bail early if there's no code
  5979. bool code_is_good = NUMERIC(*cmd_ptr);
  5980. if (!code_is_good) goto ExitUnknownCommand;
  5981. // Get and skip the code number
  5982. do {
  5983. codenum = (codenum * 10) + (*cmd_ptr - '0');
  5984. cmd_ptr++;
  5985. } while (NUMERIC(*cmd_ptr));
  5986. // Skip all spaces to get to the first argument, or nul
  5987. while (*cmd_ptr == ' ') cmd_ptr++;
  5988. // The command's arguments (if any) start here, for sure!
  5989. current_command_args = cmd_ptr;
  5990. KEEPALIVE_STATE(IN_HANDLER);
  5991. // Handle a known G, M, or T
  5992. switch (command_code) {
  5993. case 'G': switch (codenum) {
  5994. // G0, G1
  5995. case 0:
  5996. case 1:
  5997. gcode_G0_G1();
  5998. break;
  5999. // G2, G3
  6000. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  6001. case 2: // G2 - CW ARC
  6002. case 3: // G3 - CCW ARC
  6003. gcode_G2_G3(codenum == 2);
  6004. break;
  6005. #endif
  6006. // G4 Dwell
  6007. case 4:
  6008. gcode_G4();
  6009. break;
  6010. #if ENABLED(BEZIER_CURVE_SUPPORT)
  6011. // G5
  6012. case 5: // G5 - Cubic B_spline
  6013. gcode_G5();
  6014. break;
  6015. #endif // BEZIER_CURVE_SUPPORT
  6016. #if ENABLED(FWRETRACT)
  6017. case 10: // G10: retract
  6018. case 11: // G11: retract_recover
  6019. gcode_G10_G11(codenum == 10);
  6020. break;
  6021. #endif // FWRETRACT
  6022. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  6023. case 12:
  6024. gcode_G12(); // G12: Nozzle Clean
  6025. break;
  6026. #endif // NOZZLE_CLEAN_FEATURE
  6027. #if ENABLED(INCH_MODE_SUPPORT)
  6028. case 20: //G20: Inch Mode
  6029. gcode_G20();
  6030. break;
  6031. case 21: //G21: MM Mode
  6032. gcode_G21();
  6033. break;
  6034. #endif // INCH_MODE_SUPPORT
  6035. #if ENABLED(NOZZLE_PARK_FEATURE)
  6036. case 27: // G27: Nozzle Park
  6037. gcode_G27();
  6038. break;
  6039. #endif // NOZZLE_PARK_FEATURE
  6040. case 28: // G28: Home all axes, one at a time
  6041. gcode_G28();
  6042. break;
  6043. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  6044. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  6045. gcode_G29();
  6046. break;
  6047. #endif // AUTO_BED_LEVELING_FEATURE
  6048. #if HAS_BED_PROBE
  6049. case 30: // G30 Single Z probe
  6050. gcode_G30();
  6051. break;
  6052. #if ENABLED(Z_PROBE_SLED)
  6053. case 31: // G31: dock the sled
  6054. gcode_G31();
  6055. break;
  6056. case 32: // G32: undock the sled
  6057. gcode_G32();
  6058. break;
  6059. #endif // Z_PROBE_SLED
  6060. #endif // HAS_BED_PROBE
  6061. case 90: // G90
  6062. relative_mode = false;
  6063. break;
  6064. case 91: // G91
  6065. relative_mode = true;
  6066. break;
  6067. case 92: // G92
  6068. gcode_G92();
  6069. break;
  6070. }
  6071. break;
  6072. case 'M': switch (codenum) {
  6073. #if ENABLED(ULTIPANEL)
  6074. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  6075. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  6076. gcode_M0_M1();
  6077. break;
  6078. #endif // ULTIPANEL
  6079. case 17:
  6080. gcode_M17();
  6081. break;
  6082. #if ENABLED(SDSUPPORT)
  6083. case 20: // M20 - list SD card
  6084. gcode_M20(); break;
  6085. case 21: // M21 - init SD card
  6086. gcode_M21(); break;
  6087. case 22: //M22 - release SD card
  6088. gcode_M22(); break;
  6089. case 23: //M23 - Select file
  6090. gcode_M23(); break;
  6091. case 24: //M24 - Start SD print
  6092. gcode_M24(); break;
  6093. case 25: //M25 - Pause SD print
  6094. gcode_M25(); break;
  6095. case 26: //M26 - Set SD index
  6096. gcode_M26(); break;
  6097. case 27: //M27 - Get SD status
  6098. gcode_M27(); break;
  6099. case 28: //M28 - Start SD write
  6100. gcode_M28(); break;
  6101. case 29: //M29 - Stop SD write
  6102. gcode_M29(); break;
  6103. case 30: //M30 <filename> Delete File
  6104. gcode_M30(); break;
  6105. case 32: //M32 - Select file and start SD print
  6106. gcode_M32(); break;
  6107. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  6108. case 33: //M33 - Get the long full path to a file or folder
  6109. gcode_M33(); break;
  6110. #endif // LONG_FILENAME_HOST_SUPPORT
  6111. case 928: //M928 - Start SD write
  6112. gcode_M928(); break;
  6113. #endif //SDSUPPORT
  6114. case 31: //M31 take time since the start of the SD print or an M109 command
  6115. gcode_M31();
  6116. break;
  6117. case 42: //M42 -Change pin status via gcode
  6118. gcode_M42();
  6119. break;
  6120. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6121. case 48: // M48 Z probe repeatability
  6122. gcode_M48();
  6123. break;
  6124. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6125. case 75: // Start print timer
  6126. gcode_M75();
  6127. break;
  6128. case 76: // Pause print timer
  6129. gcode_M76();
  6130. break;
  6131. case 77: // Stop print timer
  6132. gcode_M77();
  6133. break;
  6134. #if ENABLED(PRINTCOUNTER)
  6135. case 78: // Show print statistics
  6136. gcode_M78();
  6137. break;
  6138. #endif
  6139. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  6140. case 100:
  6141. gcode_M100();
  6142. break;
  6143. #endif
  6144. case 104: // M104
  6145. gcode_M104();
  6146. break;
  6147. case 110: // M110: Set Current Line Number
  6148. gcode_M110();
  6149. break;
  6150. case 111: // M111: Set debug level
  6151. gcode_M111();
  6152. break;
  6153. #if DISABLED(EMERGENCY_PARSER)
  6154. case 108: // M108: Cancel Waiting
  6155. gcode_M108();
  6156. break;
  6157. case 112: // M112: Emergency Stop
  6158. gcode_M112();
  6159. break;
  6160. case 410: // M410 quickstop - Abort all the planned moves.
  6161. gcode_M410();
  6162. break;
  6163. #endif
  6164. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6165. case 113: // M113: Set Host Keepalive interval
  6166. gcode_M113();
  6167. break;
  6168. #endif
  6169. case 140: // M140: Set bed temp
  6170. gcode_M140();
  6171. break;
  6172. case 105: // M105: Read current temperature
  6173. gcode_M105();
  6174. KEEPALIVE_STATE(NOT_BUSY);
  6175. return; // "ok" already printed
  6176. case 109: // M109: Wait for temperature
  6177. gcode_M109();
  6178. break;
  6179. #if HAS_TEMP_BED
  6180. case 190: // M190: Wait for bed heater to reach target
  6181. gcode_M190();
  6182. break;
  6183. #endif // HAS_TEMP_BED
  6184. #if FAN_COUNT > 0
  6185. case 106: // M106: Fan On
  6186. gcode_M106();
  6187. break;
  6188. case 107: // M107: Fan Off
  6189. gcode_M107();
  6190. break;
  6191. #endif // FAN_COUNT > 0
  6192. #if ENABLED(BARICUDA)
  6193. // PWM for HEATER_1_PIN
  6194. #if HAS_HEATER_1
  6195. case 126: // M126: valve open
  6196. gcode_M126();
  6197. break;
  6198. case 127: // M127: valve closed
  6199. gcode_M127();
  6200. break;
  6201. #endif // HAS_HEATER_1
  6202. // PWM for HEATER_2_PIN
  6203. #if HAS_HEATER_2
  6204. case 128: // M128: valve open
  6205. gcode_M128();
  6206. break;
  6207. case 129: // M129: valve closed
  6208. gcode_M129();
  6209. break;
  6210. #endif // HAS_HEATER_2
  6211. #endif // BARICUDA
  6212. #if HAS_POWER_SWITCH
  6213. case 80: // M80: Turn on Power Supply
  6214. gcode_M80();
  6215. break;
  6216. #endif // HAS_POWER_SWITCH
  6217. case 81: // M81: Turn off Power, including Power Supply, if possible
  6218. gcode_M81();
  6219. break;
  6220. case 82:
  6221. gcode_M82();
  6222. break;
  6223. case 83:
  6224. gcode_M83();
  6225. break;
  6226. case 18: // (for compatibility)
  6227. case 84: // M84
  6228. gcode_M18_M84();
  6229. break;
  6230. case 85: // M85
  6231. gcode_M85();
  6232. break;
  6233. case 92: // M92: Set the steps-per-unit for one or more axes
  6234. gcode_M92();
  6235. break;
  6236. case 115: // M115: Report capabilities
  6237. gcode_M115();
  6238. break;
  6239. case 117: // M117: Set LCD message text, if possible
  6240. gcode_M117();
  6241. break;
  6242. case 114: // M114: Report current position
  6243. gcode_M114();
  6244. break;
  6245. case 120: // M120: Enable endstops
  6246. gcode_M120();
  6247. break;
  6248. case 121: // M121: Disable endstops
  6249. gcode_M121();
  6250. break;
  6251. case 119: // M119: Report endstop states
  6252. gcode_M119();
  6253. break;
  6254. #if ENABLED(ULTIPANEL)
  6255. case 145: // M145: Set material heatup parameters
  6256. gcode_M145();
  6257. break;
  6258. #endif
  6259. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6260. case 149:
  6261. gcode_M149();
  6262. break;
  6263. #endif
  6264. #if ENABLED(BLINKM)
  6265. case 150: // M150
  6266. gcode_M150();
  6267. break;
  6268. #endif //BLINKM
  6269. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6270. case 155:
  6271. gcode_M155();
  6272. break;
  6273. case 156:
  6274. gcode_M156();
  6275. break;
  6276. #endif //EXPERIMENTAL_I2CBUS
  6277. #if ENABLED(MIXING_EXTRUDER)
  6278. case 163: // M163 S<int> P<float> set weight for a mixing extruder
  6279. gcode_M163();
  6280. break;
  6281. #if MIXING_VIRTUAL_TOOLS > 1
  6282. case 164: // M164 S<int> save current mix as a virtual extruder
  6283. gcode_M164();
  6284. break;
  6285. #endif
  6286. #if ENABLED(DIRECT_MIXING_IN_G1)
  6287. case 165: // M165 [ABCDHI]<float> set multiple mix weights
  6288. gcode_M165();
  6289. break;
  6290. #endif
  6291. #endif
  6292. case 200: // M200 D<diameter> Set filament diameter and set E axis units to cubic. (Use S0 to revert to linear units.)
  6293. gcode_M200();
  6294. break;
  6295. case 201: // M201
  6296. gcode_M201();
  6297. break;
  6298. #if 0 // Not used for Sprinter/grbl gen6
  6299. case 202: // M202
  6300. gcode_M202();
  6301. break;
  6302. #endif
  6303. case 203: // M203 max feedrate units/sec
  6304. gcode_M203();
  6305. break;
  6306. case 204: // M204 acclereration S normal moves T filmanent only moves
  6307. gcode_M204();
  6308. break;
  6309. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  6310. gcode_M205();
  6311. break;
  6312. case 206: // M206 additional homing offset
  6313. gcode_M206();
  6314. break;
  6315. #if ENABLED(DELTA)
  6316. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  6317. gcode_M665();
  6318. break;
  6319. #endif
  6320. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  6321. case 666: // M666 set delta / dual endstop adjustment
  6322. gcode_M666();
  6323. break;
  6324. #endif
  6325. #if ENABLED(FWRETRACT)
  6326. case 207: // M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  6327. gcode_M207();
  6328. break;
  6329. case 208: // M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  6330. gcode_M208();
  6331. break;
  6332. case 209: // M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction.
  6333. gcode_M209();
  6334. break;
  6335. #endif // FWRETRACT
  6336. #if HOTENDS > 1
  6337. case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
  6338. gcode_M218();
  6339. break;
  6340. #endif
  6341. case 220: // M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  6342. gcode_M220();
  6343. break;
  6344. case 221: // M221 - Set Flow Percentage: S<percent>
  6345. gcode_M221();
  6346. break;
  6347. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6348. gcode_M226();
  6349. break;
  6350. #if HAS_SERVOS
  6351. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6352. gcode_M280();
  6353. break;
  6354. #endif // HAS_SERVOS
  6355. #if HAS_BUZZER
  6356. case 300: // M300 - Play beep tone
  6357. gcode_M300();
  6358. break;
  6359. #endif // HAS_BUZZER
  6360. #if ENABLED(PIDTEMP)
  6361. case 301: // M301
  6362. gcode_M301();
  6363. break;
  6364. #endif // PIDTEMP
  6365. #if ENABLED(PIDTEMPBED)
  6366. case 304: // M304
  6367. gcode_M304();
  6368. break;
  6369. #endif // PIDTEMPBED
  6370. #if defined(CHDK) || HAS_PHOTOGRAPH
  6371. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6372. gcode_M240();
  6373. break;
  6374. #endif // CHDK || PHOTOGRAPH_PIN
  6375. #if HAS_LCD_CONTRAST
  6376. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  6377. gcode_M250();
  6378. break;
  6379. #endif // HAS_LCD_CONTRAST
  6380. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  6381. case 302: // allow cold extrudes, or set the minimum extrude temperature
  6382. gcode_M302();
  6383. break;
  6384. #endif // PREVENT_DANGEROUS_EXTRUDE
  6385. case 303: // M303 PID autotune
  6386. gcode_M303();
  6387. break;
  6388. #if ENABLED(SCARA)
  6389. case 360: // M360 SCARA Theta pos1
  6390. if (gcode_M360()) return;
  6391. break;
  6392. case 361: // M361 SCARA Theta pos2
  6393. if (gcode_M361()) return;
  6394. break;
  6395. case 362: // M362 SCARA Psi pos1
  6396. if (gcode_M362()) return;
  6397. break;
  6398. case 363: // M363 SCARA Psi pos2
  6399. if (gcode_M363()) return;
  6400. break;
  6401. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  6402. if (gcode_M364()) return;
  6403. break;
  6404. case 365: // M365 Set SCARA scaling for X Y Z
  6405. gcode_M365();
  6406. break;
  6407. #endif // SCARA
  6408. case 400: // M400 finish all moves
  6409. gcode_M400();
  6410. break;
  6411. #if HAS_BED_PROBE
  6412. case 401:
  6413. gcode_M401();
  6414. break;
  6415. case 402:
  6416. gcode_M402();
  6417. break;
  6418. #endif // HAS_BED_PROBE
  6419. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6420. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  6421. gcode_M404();
  6422. break;
  6423. case 405: //M405 Turn on filament sensor for control
  6424. gcode_M405();
  6425. break;
  6426. case 406: //M406 Turn off filament sensor for control
  6427. gcode_M406();
  6428. break;
  6429. case 407: //M407 Display measured filament diameter
  6430. gcode_M407();
  6431. break;
  6432. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  6433. #if ENABLED(MESH_BED_LEVELING)
  6434. case 420: // M420 Enable/Disable Mesh Bed Leveling
  6435. gcode_M420();
  6436. break;
  6437. case 421: // M421 Set a Mesh Bed Leveling Z coordinate
  6438. gcode_M421();
  6439. break;
  6440. #endif
  6441. case 428: // M428 Apply current_position to home_offset
  6442. gcode_M428();
  6443. break;
  6444. case 500: // M500 Store settings in EEPROM
  6445. gcode_M500();
  6446. break;
  6447. case 501: // M501 Read settings from EEPROM
  6448. gcode_M501();
  6449. break;
  6450. case 502: // M502 Revert to default settings
  6451. gcode_M502();
  6452. break;
  6453. case 503: // M503 print settings currently in memory
  6454. gcode_M503();
  6455. break;
  6456. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6457. case 540:
  6458. gcode_M540();
  6459. break;
  6460. #endif
  6461. #if HAS_BED_PROBE
  6462. case 851:
  6463. gcode_M851();
  6464. break;
  6465. #endif // HAS_BED_PROBE
  6466. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6467. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6468. gcode_M600();
  6469. break;
  6470. #endif // FILAMENT_CHANGE_FEATURE
  6471. #if ENABLED(DUAL_X_CARRIAGE)
  6472. case 605:
  6473. gcode_M605();
  6474. break;
  6475. #endif // DUAL_X_CARRIAGE
  6476. #if ENABLED(LIN_ADVANCE)
  6477. case 905: // M905 Set advance factor.
  6478. gcode_M905();
  6479. break;
  6480. #endif
  6481. case 907: // M907 Set digital trimpot motor current using axis codes.
  6482. gcode_M907();
  6483. break;
  6484. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6485. case 908: // M908 Control digital trimpot directly.
  6486. gcode_M908();
  6487. break;
  6488. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6489. case 909: // M909 Print digipot/DAC current value
  6490. gcode_M909();
  6491. break;
  6492. case 910: // M910 Commit digipot/DAC value to external EEPROM
  6493. gcode_M910();
  6494. break;
  6495. #endif
  6496. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6497. #if HAS_MICROSTEPS
  6498. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6499. gcode_M350();
  6500. break;
  6501. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6502. gcode_M351();
  6503. break;
  6504. #endif // HAS_MICROSTEPS
  6505. case 999: // M999: Restart after being Stopped
  6506. gcode_M999();
  6507. break;
  6508. }
  6509. break;
  6510. case 'T':
  6511. gcode_T(codenum);
  6512. break;
  6513. default: code_is_good = false;
  6514. }
  6515. KEEPALIVE_STATE(NOT_BUSY);
  6516. ExitUnknownCommand:
  6517. // Still unknown command? Throw an error
  6518. if (!code_is_good) unknown_command_error();
  6519. ok_to_send();
  6520. }
  6521. void FlushSerialRequestResend() {
  6522. //char command_queue[cmd_queue_index_r][100]="Resend:";
  6523. MYSERIAL.flush();
  6524. SERIAL_PROTOCOLPGM(MSG_RESEND);
  6525. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  6526. ok_to_send();
  6527. }
  6528. void ok_to_send() {
  6529. refresh_cmd_timeout();
  6530. if (!send_ok[cmd_queue_index_r]) return;
  6531. SERIAL_PROTOCOLPGM(MSG_OK);
  6532. #if ENABLED(ADVANCED_OK)
  6533. char* p = command_queue[cmd_queue_index_r];
  6534. if (*p == 'N') {
  6535. SERIAL_PROTOCOL(' ');
  6536. SERIAL_ECHO(*p++);
  6537. while (NUMERIC_SIGNED(*p))
  6538. SERIAL_ECHO(*p++);
  6539. }
  6540. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  6541. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  6542. #endif
  6543. SERIAL_EOL;
  6544. }
  6545. void clamp_to_software_endstops(float target[3]) {
  6546. if (min_software_endstops) {
  6547. NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
  6548. NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
  6549. NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
  6550. }
  6551. if (max_software_endstops) {
  6552. NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
  6553. NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
  6554. NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
  6555. }
  6556. }
  6557. #if ENABLED(DELTA)
  6558. void recalc_delta_settings(float radius, float diagonal_rod) {
  6559. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  6560. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  6561. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  6562. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  6563. delta_tower3_x = 0.0; // back middle tower
  6564. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  6565. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  6566. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  6567. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  6568. }
  6569. void inverse_kinematics(const float in_cartesian[3]) {
  6570. const float cartesian[3] = {
  6571. RAW_POSITION(in_cartesian[X_AXIS], X_AXIS),
  6572. RAW_POSITION(in_cartesian[Y_AXIS], Y_AXIS),
  6573. RAW_POSITION(in_cartesian[Z_AXIS], Z_AXIS)
  6574. };
  6575. delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
  6576. - sq(delta_tower1_x - cartesian[X_AXIS])
  6577. - sq(delta_tower1_y - cartesian[Y_AXIS])
  6578. ) + cartesian[Z_AXIS];
  6579. delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
  6580. - sq(delta_tower2_x - cartesian[X_AXIS])
  6581. - sq(delta_tower2_y - cartesian[Y_AXIS])
  6582. ) + cartesian[Z_AXIS];
  6583. delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
  6584. - sq(delta_tower3_x - cartesian[X_AXIS])
  6585. - sq(delta_tower3_y - cartesian[Y_AXIS])
  6586. ) + cartesian[Z_AXIS];
  6587. /**
  6588. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  6589. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  6590. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  6591. SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
  6592. SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
  6593. SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
  6594. */
  6595. }
  6596. float delta_safe_distance_from_top() {
  6597. float cartesian[3] = {
  6598. LOGICAL_POSITION(0, X_AXIS),
  6599. LOGICAL_POSITION(0, Y_AXIS),
  6600. LOGICAL_POSITION(0, Z_AXIS)
  6601. };
  6602. inverse_kinematics(cartesian);
  6603. float distance = delta[TOWER_3];
  6604. cartesian[Y_AXIS] = LOGICAL_POSITION(DELTA_PRINTABLE_RADIUS, Y_AXIS);
  6605. inverse_kinematics(cartesian);
  6606. return abs(distance - delta[TOWER_3]);
  6607. }
  6608. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  6609. //As discussed in Wikipedia "Trilateration"
  6610. //we are establishing a new coordinate
  6611. //system in the plane of the three carriage points.
  6612. //This system will have the origin at tower1 and
  6613. //tower2 is on the x axis. tower3 is in the X-Y
  6614. //plane with a Z component of zero. We will define unit
  6615. //vectors in this coordinate system in our original
  6616. //coordinate system. Then when we calculate the
  6617. //Xnew, Ynew and Znew values, we can translate back into
  6618. //the original system by moving along those unit vectors
  6619. //by the corresponding values.
  6620. // https://en.wikipedia.org/wiki/Trilateration
  6621. // Variable names matched to Marlin, c-version
  6622. // and avoiding a vector library
  6623. // by Andreas Hardtung 2016-06-7
  6624. // based on a Java function from
  6625. // "Delta Robot Kinematics by Steve Graves" V3
  6626. // Result is in cartesian_position[].
  6627. //Create a vector in old coordinates along x axis of new coordinate
  6628. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  6629. //Get the Magnitude of vector.
  6630. float d = sqrt( p12[0]*p12[0] + p12[1]*p12[1] + p12[2]*p12[2] );
  6631. //Create unit vector by dividing by magnitude.
  6632. float ex[3] = { p12[0]/d, p12[1]/d, p12[2]/d };
  6633. //Now find vector from the origin of the new system to the third point.
  6634. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  6635. //Now use dot product to find the component of this vector on the X axis.
  6636. float i = ex[0]*p13[0] + ex[1]*p13[1] + ex[2]*p13[2];
  6637. //Now create a vector along the x axis that represents the x component of p13.
  6638. float iex[3] = { ex[0]*i, ex[1]*i, ex[2]*i };
  6639. //Now subtract the X component away from the original vector leaving only the Y component. We use the
  6640. //variable that will be the unit vector after we scale it.
  6641. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2]};
  6642. //The magnitude of Y component
  6643. float j = sqrt(sq(ey[0]) + sq(ey[1]) + sq(ey[2]));
  6644. //Now make vector a unit vector
  6645. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  6646. //The cross product of the unit x and y is the unit z
  6647. //float[] ez = vectorCrossProd(ex, ey);
  6648. float ez[3] = { ex[1]*ey[2] - ex[2]*ey[1], ex[2]*ey[0] - ex[0]*ey[2], ex[0]*ey[1] - ex[1]*ey[0] };
  6649. //Now we have the d, i and j values defined in Wikipedia.
  6650. //We can plug them into the equations defined in
  6651. //Wikipedia for Xnew, Ynew and Znew
  6652. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + d*d)/(d*2);
  6653. float Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + i*i + j*j)/2 - i*Xnew) /j;
  6654. float Znew = sqrt(delta_diagonal_rod_2_tower_1 - Xnew*Xnew - Ynew*Ynew);
  6655. //Now we can start from the origin in the old coords and
  6656. //add vectors in the old coords that represent the
  6657. //Xnew, Ynew and Znew to find the point in the old system
  6658. cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
  6659. cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
  6660. cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
  6661. };
  6662. void forward_kinematics_DELTA(float point[3]) {
  6663. forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
  6664. }
  6665. void set_cartesian_from_steppers() {
  6666. forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
  6667. stepper.get_axis_position_mm(Y_AXIS),
  6668. stepper.get_axis_position_mm(Z_AXIS));
  6669. }
  6670. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6671. // Adjust print surface height by linear interpolation over the bed_level array.
  6672. void adjust_delta(float cartesian[3]) {
  6673. if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
  6674. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  6675. float h1 = 0.001 - half, h2 = half - 0.001,
  6676. grid_x = max(h1, min(h2, RAW_POSITION(cartesian[X_AXIS], X_AXIS) / delta_grid_spacing[0])),
  6677. grid_y = max(h1, min(h2, RAW_POSITION(cartesian[Y_AXIS], Y_AXIS) / delta_grid_spacing[1]));
  6678. int floor_x = floor(grid_x), floor_y = floor(grid_y);
  6679. float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
  6680. z1 = bed_level[floor_x + half][floor_y + half],
  6681. z2 = bed_level[floor_x + half][floor_y + half + 1],
  6682. z3 = bed_level[floor_x + half + 1][floor_y + half],
  6683. z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
  6684. left = (1 - ratio_y) * z1 + ratio_y * z2,
  6685. right = (1 - ratio_y) * z3 + ratio_y * z4,
  6686. offset = (1 - ratio_x) * left + ratio_x * right;
  6687. delta[X_AXIS] += offset;
  6688. delta[Y_AXIS] += offset;
  6689. delta[Z_AXIS] += offset;
  6690. /**
  6691. SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
  6692. SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
  6693. SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
  6694. SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
  6695. SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
  6696. SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
  6697. SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
  6698. SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
  6699. SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
  6700. SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
  6701. SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
  6702. SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
  6703. SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
  6704. */
  6705. }
  6706. #endif // AUTO_BED_LEVELING_FEATURE
  6707. #endif // DELTA
  6708. void set_current_from_steppers() {
  6709. #if ENABLED(DELTA)
  6710. set_cartesian_from_steppers();
  6711. current_position[X_AXIS] = cartesian_position[X_AXIS];
  6712. current_position[Y_AXIS] = cartesian_position[Y_AXIS];
  6713. current_position[Z_AXIS] = cartesian_position[Z_AXIS];
  6714. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  6715. vector_3 pos = planner.adjusted_position(); // values directly from steppers...
  6716. current_position[X_AXIS] = pos.x;
  6717. current_position[Y_AXIS] = pos.y;
  6718. current_position[Z_AXIS] = pos.z;
  6719. #else
  6720. current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently
  6721. current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  6722. current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  6723. #endif
  6724. for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
  6725. current_position[i] += LOGICAL_POSITION(0, i);
  6726. }
  6727. #if ENABLED(MESH_BED_LEVELING)
  6728. // This function is used to split lines on mesh borders so each segment is only part of one mesh area
  6729. void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  6730. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  6731. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  6732. cx2 = mbl.cell_index_x(RAW_POSITION(destination[X_AXIS], X_AXIS)),
  6733. cy2 = mbl.cell_index_y(RAW_POSITION(destination[Y_AXIS], Y_AXIS));
  6734. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  6735. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  6736. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  6737. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  6738. if (cx1 == cx2 && cy1 == cy2) {
  6739. // Start and end on same mesh square
  6740. line_to_destination(fr_mm_m);
  6741. set_current_to_destination();
  6742. return;
  6743. }
  6744. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  6745. float normalized_dist, end[NUM_AXIS];
  6746. // Split at the left/front border of the right/top square
  6747. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  6748. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  6749. memcpy(end, destination, sizeof(end));
  6750. destination[X_AXIS] = LOGICAL_POSITION(mbl.get_probe_x(gcx), X_AXIS);
  6751. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  6752. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  6753. CBI(x_splits, gcx);
  6754. }
  6755. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  6756. memcpy(end, destination, sizeof(end));
  6757. destination[Y_AXIS] = LOGICAL_POSITION(mbl.get_probe_y(gcy), Y_AXIS);
  6758. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  6759. destination[X_AXIS] = MBL_SEGMENT_END(X);
  6760. CBI(y_splits, gcy);
  6761. }
  6762. else {
  6763. // Already split on a border
  6764. line_to_destination(fr_mm_m);
  6765. set_current_to_destination();
  6766. return;
  6767. }
  6768. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  6769. destination[E_AXIS] = MBL_SEGMENT_END(E);
  6770. // Do the split and look for more borders
  6771. mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
  6772. // Restore destination from stack
  6773. memcpy(destination, end, sizeof(end));
  6774. mesh_line_to_destination(fr_mm_m, x_splits, y_splits);
  6775. }
  6776. #endif // MESH_BED_LEVELING
  6777. #if ENABLED(DELTA) || ENABLED(SCARA)
  6778. inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
  6779. float difference[NUM_AXIS];
  6780. for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
  6781. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  6782. if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
  6783. if (cartesian_mm < 0.000001) return false;
  6784. float _feedrate_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
  6785. float seconds = cartesian_mm / _feedrate_mm_s;
  6786. int steps = max(1, int(delta_segments_per_second * seconds));
  6787. float inv_steps = 1.0/steps;
  6788. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  6789. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  6790. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  6791. for (int s = 1; s <= steps; s++) {
  6792. float fraction = float(s) * inv_steps;
  6793. for (int8_t i = 0; i < NUM_AXIS; i++)
  6794. target[i] = current_position[i] + difference[i] * fraction;
  6795. inverse_kinematics(target);
  6796. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  6797. if (!bed_leveling_in_progress) adjust_delta(target);
  6798. #endif
  6799. //DEBUG_POS("prepare_kinematic_move_to", target);
  6800. //DEBUG_POS("prepare_kinematic_move_to", delta);
  6801. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
  6802. }
  6803. return true;
  6804. }
  6805. #endif // DELTA || SCARA
  6806. #if ENABLED(DUAL_X_CARRIAGE)
  6807. inline bool prepare_move_to_destination_dualx() {
  6808. if (active_extruder_parked) {
  6809. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  6810. // move duplicate extruder into correct duplication position.
  6811. planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  6812. planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  6813. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
  6814. SYNC_PLAN_POSITION_KINEMATIC();
  6815. stepper.synchronize();
  6816. extruder_duplication_enabled = true;
  6817. active_extruder_parked = false;
  6818. }
  6819. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  6820. if (current_position[E_AXIS] == destination[E_AXIS]) {
  6821. // This is a travel move (with no extrusion)
  6822. // Skip it, but keep track of the current position
  6823. // (so it can be used as the start of the next non-travel move)
  6824. if (delayed_move_time != 0xFFFFFFFFUL) {
  6825. set_current_to_destination();
  6826. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  6827. delayed_move_time = millis();
  6828. return false;
  6829. }
  6830. }
  6831. delayed_move_time = 0;
  6832. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  6833. planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6834. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
  6835. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6836. active_extruder_parked = false;
  6837. }
  6838. }
  6839. return true;
  6840. }
  6841. #endif // DUAL_X_CARRIAGE
  6842. #if DISABLED(DELTA) && DISABLED(SCARA)
  6843. inline bool prepare_move_to_destination_cartesian() {
  6844. // Do not use feedrate_percentage for E or Z only moves
  6845. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  6846. line_to_destination();
  6847. }
  6848. else {
  6849. #if ENABLED(MESH_BED_LEVELING)
  6850. if (mbl.active()) {
  6851. mesh_line_to_destination(MMM_SCALED(feedrate_mm_m));
  6852. return false;
  6853. }
  6854. else
  6855. #endif
  6856. line_to_destination(MMM_SCALED(feedrate_mm_m));
  6857. }
  6858. return true;
  6859. }
  6860. #endif // !DELTA && !SCARA
  6861. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  6862. inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
  6863. if (DEBUGGING(DRYRUN)) return;
  6864. float de = dest_e - curr_e;
  6865. if (de) {
  6866. if (thermalManager.tooColdToExtrude(active_extruder)) {
  6867. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6868. SERIAL_ECHO_START;
  6869. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  6870. }
  6871. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  6872. if (labs(de) > EXTRUDE_MAXLENGTH) {
  6873. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6874. SERIAL_ECHO_START;
  6875. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  6876. }
  6877. #endif
  6878. }
  6879. }
  6880. #endif // PREVENT_DANGEROUS_EXTRUDE
  6881. /**
  6882. * Prepare a single move and get ready for the next one
  6883. *
  6884. * (This may call planner.buffer_line several times to put
  6885. * smaller moves into the planner for DELTA or SCARA.)
  6886. */
  6887. void prepare_move_to_destination() {
  6888. clamp_to_software_endstops(destination);
  6889. refresh_cmd_timeout();
  6890. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  6891. prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  6892. #endif
  6893. #if ENABLED(DELTA) || ENABLED(SCARA)
  6894. if (!prepare_kinematic_move_to(destination)) return;
  6895. #else
  6896. #if ENABLED(DUAL_X_CARRIAGE)
  6897. if (!prepare_move_to_destination_dualx()) return;
  6898. #endif
  6899. if (!prepare_move_to_destination_cartesian()) return;
  6900. #endif
  6901. set_current_to_destination();
  6902. }
  6903. #if ENABLED(ARC_SUPPORT)
  6904. /**
  6905. * Plan an arc in 2 dimensions
  6906. *
  6907. * The arc is approximated by generating many small linear segments.
  6908. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  6909. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  6910. * larger segments will tend to be more efficient. Your slicer should have
  6911. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  6912. */
  6913. void plan_arc(
  6914. float target[NUM_AXIS], // Destination position
  6915. float* offset, // Center of rotation relative to current_position
  6916. uint8_t clockwise // Clockwise?
  6917. ) {
  6918. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  6919. center_X = current_position[X_AXIS] + offset[X_AXIS],
  6920. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  6921. linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
  6922. extruder_travel = target[E_AXIS] - current_position[E_AXIS],
  6923. r_X = -offset[X_AXIS], // Radius vector from center to current location
  6924. r_Y = -offset[Y_AXIS],
  6925. rt_X = target[X_AXIS] - center_X,
  6926. rt_Y = target[Y_AXIS] - center_Y;
  6927. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  6928. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  6929. if (angular_travel < 0) angular_travel += RADIANS(360);
  6930. if (clockwise) angular_travel -= RADIANS(360);
  6931. // Make a circle if the angular rotation is 0
  6932. if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
  6933. angular_travel += RADIANS(360);
  6934. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  6935. if (mm_of_travel < 0.001) return;
  6936. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  6937. if (segments == 0) segments = 1;
  6938. float theta_per_segment = angular_travel / segments;
  6939. float linear_per_segment = linear_travel / segments;
  6940. float extruder_per_segment = extruder_travel / segments;
  6941. /**
  6942. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  6943. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  6944. * r_T = [cos(phi) -sin(phi);
  6945. * sin(phi) cos(phi] * r ;
  6946. *
  6947. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  6948. * defined from the circle center to the initial position. Each line segment is formed by successive
  6949. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  6950. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  6951. * all double numbers are single precision on the Arduino. (True double precision will not have
  6952. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  6953. * tool precision in some cases. Therefore, arc path correction is implemented.
  6954. *
  6955. * Small angle approximation may be used to reduce computation overhead further. This approximation
  6956. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  6957. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  6958. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  6959. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  6960. * issue for CNC machines with the single precision Arduino calculations.
  6961. *
  6962. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  6963. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  6964. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  6965. * This is important when there are successive arc motions.
  6966. */
  6967. // Vector rotation matrix values
  6968. float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  6969. float sin_T = theta_per_segment;
  6970. float arc_target[NUM_AXIS];
  6971. float sin_Ti, cos_Ti, r_new_Y;
  6972. uint16_t i;
  6973. int8_t count = 0;
  6974. // Initialize the linear axis
  6975. arc_target[Z_AXIS] = current_position[Z_AXIS];
  6976. // Initialize the extruder axis
  6977. arc_target[E_AXIS] = current_position[E_AXIS];
  6978. float fr_mm_s = MMM_TO_MMS_SCALED(feedrate_mm_m);
  6979. millis_t next_idle_ms = millis() + 200UL;
  6980. for (i = 1; i < segments; i++) { // Iterate (segments-1) times
  6981. thermalManager.manage_heater();
  6982. millis_t now = millis();
  6983. if (ELAPSED(now, next_idle_ms)) {
  6984. next_idle_ms = now + 200UL;
  6985. idle();
  6986. }
  6987. if (++count < N_ARC_CORRECTION) {
  6988. // Apply vector rotation matrix to previous r_X / 1
  6989. r_new_Y = r_X * sin_T + r_Y * cos_T;
  6990. r_X = r_X * cos_T - r_Y * sin_T;
  6991. r_Y = r_new_Y;
  6992. }
  6993. else {
  6994. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  6995. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  6996. // To reduce stuttering, the sin and cos could be computed at different times.
  6997. // For now, compute both at the same time.
  6998. cos_Ti = cos(i * theta_per_segment);
  6999. sin_Ti = sin(i * theta_per_segment);
  7000. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  7001. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  7002. count = 0;
  7003. }
  7004. // Update arc_target location
  7005. arc_target[X_AXIS] = center_X + r_X;
  7006. arc_target[Y_AXIS] = center_Y + r_Y;
  7007. arc_target[Z_AXIS] += linear_per_segment;
  7008. arc_target[E_AXIS] += extruder_per_segment;
  7009. clamp_to_software_endstops(arc_target);
  7010. #if ENABLED(DELTA) || ENABLED(SCARA)
  7011. inverse_kinematics(arc_target);
  7012. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  7013. adjust_delta(arc_target);
  7014. #endif
  7015. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7016. #else
  7017. planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7018. #endif
  7019. }
  7020. // Ensure last segment arrives at target location.
  7021. #if ENABLED(DELTA) || ENABLED(SCARA)
  7022. inverse_kinematics(target);
  7023. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  7024. adjust_delta(target);
  7025. #endif
  7026. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  7027. #else
  7028. planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  7029. #endif
  7030. // As far as the parser is concerned, the position is now == target. In reality the
  7031. // motion control system might still be processing the action and the real tool position
  7032. // in any intermediate location.
  7033. set_current_to_destination();
  7034. }
  7035. #endif
  7036. #if ENABLED(BEZIER_CURVE_SUPPORT)
  7037. void plan_cubic_move(const float offset[4]) {
  7038. cubic_b_spline(current_position, destination, offset, MMM_TO_MMS_SCALED(feedrate_mm_m), active_extruder);
  7039. // As far as the parser is concerned, the position is now == target. In reality the
  7040. // motion control system might still be processing the action and the real tool position
  7041. // in any intermediate location.
  7042. set_current_to_destination();
  7043. }
  7044. #endif // BEZIER_CURVE_SUPPORT
  7045. #if HAS_CONTROLLERFAN
  7046. void controllerFan() {
  7047. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  7048. static millis_t nextMotorCheck = 0; // Last time the state was checked
  7049. millis_t ms = millis();
  7050. if (ELAPSED(ms, nextMotorCheck)) {
  7051. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  7052. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  7053. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  7054. #if E_STEPPERS > 1
  7055. || E1_ENABLE_READ == E_ENABLE_ON
  7056. #if HAS_X2_ENABLE
  7057. || X2_ENABLE_READ == X_ENABLE_ON
  7058. #endif
  7059. #if E_STEPPERS > 2
  7060. || E2_ENABLE_READ == E_ENABLE_ON
  7061. #if E_STEPPERS > 3
  7062. || E3_ENABLE_READ == E_ENABLE_ON
  7063. #endif
  7064. #endif
  7065. #endif
  7066. ) {
  7067. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  7068. }
  7069. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  7070. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  7071. // allows digital or PWM fan output to be used (see M42 handling)
  7072. digitalWrite(CONTROLLERFAN_PIN, speed);
  7073. analogWrite(CONTROLLERFAN_PIN, speed);
  7074. }
  7075. }
  7076. #endif // HAS_CONTROLLERFAN
  7077. #if ENABLED(SCARA)
  7078. void forward_kinematics_SCARA(float f_scara[3]) {
  7079. // Perform forward kinematics, and place results in delta[3]
  7080. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  7081. float x_sin, x_cos, y_sin, y_cos;
  7082. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  7083. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  7084. x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  7085. x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  7086. y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  7087. y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  7088. //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  7089. //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  7090. //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  7091. //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  7092. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  7093. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  7094. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  7095. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  7096. }
  7097. void inverse_kinematics(const float cartesian[3]) {
  7098. // Inverse kinematics.
  7099. // Perform SCARA IK and place results in delta[3].
  7100. // The maths and first version were done by QHARLEY.
  7101. // Integrated, tweaked by Joachim Cerny in June 2014.
  7102. float SCARA_pos[2];
  7103. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  7104. SCARA_pos[X_AXIS] = RAW_POSITION(cartesian[X_AXIS], X_AXIS) * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  7105. SCARA_pos[Y_AXIS] = RAW_POSITION(cartesian[Y_AXIS], Y_AXIS) * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  7106. #if (Linkage_1 == Linkage_2)
  7107. SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
  7108. #else
  7109. SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
  7110. #endif
  7111. SCARA_S2 = sqrt(1 - sq(SCARA_C2));
  7112. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  7113. SCARA_K2 = Linkage_2 * SCARA_S2;
  7114. SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
  7115. SCARA_psi = atan2(SCARA_S2, SCARA_C2);
  7116. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  7117. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  7118. delta[Z_AXIS] = RAW_POSITION(cartesian[Z_AXIS], Z_AXIS);
  7119. /**
  7120. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  7121. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  7122. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  7123. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  7124. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  7125. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  7126. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  7127. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  7128. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  7129. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  7130. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  7131. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  7132. SERIAL_EOL;
  7133. */
  7134. }
  7135. #endif // SCARA
  7136. #if ENABLED(TEMP_STAT_LEDS)
  7137. static bool red_led = false;
  7138. static millis_t next_status_led_update_ms = 0;
  7139. void handle_status_leds(void) {
  7140. float max_temp = 0.0;
  7141. if (ELAPSED(millis(), next_status_led_update_ms)) {
  7142. next_status_led_update_ms += 500; // Update every 0.5s
  7143. HOTEND_LOOP() {
  7144. max_temp = max(max(max_temp, thermalManager.degHotend(e)), thermalManager.degTargetHotend(e));
  7145. }
  7146. #if HAS_TEMP_BED
  7147. max_temp = max(max(max_temp, thermalManager.degTargetBed()), thermalManager.degBed());
  7148. #endif
  7149. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  7150. if (new_led != red_led) {
  7151. red_led = new_led;
  7152. digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
  7153. digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
  7154. }
  7155. }
  7156. }
  7157. #endif
  7158. void enable_all_steppers() {
  7159. enable_x();
  7160. enable_y();
  7161. enable_z();
  7162. enable_e0();
  7163. enable_e1();
  7164. enable_e2();
  7165. enable_e3();
  7166. }
  7167. void disable_all_steppers() {
  7168. disable_x();
  7169. disable_y();
  7170. disable_z();
  7171. disable_e0();
  7172. disable_e1();
  7173. disable_e2();
  7174. disable_e3();
  7175. }
  7176. /**
  7177. * Standard idle routine keeps the machine alive
  7178. */
  7179. void idle(
  7180. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7181. bool no_stepper_sleep/*=false*/
  7182. #endif
  7183. ) {
  7184. lcd_update();
  7185. host_keepalive();
  7186. manage_inactivity(
  7187. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7188. no_stepper_sleep
  7189. #endif
  7190. );
  7191. thermalManager.manage_heater();
  7192. #if ENABLED(PRINTCOUNTER)
  7193. print_job_timer.tick();
  7194. #endif
  7195. #if HAS_BUZZER
  7196. buzzer.tick();
  7197. #endif
  7198. }
  7199. /**
  7200. * Manage several activities:
  7201. * - Check for Filament Runout
  7202. * - Keep the command buffer full
  7203. * - Check for maximum inactive time between commands
  7204. * - Check for maximum inactive time between stepper commands
  7205. * - Check if pin CHDK needs to go LOW
  7206. * - Check for KILL button held down
  7207. * - Check for HOME button held down
  7208. * - Check if cooling fan needs to be switched on
  7209. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  7210. */
  7211. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  7212. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7213. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  7214. handle_filament_runout();
  7215. #endif
  7216. if (commands_in_queue < BUFSIZE) get_available_commands();
  7217. millis_t ms = millis();
  7218. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  7219. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  7220. && !ignore_stepper_queue && !planner.blocks_queued()) {
  7221. #if ENABLED(DISABLE_INACTIVE_X)
  7222. disable_x();
  7223. #endif
  7224. #if ENABLED(DISABLE_INACTIVE_Y)
  7225. disable_y();
  7226. #endif
  7227. #if ENABLED(DISABLE_INACTIVE_Z)
  7228. disable_z();
  7229. #endif
  7230. #if ENABLED(DISABLE_INACTIVE_E)
  7231. disable_e0();
  7232. disable_e1();
  7233. disable_e2();
  7234. disable_e3();
  7235. #endif
  7236. }
  7237. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  7238. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  7239. chdkActive = false;
  7240. WRITE(CHDK, LOW);
  7241. }
  7242. #endif
  7243. #if HAS_KILL
  7244. // Check if the kill button was pressed and wait just in case it was an accidental
  7245. // key kill key press
  7246. // -------------------------------------------------------------------------------
  7247. static int killCount = 0; // make the inactivity button a bit less responsive
  7248. const int KILL_DELAY = 750;
  7249. if (!READ(KILL_PIN))
  7250. killCount++;
  7251. else if (killCount > 0)
  7252. killCount--;
  7253. // Exceeded threshold and we can confirm that it was not accidental
  7254. // KILL the machine
  7255. // ----------------------------------------------------------------
  7256. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  7257. #endif
  7258. #if HAS_HOME
  7259. // Check to see if we have to home, use poor man's debouncer
  7260. // ---------------------------------------------------------
  7261. static int homeDebounceCount = 0; // poor man's debouncing count
  7262. const int HOME_DEBOUNCE_DELAY = 2500;
  7263. if (!READ(HOME_PIN)) {
  7264. if (!homeDebounceCount) {
  7265. enqueue_and_echo_commands_P(PSTR("G28"));
  7266. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  7267. }
  7268. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  7269. homeDebounceCount++;
  7270. else
  7271. homeDebounceCount = 0;
  7272. }
  7273. #endif
  7274. #if HAS_CONTROLLERFAN
  7275. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  7276. #endif
  7277. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  7278. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  7279. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  7280. #if ENABLED(SWITCHING_EXTRUDER)
  7281. bool oldstatus = E0_ENABLE_READ;
  7282. enable_e0();
  7283. #else // !SWITCHING_EXTRUDER
  7284. bool oldstatus;
  7285. switch (active_extruder) {
  7286. case 0:
  7287. oldstatus = E0_ENABLE_READ;
  7288. enable_e0();
  7289. break;
  7290. #if E_STEPPERS > 1
  7291. case 1:
  7292. oldstatus = E1_ENABLE_READ;
  7293. enable_e1();
  7294. break;
  7295. #if E_STEPPERS > 2
  7296. case 2:
  7297. oldstatus = E2_ENABLE_READ;
  7298. enable_e2();
  7299. break;
  7300. #if E_STEPPERS > 3
  7301. case 3:
  7302. oldstatus = E3_ENABLE_READ;
  7303. enable_e3();
  7304. break;
  7305. #endif
  7306. #endif
  7307. #endif
  7308. }
  7309. #endif // !SWITCHING_EXTRUDER
  7310. float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
  7311. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  7312. destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS],
  7313. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_mm[E_AXIS], active_extruder);
  7314. current_position[E_AXIS] = oldepos;
  7315. destination[E_AXIS] = oldedes;
  7316. planner.set_e_position_mm(oldepos);
  7317. previous_cmd_ms = ms; // refresh_cmd_timeout()
  7318. stepper.synchronize();
  7319. #if ENABLED(SWITCHING_EXTRUDER)
  7320. E0_ENABLE_WRITE(oldstatus);
  7321. #else
  7322. switch (active_extruder) {
  7323. case 0:
  7324. E0_ENABLE_WRITE(oldstatus);
  7325. break;
  7326. #if E_STEPPERS > 1
  7327. case 1:
  7328. E1_ENABLE_WRITE(oldstatus);
  7329. break;
  7330. #if E_STEPPERS > 2
  7331. case 2:
  7332. E2_ENABLE_WRITE(oldstatus);
  7333. break;
  7334. #if E_STEPPERS > 3
  7335. case 3:
  7336. E3_ENABLE_WRITE(oldstatus);
  7337. break;
  7338. #endif
  7339. #endif
  7340. #endif
  7341. }
  7342. #endif // !SWITCHING_EXTRUDER
  7343. }
  7344. #endif // EXTRUDER_RUNOUT_PREVENT
  7345. #if ENABLED(DUAL_X_CARRIAGE)
  7346. // handle delayed move timeout
  7347. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  7348. // travel moves have been received so enact them
  7349. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  7350. set_destination_to_current();
  7351. prepare_move_to_destination();
  7352. }
  7353. #endif
  7354. #if ENABLED(TEMP_STAT_LEDS)
  7355. handle_status_leds();
  7356. #endif
  7357. planner.check_axes_activity();
  7358. }
  7359. void kill(const char* lcd_msg) {
  7360. SERIAL_ERROR_START;
  7361. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  7362. #if ENABLED(ULTRA_LCD)
  7363. kill_screen(lcd_msg);
  7364. #else
  7365. UNUSED(lcd_msg);
  7366. #endif
  7367. for (int i = 5; i--;) delay(100); // Wait a short time
  7368. cli(); // Stop interrupts
  7369. thermalManager.disable_all_heaters();
  7370. disable_all_steppers();
  7371. #if HAS_POWER_SWITCH
  7372. pinMode(PS_ON_PIN, INPUT);
  7373. #endif
  7374. suicide();
  7375. while (1) {
  7376. #if ENABLED(USE_WATCHDOG)
  7377. watchdog_reset();
  7378. #endif
  7379. } // Wait for reset
  7380. }
  7381. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7382. void handle_filament_runout() {
  7383. if (!filament_ran_out) {
  7384. filament_ran_out = true;
  7385. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  7386. stepper.synchronize();
  7387. }
  7388. }
  7389. #endif // FILAMENT_RUNOUT_SENSOR
  7390. #if ENABLED(FAST_PWM_FAN)
  7391. void setPwmFrequency(uint8_t pin, int val) {
  7392. val &= 0x07;
  7393. switch (digitalPinToTimer(pin)) {
  7394. #if defined(TCCR0A)
  7395. case TIMER0A:
  7396. case TIMER0B:
  7397. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7398. // TCCR0B |= val;
  7399. break;
  7400. #endif
  7401. #if defined(TCCR1A)
  7402. case TIMER1A:
  7403. case TIMER1B:
  7404. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7405. // TCCR1B |= val;
  7406. break;
  7407. #endif
  7408. #if defined(TCCR2)
  7409. case TIMER2:
  7410. case TIMER2:
  7411. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7412. TCCR2 |= val;
  7413. break;
  7414. #endif
  7415. #if defined(TCCR2A)
  7416. case TIMER2A:
  7417. case TIMER2B:
  7418. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7419. TCCR2B |= val;
  7420. break;
  7421. #endif
  7422. #if defined(TCCR3A)
  7423. case TIMER3A:
  7424. case TIMER3B:
  7425. case TIMER3C:
  7426. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7427. TCCR3B |= val;
  7428. break;
  7429. #endif
  7430. #if defined(TCCR4A)
  7431. case TIMER4A:
  7432. case TIMER4B:
  7433. case TIMER4C:
  7434. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7435. TCCR4B |= val;
  7436. break;
  7437. #endif
  7438. #if defined(TCCR5A)
  7439. case TIMER5A:
  7440. case TIMER5B:
  7441. case TIMER5C:
  7442. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7443. TCCR5B |= val;
  7444. break;
  7445. #endif
  7446. }
  7447. }
  7448. #endif // FAST_PWM_FAN
  7449. void stop() {
  7450. thermalManager.disable_all_heaters();
  7451. if (IsRunning()) {
  7452. Running = false;
  7453. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  7454. SERIAL_ERROR_START;
  7455. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  7456. LCD_MESSAGEPGM(MSG_STOPPED);
  7457. }
  7458. }
  7459. float calculate_volumetric_multiplier(float diameter) {
  7460. if (!volumetric_enabled || diameter == 0) return 1.0;
  7461. float d2 = diameter * 0.5;
  7462. return 1.0 / (M_PI * d2 * d2);
  7463. }
  7464. void calculate_volumetric_multipliers() {
  7465. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7466. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  7467. }