My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 449KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. */
  29. /**
  30. * -----------------
  31. * G-Codes in Marlin
  32. * -----------------
  33. *
  34. * Helpful G-code references:
  35. * - http://linuxcnc.org/handbook/gcode/g-code.html
  36. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  37. *
  38. * Help to document Marlin's G-codes online:
  39. * - http://reprap.org/wiki/G-code
  40. * - https://github.com/MarlinFirmware/MarlinDocumentation
  41. *
  42. * -----------------
  43. *
  44. * "G" Codes
  45. *
  46. * G0 -> G1
  47. * G1 - Coordinated Movement X Y Z E
  48. * G2 - CW ARC
  49. * G3 - CCW ARC
  50. * G4 - Dwell S<seconds> or P<milliseconds>
  51. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  52. * G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
  53. * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
  54. * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
  55. * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
  56. * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
  57. * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
  58. * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
  59. * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
  60. * G26 - Mesh Validation Pattern (Requires G26_MESH_VALIDATION)
  61. * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
  62. * G28 - Home one or more axes
  63. * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
  64. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  65. * G31 - Dock sled (Z_PROBE_SLED only)
  66. * G32 - Undock sled (Z_PROBE_SLED only)
  67. * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  68. * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  69. * G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
  70. * G90 - Use Absolute Coordinates
  71. * G91 - Use Relative Coordinates
  72. * G92 - Set current position to coordinates given
  73. *
  74. * "M" Codes
  75. *
  76. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  77. * M1 -> M0
  78. * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
  79. * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
  80. * M5 - Turn laser/spindle off
  81. * M17 - Enable/Power all stepper motors
  82. * M18 - Disable all stepper motors; same as M84
  83. * M20 - List SD card. (Requires SDSUPPORT)
  84. * M21 - Init SD card. (Requires SDSUPPORT)
  85. * M22 - Release SD card. (Requires SDSUPPORT)
  86. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  87. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  88. * M25 - Pause SD print. (Requires SDSUPPORT)
  89. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  90. * M27 - Report SD print status. (Requires SDSUPPORT)
  91. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  92. * M29 - Stop SD write. (Requires SDSUPPORT)
  93. * M30 - Delete file from SD: "M30 /path/file.gco"
  94. * M31 - Report time since last M109 or SD card start to serial.
  95. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  96. * Use P to run other files as sub-programs: "M32 P !filename#"
  97. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  98. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  99. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  100. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  101. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  102. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  103. * M75 - Start the print job timer.
  104. * M76 - Pause the print job timer.
  105. * M77 - Stop the print job timer.
  106. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  107. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
  108. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
  109. * M82 - Set E codes absolute (default).
  110. * M83 - Set E codes relative while in Absolute (G90) mode.
  111. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  112. * duration after which steppers should turn off. S0 disables the timeout.
  113. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  114. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  115. * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
  116. * M104 - Set extruder target temp.
  117. * M105 - Report current temperatures.
  118. * M106 - Set print fan speed.
  119. * M107 - Print fan off.
  120. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  121. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  122. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  123. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  124. * M110 - Set the current line number. (Used by host printing)
  125. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  126. * M112 - Emergency stop.
  127. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  128. * M114 - Report current position.
  129. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  130. * M117 - Display a message on the controller screen. (Requires an LCD)
  131. * M118 - Display a message in the host console.
  132. * M119 - Report endstops status.
  133. * M120 - Enable endstops detection.
  134. * M121 - Disable endstops detection.
  135. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  136. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  137. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  138. * M128 - EtoP Open. (Requires BARICUDA)
  139. * M129 - EtoP Closed. (Requires BARICUDA)
  140. * M140 - Set bed target temp. S<temp>
  141. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  142. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  143. * M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, or PCA9632).
  144. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  145. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  146. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  147. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  148. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  149. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  150. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  151. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  152. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  153. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  154. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  155. * M205 - Set advanced settings. Current units apply:
  156. S<print> T<travel> minimum speeds
  157. B<minimum segment time>
  158. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  159. * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  160. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  161. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  162. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  163. Every normal extrude-only move will be classified as retract depending on the direction.
  164. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  165. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  166. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  167. * M221 - Set Flow Percentage: "M221 S<percent>"
  168. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  169. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  170. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  171. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  172. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  173. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  174. * M290 - Babystepping (Requires BABYSTEPPING)
  175. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  176. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  177. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  178. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  179. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  180. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  181. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  182. * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
  183. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  184. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  185. * M400 - Finish all moves.
  186. * M401 - Lower Z probe. (Requires a probe)
  187. * M402 - Raise Z probe. (Requires a probe)
  188. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  189. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  190. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  191. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  192. * M410 - Quickstop. Abort all planned moves.
  193. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  194. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
  195. * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  196. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  197. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  198. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  199. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  200. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  201. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  202. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
  203. * M666 - Set delta endstop adjustment. (Requires DELTA)
  204. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  205. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  206. * M860 - Report the position of position encoder modules.
  207. * M861 - Report the status of position encoder modules.
  208. * M862 - Perform an axis continuity test for position encoder modules.
  209. * M863 - Perform steps-per-mm calibration for position encoder modules.
  210. * M864 - Change position encoder module I2C address.
  211. * M865 - Check position encoder module firmware version.
  212. * M866 - Report or reset position encoder module error count.
  213. * M867 - Enable/disable or toggle error correction for position encoder modules.
  214. * M868 - Report or set position encoder module error correction threshold.
  215. * M869 - Report position encoder module error.
  216. * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
  217. * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
  218. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  219. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  220. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  221. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  222. * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
  223. * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
  224. * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
  225. * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
  226. *
  227. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  228. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  229. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  230. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  231. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  232. *
  233. * ************ Custom codes - This can change to suit future G-code regulations
  234. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  235. * M999 - Restart after being stopped by error
  236. *
  237. * "T" Codes
  238. *
  239. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  240. *
  241. */
  242. #include "Marlin.h"
  243. #include "ultralcd.h"
  244. #include "planner.h"
  245. #include "stepper.h"
  246. #include "endstops.h"
  247. #include "temperature.h"
  248. #include "cardreader.h"
  249. #include "configuration_store.h"
  250. #include "language.h"
  251. #include "pins_arduino.h"
  252. #include "math.h"
  253. #include "nozzle.h"
  254. #include "duration_t.h"
  255. #include "types.h"
  256. #include "gcode.h"
  257. #if HAS_ABL
  258. #include "vector_3.h"
  259. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  260. #include "least_squares_fit.h"
  261. #endif
  262. #elif ENABLED(MESH_BED_LEVELING)
  263. #include "mesh_bed_leveling.h"
  264. #endif
  265. #if ENABLED(BEZIER_CURVE_SUPPORT)
  266. #include "planner_bezier.h"
  267. #endif
  268. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  269. #include "buzzer.h"
  270. #endif
  271. #if ENABLED(USE_WATCHDOG)
  272. #include "watchdog.h"
  273. #endif
  274. #if ENABLED(MAX7219_DEBUG)
  275. #include "Max7219_Debug_LEDs.h"
  276. #endif
  277. #if ENABLED(NEOPIXEL_LED)
  278. #include <Adafruit_NeoPixel.h>
  279. #endif
  280. #if ENABLED(BLINKM)
  281. #include "blinkm.h"
  282. #include "Wire.h"
  283. #endif
  284. #if ENABLED(PCA9632)
  285. #include "pca9632.h"
  286. #endif
  287. #if HAS_SERVOS
  288. #include "servo.h"
  289. #endif
  290. #if HAS_DIGIPOTSS
  291. #include <SPI.h>
  292. #endif
  293. #if ENABLED(DAC_STEPPER_CURRENT)
  294. #include "stepper_dac.h"
  295. #endif
  296. #if ENABLED(EXPERIMENTAL_I2CBUS)
  297. #include "twibus.h"
  298. #endif
  299. #if ENABLED(I2C_POSITION_ENCODERS)
  300. #include "I2CPositionEncoder.h"
  301. #endif
  302. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  303. #include "endstop_interrupts.h"
  304. #endif
  305. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  306. void gcode_M100();
  307. void M100_dump_routine(const char * const title, const char *start, const char *end);
  308. #endif
  309. #if ENABLED(G26_MESH_VALIDATION)
  310. bool g26_debug_flag; // =false
  311. void gcode_G26();
  312. #endif
  313. #if ENABLED(SDSUPPORT)
  314. CardReader card;
  315. #endif
  316. #if ENABLED(EXPERIMENTAL_I2CBUS)
  317. TWIBus i2c;
  318. #endif
  319. #if ENABLED(G38_PROBE_TARGET)
  320. bool G38_move = false,
  321. G38_endstop_hit = false;
  322. #endif
  323. #if ENABLED(AUTO_BED_LEVELING_UBL)
  324. #include "ubl.h"
  325. extern bool defer_return_to_status;
  326. unified_bed_leveling ubl;
  327. #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
  328. && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
  329. && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
  330. && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
  331. || isnan(ubl.z_values[0][0]))
  332. #endif
  333. #if ENABLED(NEOPIXEL_LED)
  334. #if NEOPIXEL_TYPE == NEO_RGB || NEOPIXEL_TYPE == NEO_RBG || NEOPIXEL_TYPE == NEO_GRB || NEOPIXEL_TYPE == NEO_GBR || NEOPIXEL_TYPE == NEO_BRG || NEOPIXEL_TYPE == NEO_BGR
  335. #define NEO_WHITE 255, 255, 255
  336. #else
  337. #define NEO_WHITE 0, 0, 0, 255
  338. #endif
  339. #endif
  340. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632)
  341. #define LED_WHITE 255, 255, 255
  342. #elif ENABLED(RGBW_LED)
  343. #define LED_WHITE 0, 0, 0, 255
  344. #endif
  345. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  346. int8_t active_coordinate_system = -1; // machine space
  347. float coordinate_system[MAX_COORDINATE_SYSTEMS][XYZ];
  348. #endif
  349. bool Running = true;
  350. uint8_t marlin_debug_flags = DEBUG_NONE;
  351. /**
  352. * Cartesian Current Position
  353. * Used to track the native machine position as moves are queued.
  354. * Used by 'buffer_line_to_current_position' to do a move after changing it.
  355. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  356. */
  357. float current_position[XYZE] = { 0.0 };
  358. /**
  359. * Cartesian Destination
  360. * The destination for a move, filled in by G-code movement commands,
  361. * and expected by functions like 'prepare_move_to_destination'.
  362. * Set with 'gcode_get_destination' or 'set_destination_from_current'.
  363. */
  364. float destination[XYZE] = { 0.0 };
  365. /**
  366. * axis_homed
  367. * Flags that each linear axis was homed.
  368. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  369. *
  370. * axis_known_position
  371. * Flags that the position is known in each linear axis. Set when homed.
  372. * Cleared whenever a stepper powers off, potentially losing its position.
  373. */
  374. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  375. /**
  376. * GCode line number handling. Hosts may opt to include line numbers when
  377. * sending commands to Marlin, and lines will be checked for sequentiality.
  378. * M110 N<int> sets the current line number.
  379. */
  380. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  381. /**
  382. * GCode Command Queue
  383. * A simple ring buffer of BUFSIZE command strings.
  384. *
  385. * Commands are copied into this buffer by the command injectors
  386. * (immediate, serial, sd card) and they are processed sequentially by
  387. * the main loop. The process_next_command function parses the next
  388. * command and hands off execution to individual handler functions.
  389. */
  390. uint8_t commands_in_queue = 0; // Count of commands in the queue
  391. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  392. cmd_queue_index_w = 0; // Ring buffer write position
  393. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  394. char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
  395. #else // This can be collapsed back to the way it was soon.
  396. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  397. #endif
  398. /**
  399. * Next Injected Command pointer. NULL if no commands are being injected.
  400. * Used by Marlin internally to ensure that commands initiated from within
  401. * are enqueued ahead of any pending serial or sd card commands.
  402. */
  403. static const char *injected_commands_P = NULL;
  404. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  405. TempUnit input_temp_units = TEMPUNIT_C;
  406. #endif
  407. /**
  408. * Feed rates are often configured with mm/m
  409. * but the planner and stepper like mm/s units.
  410. */
  411. static const float homing_feedrate_mm_s[] PROGMEM = {
  412. #if ENABLED(DELTA)
  413. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  414. #else
  415. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  416. #endif
  417. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  418. };
  419. FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
  420. float feedrate_mm_s = MMM_TO_MMS(1500.0);
  421. static float saved_feedrate_mm_s;
  422. int16_t feedrate_percentage = 100, saved_feedrate_percentage;
  423. // Initialized by settings.load()
  424. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  425. #if HAS_WORKSPACE_OFFSET
  426. #if HAS_POSITION_SHIFT
  427. // The distance that XYZ has been offset by G92. Reset by G28.
  428. float position_shift[XYZ] = { 0 };
  429. #endif
  430. #if HAS_HOME_OFFSET
  431. // This offset is added to the configured home position.
  432. // Set by M206, M428, or menu item. Saved to EEPROM.
  433. float home_offset[XYZ] = { 0 };
  434. #endif
  435. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  436. // The above two are combined to save on computes
  437. float workspace_offset[XYZ] = { 0 };
  438. #endif
  439. #endif
  440. // Software Endstops are based on the configured limits.
  441. float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
  442. soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
  443. #if HAS_SOFTWARE_ENDSTOPS
  444. bool soft_endstops_enabled = true;
  445. #if IS_KINEMATIC
  446. float soft_endstop_radius, soft_endstop_radius_2;
  447. #endif
  448. #endif
  449. #if FAN_COUNT > 0
  450. int16_t fanSpeeds[FAN_COUNT] = { 0 };
  451. #if ENABLED(EXTRA_FAN_SPEED)
  452. int16_t old_fanSpeeds[FAN_COUNT],
  453. new_fanSpeeds[FAN_COUNT];
  454. #endif
  455. #if ENABLED(PROBING_FANS_OFF)
  456. bool fans_paused = false;
  457. int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
  458. #endif
  459. #endif
  460. // The active extruder (tool). Set with T<extruder> command.
  461. uint8_t active_extruder = 0;
  462. // Relative Mode. Enable with G91, disable with G90.
  463. static bool relative_mode = false;
  464. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  465. volatile bool wait_for_heatup = true;
  466. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  467. #if HAS_RESUME_CONTINUE
  468. volatile bool wait_for_user = false;
  469. #endif
  470. const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
  471. // Number of characters read in the current line of serial input
  472. static int serial_count = 0;
  473. // Inactivity shutdown
  474. millis_t previous_cmd_ms = 0;
  475. static millis_t max_inactive_time = 0;
  476. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  477. // Print Job Timer
  478. #if ENABLED(PRINTCOUNTER)
  479. PrintCounter print_job_timer = PrintCounter();
  480. #else
  481. Stopwatch print_job_timer = Stopwatch();
  482. #endif
  483. // Buzzer - I2C on the LCD or a BEEPER_PIN
  484. #if ENABLED(LCD_USE_I2C_BUZZER)
  485. #define BUZZ(d,f) lcd_buzz(d, f)
  486. #elif PIN_EXISTS(BEEPER)
  487. Buzzer buzzer;
  488. #define BUZZ(d,f) buzzer.tone(d, f)
  489. #else
  490. #define BUZZ(d,f) NOOP
  491. #endif
  492. static uint8_t target_extruder;
  493. #if HAS_BED_PROBE
  494. float zprobe_zoffset; // Initialized by settings.load()
  495. #endif
  496. #if HAS_ABL
  497. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  498. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  499. #elif defined(XY_PROBE_SPEED)
  500. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  501. #else
  502. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  503. #endif
  504. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  505. #if ENABLED(DELTA)
  506. #define ADJUST_DELTA(V) \
  507. if (planner.leveling_active) { \
  508. const float zadj = bilinear_z_offset(V); \
  509. delta[A_AXIS] += zadj; \
  510. delta[B_AXIS] += zadj; \
  511. delta[C_AXIS] += zadj; \
  512. }
  513. #else
  514. #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
  515. #endif
  516. #elif IS_KINEMATIC
  517. #define ADJUST_DELTA(V) NOOP
  518. #endif
  519. #if ENABLED(X_DUAL_ENDSTOPS)
  520. float x_endstop_adj; // Initialized by settings.load()
  521. #endif
  522. #if ENABLED(Y_DUAL_ENDSTOPS)
  523. float y_endstop_adj; // Initialized by settings.load()
  524. #endif
  525. #if ENABLED(Z_DUAL_ENDSTOPS)
  526. float z_endstop_adj; // Initialized by settings.load()
  527. #endif
  528. // Extruder offsets
  529. #if HOTENDS > 1
  530. float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
  531. #endif
  532. #if HAS_Z_SERVO_ENDSTOP
  533. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  534. #endif
  535. #if ENABLED(BARICUDA)
  536. uint8_t baricuda_valve_pressure = 0,
  537. baricuda_e_to_p_pressure = 0;
  538. #endif
  539. #if ENABLED(FWRETRACT) // Initialized by settings.load()...
  540. bool autoretract_enabled, // M209 S - Autoretract switch
  541. retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
  542. float retract_length, // M207 S - G10 Retract length
  543. retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
  544. retract_zlift, // M207 Z - G10 Retract hop size
  545. retract_recover_length, // M208 S - G11 Recover length
  546. retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
  547. swap_retract_length, // M207 W - G10 Swap Retract length
  548. swap_retract_recover_length, // M208 W - G11 Swap Recover length
  549. swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
  550. #if EXTRUDERS > 1
  551. bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
  552. #else
  553. constexpr bool retracted_swap[1] = { false };
  554. #endif
  555. #endif // FWRETRACT
  556. #if HAS_POWER_SWITCH
  557. bool powersupply_on =
  558. #if ENABLED(PS_DEFAULT_OFF)
  559. false
  560. #else
  561. true
  562. #endif
  563. ;
  564. #endif
  565. #if ENABLED(DELTA)
  566. float delta[ABC];
  567. // Initialized by settings.load()
  568. float delta_height,
  569. delta_endstop_adj[ABC] = { 0 },
  570. delta_radius,
  571. delta_tower_angle_trim[ABC],
  572. delta_tower[ABC][2],
  573. delta_diagonal_rod,
  574. delta_calibration_radius,
  575. delta_diagonal_rod_2_tower[ABC],
  576. delta_segments_per_second,
  577. delta_clip_start_height = Z_MAX_POS;
  578. float delta_safe_distance_from_top();
  579. #endif
  580. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  581. int bilinear_grid_spacing[2], bilinear_start[2];
  582. float bilinear_grid_factor[2],
  583. z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  584. #endif
  585. #if IS_SCARA
  586. // Float constants for SCARA calculations
  587. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  588. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  589. L2_2 = sq(float(L2));
  590. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  591. delta[ABC];
  592. #endif
  593. float cartes[XYZ] = { 0 };
  594. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  595. bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off.
  596. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
  597. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  598. uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM, // Distance delay setting
  599. measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  600. int8_t filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  601. #endif
  602. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  603. static bool filament_ran_out = false;
  604. #endif
  605. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  606. AdvancedPauseMenuResponse advanced_pause_menu_response;
  607. #endif
  608. #if ENABLED(MIXING_EXTRUDER)
  609. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  610. #if MIXING_VIRTUAL_TOOLS > 1
  611. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  612. #endif
  613. #endif
  614. static bool send_ok[BUFSIZE];
  615. #if HAS_SERVOS
  616. Servo servo[NUM_SERVOS];
  617. #define MOVE_SERVO(I, P) servo[I].move(P)
  618. #if HAS_Z_SERVO_ENDSTOP
  619. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  620. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  621. #endif
  622. #endif
  623. #ifdef CHDK
  624. millis_t chdkHigh = 0;
  625. bool chdkActive = false;
  626. #endif
  627. #ifdef AUTOMATIC_CURRENT_CONTROL
  628. bool auto_current_control = 0;
  629. #endif
  630. #if ENABLED(PID_EXTRUSION_SCALING)
  631. int lpq_len = 20;
  632. #endif
  633. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  634. MarlinBusyState busy_state = NOT_BUSY;
  635. static millis_t next_busy_signal_ms = 0;
  636. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  637. #else
  638. #define host_keepalive() NOOP
  639. #endif
  640. #if ENABLED(I2C_POSITION_ENCODERS)
  641. I2CPositionEncodersMgr I2CPEM;
  642. uint8_t blockBufferIndexRef = 0;
  643. millis_t lastUpdateMillis;
  644. #endif
  645. #if ENABLED(CNC_WORKSPACE_PLANES)
  646. static WorkspacePlane workspace_plane = PLANE_XY;
  647. #endif
  648. FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
  649. FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
  650. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  651. static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  652. static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
  653. typedef void __void_##CONFIG##__
  654. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  655. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  656. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  657. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  658. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  659. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  660. /**
  661. * ***************************************************************************
  662. * ******************************** FUNCTIONS ********************************
  663. * ***************************************************************************
  664. */
  665. void stop();
  666. void get_available_commands();
  667. void process_next_command();
  668. void process_parsed_command();
  669. void prepare_move_to_destination();
  670. void get_cartesian_from_steppers();
  671. void set_current_from_steppers_for_axis(const AxisEnum axis);
  672. #if ENABLED(ARC_SUPPORT)
  673. void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
  674. #endif
  675. #if ENABLED(BEZIER_CURVE_SUPPORT)
  676. void plan_cubic_move(const float offset[4]);
  677. #endif
  678. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  679. void report_current_position();
  680. void report_current_position_detail();
  681. #if ENABLED(DEBUG_LEVELING_FEATURE)
  682. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  683. serialprintPGM(prefix);
  684. SERIAL_CHAR('(');
  685. SERIAL_ECHO(x);
  686. SERIAL_ECHOPAIR(", ", y);
  687. SERIAL_ECHOPAIR(", ", z);
  688. SERIAL_CHAR(')');
  689. if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
  690. }
  691. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  692. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  693. }
  694. #if HAS_ABL
  695. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  696. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  697. }
  698. #endif
  699. #define DEBUG_POS(SUFFIX,VAR) do { \
  700. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
  701. #endif
  702. /**
  703. * sync_plan_position
  704. *
  705. * Set the planner/stepper positions directly from current_position with
  706. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  707. */
  708. void sync_plan_position() {
  709. #if ENABLED(DEBUG_LEVELING_FEATURE)
  710. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  711. #endif
  712. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  713. }
  714. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  715. #if IS_KINEMATIC
  716. inline void sync_plan_position_kinematic() {
  717. #if ENABLED(DEBUG_LEVELING_FEATURE)
  718. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  719. #endif
  720. planner.set_position_mm_kinematic(current_position);
  721. }
  722. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  723. #else
  724. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  725. #endif
  726. #if ENABLED(SDSUPPORT)
  727. #include "SdFatUtil.h"
  728. int freeMemory() { return SdFatUtil::FreeRam(); }
  729. #else
  730. extern "C" {
  731. extern char __bss_end;
  732. extern char __heap_start;
  733. extern void* __brkval;
  734. int freeMemory() {
  735. int free_memory;
  736. if ((int)__brkval == 0)
  737. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  738. else
  739. free_memory = ((int)&free_memory) - ((int)__brkval);
  740. return free_memory;
  741. }
  742. }
  743. #endif // !SDSUPPORT
  744. #if ENABLED(DIGIPOT_I2C)
  745. extern void digipot_i2c_set_current(uint8_t channel, float current);
  746. extern void digipot_i2c_init();
  747. #endif
  748. /**
  749. * Inject the next "immediate" command, when possible, onto the front of the queue.
  750. * Return true if any immediate commands remain to inject.
  751. */
  752. static bool drain_injected_commands_P() {
  753. if (injected_commands_P != NULL) {
  754. size_t i = 0;
  755. char c, cmd[30];
  756. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  757. cmd[sizeof(cmd) - 1] = '\0';
  758. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  759. cmd[i] = '\0';
  760. if (enqueue_and_echo_command(cmd)) // success?
  761. injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
  762. }
  763. return (injected_commands_P != NULL); // return whether any more remain
  764. }
  765. /**
  766. * Record one or many commands to run from program memory.
  767. * Aborts the current queue, if any.
  768. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  769. */
  770. void enqueue_and_echo_commands_P(const char * const pgcode) {
  771. injected_commands_P = pgcode;
  772. drain_injected_commands_P(); // first command executed asap (when possible)
  773. }
  774. /**
  775. * Clear the Marlin command queue
  776. */
  777. void clear_command_queue() {
  778. cmd_queue_index_r = cmd_queue_index_w;
  779. commands_in_queue = 0;
  780. }
  781. /**
  782. * Once a new command is in the ring buffer, call this to commit it
  783. */
  784. inline void _commit_command(bool say_ok) {
  785. send_ok[cmd_queue_index_w] = say_ok;
  786. if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
  787. commands_in_queue++;
  788. }
  789. /**
  790. * Copy a command from RAM into the main command buffer.
  791. * Return true if the command was successfully added.
  792. * Return false for a full buffer, or if the 'command' is a comment.
  793. */
  794. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  795. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  796. strcpy(command_queue[cmd_queue_index_w], cmd);
  797. _commit_command(say_ok);
  798. return true;
  799. }
  800. /**
  801. * Enqueue with Serial Echo
  802. */
  803. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  804. if (_enqueuecommand(cmd, say_ok)) {
  805. SERIAL_ECHO_START();
  806. SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
  807. SERIAL_CHAR('"');
  808. SERIAL_EOL();
  809. return true;
  810. }
  811. return false;
  812. }
  813. void setup_killpin() {
  814. #if HAS_KILL
  815. SET_INPUT_PULLUP(KILL_PIN);
  816. #endif
  817. }
  818. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  819. void setup_filrunoutpin() {
  820. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  821. SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
  822. #else
  823. SET_INPUT(FIL_RUNOUT_PIN);
  824. #endif
  825. }
  826. #endif
  827. void setup_powerhold() {
  828. #if HAS_SUICIDE
  829. OUT_WRITE(SUICIDE_PIN, HIGH);
  830. #endif
  831. #if HAS_POWER_SWITCH
  832. #if ENABLED(PS_DEFAULT_OFF)
  833. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  834. #else
  835. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  836. #endif
  837. #endif
  838. }
  839. void suicide() {
  840. #if HAS_SUICIDE
  841. OUT_WRITE(SUICIDE_PIN, LOW);
  842. #endif
  843. }
  844. void servo_init() {
  845. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  846. servo[0].attach(SERVO0_PIN);
  847. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  848. #endif
  849. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  850. servo[1].attach(SERVO1_PIN);
  851. servo[1].detach();
  852. #endif
  853. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  854. servo[2].attach(SERVO2_PIN);
  855. servo[2].detach();
  856. #endif
  857. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  858. servo[3].attach(SERVO3_PIN);
  859. servo[3].detach();
  860. #endif
  861. #if HAS_Z_SERVO_ENDSTOP
  862. /**
  863. * Set position of Z Servo Endstop
  864. *
  865. * The servo might be deployed and positioned too low to stow
  866. * when starting up the machine or rebooting the board.
  867. * There's no way to know where the nozzle is positioned until
  868. * homing has been done - no homing with z-probe without init!
  869. *
  870. */
  871. STOW_Z_SERVO();
  872. #endif
  873. }
  874. /**
  875. * Stepper Reset (RigidBoard, et.al.)
  876. */
  877. #if HAS_STEPPER_RESET
  878. void disableStepperDrivers() {
  879. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  880. }
  881. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  882. #endif
  883. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  884. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  885. i2c.receive(bytes);
  886. }
  887. void i2c_on_request() { // just send dummy data for now
  888. i2c.reply("Hello World!\n");
  889. }
  890. #endif
  891. #if HAS_COLOR_LEDS
  892. #if ENABLED(NEOPIXEL_LED)
  893. Adafruit_NeoPixel pixels(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800);
  894. void set_neopixel_color(const uint32_t color) {
  895. for (uint16_t i = 0; i < pixels.numPixels(); ++i)
  896. pixels.setPixelColor(i, color);
  897. pixels.show();
  898. }
  899. void setup_neopixel() {
  900. pixels.setBrightness(NEOPIXEL_BRIGHTNESS); // 0 - 255 range
  901. pixels.begin();
  902. pixels.show(); // initialize to all off
  903. #if ENABLED(NEOPIXEL_STARTUP_TEST)
  904. safe_delay(1000);
  905. set_neopixel_color(pixels.Color(255, 0, 0, 0)); // red
  906. safe_delay(1000);
  907. set_neopixel_color(pixels.Color(0, 255, 0, 0)); // green
  908. safe_delay(1000);
  909. set_neopixel_color(pixels.Color(0, 0, 255, 0)); // blue
  910. safe_delay(1000);
  911. #endif
  912. set_neopixel_color(pixels.Color(NEO_WHITE)); // white
  913. }
  914. #endif // NEOPIXEL_LED
  915. void set_led_color(
  916. const uint8_t r, const uint8_t g, const uint8_t b
  917. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  918. , const uint8_t w = 0
  919. #if ENABLED(NEOPIXEL_LED)
  920. , const uint8_t p = NEOPIXEL_BRIGHTNESS
  921. , bool isSequence = false
  922. #endif
  923. #endif
  924. ) {
  925. #if ENABLED(NEOPIXEL_LED)
  926. const uint32_t color = pixels.Color(r, g, b, w);
  927. static uint16_t nextLed = 0;
  928. pixels.setBrightness(p);
  929. if (!isSequence)
  930. set_neopixel_color(color);
  931. else {
  932. pixels.setPixelColor(nextLed, color);
  933. pixels.show();
  934. if (++nextLed >= pixels.numPixels()) nextLed = 0;
  935. return;
  936. }
  937. #endif
  938. #if ENABLED(BLINKM)
  939. // This variant uses i2c to send the RGB components to the device.
  940. SendColors(r, g, b);
  941. #endif
  942. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  943. // This variant uses 3 separate pins for the RGB components.
  944. // If the pins can do PWM then their intensity will be set.
  945. WRITE(RGB_LED_R_PIN, r ? HIGH : LOW);
  946. WRITE(RGB_LED_G_PIN, g ? HIGH : LOW);
  947. WRITE(RGB_LED_B_PIN, b ? HIGH : LOW);
  948. analogWrite(RGB_LED_R_PIN, r);
  949. analogWrite(RGB_LED_G_PIN, g);
  950. analogWrite(RGB_LED_B_PIN, b);
  951. #if ENABLED(RGBW_LED)
  952. WRITE(RGB_LED_W_PIN, w ? HIGH : LOW);
  953. analogWrite(RGB_LED_W_PIN, w);
  954. #endif
  955. #endif
  956. #if ENABLED(PCA9632)
  957. // Update I2C LED driver
  958. PCA9632_SetColor(r, g, b);
  959. #endif
  960. }
  961. #endif // HAS_COLOR_LEDS
  962. void gcode_line_error(const char* err, bool doFlush = true) {
  963. SERIAL_ERROR_START();
  964. serialprintPGM(err);
  965. SERIAL_ERRORLN(gcode_LastN);
  966. //Serial.println(gcode_N);
  967. if (doFlush) FlushSerialRequestResend();
  968. serial_count = 0;
  969. }
  970. /**
  971. * Get all commands waiting on the serial port and queue them.
  972. * Exit when the buffer is full or when no more characters are
  973. * left on the serial port.
  974. */
  975. inline void get_serial_commands() {
  976. static char serial_line_buffer[MAX_CMD_SIZE];
  977. static bool serial_comment_mode = false;
  978. // If the command buffer is empty for too long,
  979. // send "wait" to indicate Marlin is still waiting.
  980. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  981. static millis_t last_command_time = 0;
  982. const millis_t ms = millis();
  983. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  984. SERIAL_ECHOLNPGM(MSG_WAIT);
  985. last_command_time = ms;
  986. }
  987. #endif
  988. /**
  989. * Loop while serial characters are incoming and the queue is not full
  990. */
  991. int c;
  992. while (commands_in_queue < BUFSIZE && (c = MYSERIAL.read()) >= 0) {
  993. char serial_char = c;
  994. /**
  995. * If the character ends the line
  996. */
  997. if (serial_char == '\n' || serial_char == '\r') {
  998. serial_comment_mode = false; // end of line == end of comment
  999. if (!serial_count) continue; // Skip empty lines
  1000. serial_line_buffer[serial_count] = 0; // Terminate string
  1001. serial_count = 0; // Reset buffer
  1002. char* command = serial_line_buffer;
  1003. while (*command == ' ') command++; // Skip leading spaces
  1004. char *npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  1005. if (npos) {
  1006. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  1007. if (M110) {
  1008. char* n2pos = strchr(command + 4, 'N');
  1009. if (n2pos) npos = n2pos;
  1010. }
  1011. gcode_N = strtol(npos + 1, NULL, 10);
  1012. if (gcode_N != gcode_LastN + 1 && !M110) {
  1013. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  1014. return;
  1015. }
  1016. char *apos = strrchr(command, '*');
  1017. if (apos) {
  1018. uint8_t checksum = 0, count = uint8_t(apos - command);
  1019. while (count) checksum ^= command[--count];
  1020. if (strtol(apos + 1, NULL, 10) != checksum) {
  1021. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  1022. return;
  1023. }
  1024. }
  1025. else {
  1026. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  1027. return;
  1028. }
  1029. gcode_LastN = gcode_N;
  1030. }
  1031. // Movement commands alert when stopped
  1032. if (IsStopped()) {
  1033. char* gpos = strchr(command, 'G');
  1034. if (gpos) {
  1035. const int codenum = strtol(gpos + 1, NULL, 10);
  1036. switch (codenum) {
  1037. case 0:
  1038. case 1:
  1039. case 2:
  1040. case 3:
  1041. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  1042. LCD_MESSAGEPGM(MSG_STOPPED);
  1043. break;
  1044. }
  1045. }
  1046. }
  1047. #if DISABLED(EMERGENCY_PARSER)
  1048. // If command was e-stop process now
  1049. if (strcmp(command, "M108") == 0) {
  1050. wait_for_heatup = false;
  1051. #if ENABLED(ULTIPANEL)
  1052. wait_for_user = false;
  1053. #endif
  1054. }
  1055. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  1056. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  1057. #endif
  1058. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  1059. last_command_time = ms;
  1060. #endif
  1061. // Add the command to the queue
  1062. _enqueuecommand(serial_line_buffer, true);
  1063. }
  1064. else if (serial_count >= MAX_CMD_SIZE - 1) {
  1065. // Keep fetching, but ignore normal characters beyond the max length
  1066. // The command will be injected when EOL is reached
  1067. }
  1068. else if (serial_char == '\\') { // Handle escapes
  1069. if ((c = MYSERIAL.read()) >= 0) {
  1070. // if we have one more character, copy it over
  1071. serial_char = c;
  1072. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1073. }
  1074. // otherwise do nothing
  1075. }
  1076. else { // it's not a newline, carriage return or escape char
  1077. if (serial_char == ';') serial_comment_mode = true;
  1078. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1079. }
  1080. } // queue has space, serial has data
  1081. }
  1082. #if ENABLED(SDSUPPORT)
  1083. /**
  1084. * Get commands from the SD Card until the command buffer is full
  1085. * or until the end of the file is reached. The special character '#'
  1086. * can also interrupt buffering.
  1087. */
  1088. inline void get_sdcard_commands() {
  1089. static bool stop_buffering = false,
  1090. sd_comment_mode = false;
  1091. if (!card.sdprinting) return;
  1092. /**
  1093. * '#' stops reading from SD to the buffer prematurely, so procedural
  1094. * macro calls are possible. If it occurs, stop_buffering is triggered
  1095. * and the buffer is run dry; this character _can_ occur in serial com
  1096. * due to checksums, however, no checksums are used in SD printing.
  1097. */
  1098. if (commands_in_queue == 0) stop_buffering = false;
  1099. uint16_t sd_count = 0;
  1100. bool card_eof = card.eof();
  1101. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1102. const int16_t n = card.get();
  1103. char sd_char = (char)n;
  1104. card_eof = card.eof();
  1105. if (card_eof || n == -1
  1106. || sd_char == '\n' || sd_char == '\r'
  1107. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1108. ) {
  1109. if (card_eof) {
  1110. card.printingHasFinished();
  1111. if (card.sdprinting)
  1112. sd_count = 0; // If a sub-file was printing, continue from call point
  1113. else {
  1114. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1115. #if ENABLED(PRINTER_EVENT_LEDS)
  1116. LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
  1117. set_led_color(0, 255, 0); // Green
  1118. #if HAS_RESUME_CONTINUE
  1119. enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
  1120. #else
  1121. safe_delay(1000);
  1122. #endif
  1123. set_led_color(0, 0, 0); // OFF
  1124. #endif
  1125. card.checkautostart(true);
  1126. }
  1127. }
  1128. else if (n == -1) {
  1129. SERIAL_ERROR_START();
  1130. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1131. }
  1132. if (sd_char == '#') stop_buffering = true;
  1133. sd_comment_mode = false; // for new command
  1134. if (!sd_count) continue; // skip empty lines (and comment lines)
  1135. command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
  1136. sd_count = 0; // clear sd line buffer
  1137. _commit_command(false);
  1138. }
  1139. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1140. /**
  1141. * Keep fetching, but ignore normal characters beyond the max length
  1142. * The command will be injected when EOL is reached
  1143. */
  1144. }
  1145. else {
  1146. if (sd_char == ';') sd_comment_mode = true;
  1147. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1148. }
  1149. }
  1150. }
  1151. #endif // SDSUPPORT
  1152. /**
  1153. * Add to the circular command queue the next command from:
  1154. * - The command-injection queue (injected_commands_P)
  1155. * - The active serial input (usually USB)
  1156. * - The SD card file being actively printed
  1157. */
  1158. void get_available_commands() {
  1159. // if any immediate commands remain, don't get other commands yet
  1160. if (drain_injected_commands_P()) return;
  1161. get_serial_commands();
  1162. #if ENABLED(SDSUPPORT)
  1163. get_sdcard_commands();
  1164. #endif
  1165. }
  1166. /**
  1167. * Set target_extruder from the T parameter or the active_extruder
  1168. *
  1169. * Returns TRUE if the target is invalid
  1170. */
  1171. bool get_target_extruder_from_command(const uint16_t code) {
  1172. if (parser.seenval('T')) {
  1173. const int8_t e = parser.value_byte();
  1174. if (e >= EXTRUDERS) {
  1175. SERIAL_ECHO_START();
  1176. SERIAL_CHAR('M');
  1177. SERIAL_ECHO(code);
  1178. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
  1179. return true;
  1180. }
  1181. target_extruder = e;
  1182. }
  1183. else
  1184. target_extruder = active_extruder;
  1185. return false;
  1186. }
  1187. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1188. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1189. #endif
  1190. #if ENABLED(DUAL_X_CARRIAGE)
  1191. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1192. static float x_home_pos(const int extruder) {
  1193. if (extruder == 0)
  1194. return base_home_pos(X_AXIS);
  1195. else
  1196. /**
  1197. * In dual carriage mode the extruder offset provides an override of the
  1198. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1199. * This allows soft recalibration of the second extruder home position
  1200. * without firmware reflash (through the M218 command).
  1201. */
  1202. return hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1203. }
  1204. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1205. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1206. static bool active_extruder_parked = false; // used in mode 1 & 2
  1207. static float raised_parked_position[XYZE]; // used in mode 1
  1208. static millis_t delayed_move_time = 0; // used in mode 1
  1209. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1210. static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
  1211. #endif // DUAL_X_CARRIAGE
  1212. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
  1213. /**
  1214. * Software endstops can be used to monitor the open end of
  1215. * an axis that has a hardware endstop on the other end. Or
  1216. * they can prevent axes from moving past endstops and grinding.
  1217. *
  1218. * To keep doing their job as the coordinate system changes,
  1219. * the software endstop positions must be refreshed to remain
  1220. * at the same positions relative to the machine.
  1221. */
  1222. void update_software_endstops(const AxisEnum axis) {
  1223. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  1224. workspace_offset[axis] = home_offset[axis] + position_shift[axis];
  1225. #endif
  1226. #if ENABLED(DUAL_X_CARRIAGE)
  1227. if (axis == X_AXIS) {
  1228. // In Dual X mode hotend_offset[X] is T1's home position
  1229. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1230. if (active_extruder != 0) {
  1231. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1232. soft_endstop_min[X_AXIS] = X2_MIN_POS;
  1233. soft_endstop_max[X_AXIS] = dual_max_x;
  1234. }
  1235. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1236. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1237. // but not so far to the right that T1 would move past the end
  1238. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS);
  1239. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset);
  1240. }
  1241. else {
  1242. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1243. soft_endstop_min[axis] = base_min_pos(axis);
  1244. soft_endstop_max[axis] = base_max_pos(axis);
  1245. }
  1246. }
  1247. #elif ENABLED(DELTA)
  1248. soft_endstop_min[axis] = base_min_pos(axis);
  1249. soft_endstop_max[axis] = axis == Z_AXIS ? delta_height : base_max_pos(axis);
  1250. #else
  1251. soft_endstop_min[axis] = base_min_pos(axis);
  1252. soft_endstop_max[axis] = base_max_pos(axis);
  1253. #endif
  1254. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1255. if (DEBUGGING(LEVELING)) {
  1256. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1257. #if HAS_HOME_OFFSET
  1258. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1259. #endif
  1260. #if HAS_POSITION_SHIFT
  1261. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1262. #endif
  1263. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1264. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1265. }
  1266. #endif
  1267. #if ENABLED(DELTA)
  1268. switch(axis) {
  1269. case X_AXIS:
  1270. case Y_AXIS:
  1271. // Get a minimum radius for clamping
  1272. soft_endstop_radius = MIN3(FABS(max(soft_endstop_min[X_AXIS], soft_endstop_min[Y_AXIS])), soft_endstop_max[X_AXIS], soft_endstop_max[Y_AXIS]);
  1273. soft_endstop_radius_2 = sq(soft_endstop_radius);
  1274. break;
  1275. case Z_AXIS:
  1276. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1277. default: break;
  1278. }
  1279. #endif
  1280. }
  1281. #endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
  1282. #if HAS_M206_COMMAND
  1283. /**
  1284. * Change the home offset for an axis, update the current
  1285. * position and the software endstops to retain the same
  1286. * relative distance to the new home.
  1287. *
  1288. * Since this changes the current_position, code should
  1289. * call sync_plan_position soon after this.
  1290. */
  1291. static void set_home_offset(const AxisEnum axis, const float v) {
  1292. home_offset[axis] = v;
  1293. update_software_endstops(axis);
  1294. }
  1295. #endif // HAS_M206_COMMAND
  1296. /**
  1297. * Set an axis' current position to its home position (after homing).
  1298. *
  1299. * For Core and Cartesian robots this applies one-to-one when an
  1300. * individual axis has been homed.
  1301. *
  1302. * DELTA should wait until all homing is done before setting the XYZ
  1303. * current_position to home, because homing is a single operation.
  1304. * In the case where the axis positions are already known and previously
  1305. * homed, DELTA could home to X or Y individually by moving either one
  1306. * to the center. However, homing Z always homes XY and Z.
  1307. *
  1308. * SCARA should wait until all XY homing is done before setting the XY
  1309. * current_position to home, because neither X nor Y is at home until
  1310. * both are at home. Z can however be homed individually.
  1311. *
  1312. * Callers must sync the planner position after calling this!
  1313. */
  1314. static void set_axis_is_at_home(const AxisEnum axis) {
  1315. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1316. if (DEBUGGING(LEVELING)) {
  1317. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1318. SERIAL_CHAR(')');
  1319. SERIAL_EOL();
  1320. }
  1321. #endif
  1322. axis_known_position[axis] = axis_homed[axis] = true;
  1323. #if HAS_POSITION_SHIFT
  1324. position_shift[axis] = 0;
  1325. update_software_endstops(axis);
  1326. #endif
  1327. #if ENABLED(DUAL_X_CARRIAGE)
  1328. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1329. current_position[X_AXIS] = x_home_pos(active_extruder);
  1330. return;
  1331. }
  1332. #endif
  1333. #if ENABLED(MORGAN_SCARA)
  1334. /**
  1335. * Morgan SCARA homes XY at the same time
  1336. */
  1337. if (axis == X_AXIS || axis == Y_AXIS) {
  1338. float homeposition[XYZ] = {
  1339. base_home_pos(X_AXIS),
  1340. base_home_pos(Y_AXIS),
  1341. base_home_pos(Z_AXIS)
  1342. };
  1343. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1344. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1345. /**
  1346. * Get Home position SCARA arm angles using inverse kinematics,
  1347. * and calculate homing offset using forward kinematics
  1348. */
  1349. inverse_kinematics(homeposition);
  1350. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1351. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1352. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1353. current_position[axis] = cartes[axis];
  1354. /**
  1355. * SCARA home positions are based on configuration since the actual
  1356. * limits are determined by the inverse kinematic transform.
  1357. */
  1358. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1359. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1360. }
  1361. else
  1362. #elif ENABLED(DELTA)
  1363. if (axis == Z_AXIS)
  1364. current_position[axis] = delta_height;
  1365. else
  1366. #endif
  1367. {
  1368. current_position[axis] = base_home_pos(axis);
  1369. }
  1370. /**
  1371. * Z Probe Z Homing? Account for the probe's Z offset.
  1372. */
  1373. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1374. if (axis == Z_AXIS) {
  1375. #if HOMING_Z_WITH_PROBE
  1376. current_position[Z_AXIS] -= zprobe_zoffset;
  1377. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1378. if (DEBUGGING(LEVELING)) {
  1379. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1380. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1381. }
  1382. #endif
  1383. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1384. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1385. #endif
  1386. }
  1387. #endif
  1388. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1389. if (DEBUGGING(LEVELING)) {
  1390. #if HAS_HOME_OFFSET
  1391. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1392. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1393. #endif
  1394. DEBUG_POS("", current_position);
  1395. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1396. SERIAL_CHAR(')');
  1397. SERIAL_EOL();
  1398. }
  1399. #endif
  1400. #if ENABLED(I2C_POSITION_ENCODERS)
  1401. I2CPEM.homed(axis);
  1402. #endif
  1403. }
  1404. /**
  1405. * Some planner shorthand inline functions
  1406. */
  1407. inline float get_homing_bump_feedrate(const AxisEnum axis) {
  1408. static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
  1409. uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
  1410. if (hbd < 1) {
  1411. hbd = 10;
  1412. SERIAL_ECHO_START();
  1413. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1414. }
  1415. return homing_feedrate(axis) / hbd;
  1416. }
  1417. /**
  1418. * Move the planner to the current position from wherever it last moved
  1419. * (or from wherever it has been told it is located).
  1420. */
  1421. inline void buffer_line_to_current_position() {
  1422. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1423. }
  1424. /**
  1425. * Move the planner to the position stored in the destination array, which is
  1426. * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
  1427. */
  1428. inline void buffer_line_to_destination(const float fr_mm_s) {
  1429. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1430. }
  1431. inline void set_current_from_destination() { COPY(current_position, destination); }
  1432. inline void set_destination_from_current() { COPY(destination, current_position); }
  1433. #if IS_KINEMATIC
  1434. /**
  1435. * Calculate delta, start a line, and set current_position to destination
  1436. */
  1437. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1438. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1439. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1440. #endif
  1441. refresh_cmd_timeout();
  1442. #if UBL_DELTA
  1443. // ubl segmented line will do z-only moves in single segment
  1444. ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
  1445. #else
  1446. if ( current_position[X_AXIS] == destination[X_AXIS]
  1447. && current_position[Y_AXIS] == destination[Y_AXIS]
  1448. && current_position[Z_AXIS] == destination[Z_AXIS]
  1449. && current_position[E_AXIS] == destination[E_AXIS]
  1450. ) return;
  1451. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1452. #endif
  1453. set_current_from_destination();
  1454. }
  1455. #endif // IS_KINEMATIC
  1456. /**
  1457. * Plan a move to (X, Y, Z) and set the current_position
  1458. * The final current_position may not be the one that was requested
  1459. */
  1460. void do_blocking_move_to(const float &rx, const float &ry, const float &rz, const float &fr_mm_s/*=0.0*/) {
  1461. const float old_feedrate_mm_s = feedrate_mm_s;
  1462. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1463. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, LOGICAL_X_POSITION(rx), LOGICAL_Y_POSITION(ry), LOGICAL_Z_POSITION(rz));
  1464. #endif
  1465. #if ENABLED(DELTA)
  1466. if (!position_is_reachable(rx, ry)) return;
  1467. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1468. set_destination_from_current(); // sync destination at the start
  1469. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1470. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
  1471. #endif
  1472. // when in the danger zone
  1473. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1474. if (rz > delta_clip_start_height) { // staying in the danger zone
  1475. destination[X_AXIS] = rx; // move directly (uninterpolated)
  1476. destination[Y_AXIS] = ry;
  1477. destination[Z_AXIS] = rz;
  1478. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1479. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1480. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1481. #endif
  1482. return;
  1483. }
  1484. else {
  1485. destination[Z_AXIS] = delta_clip_start_height;
  1486. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1487. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1488. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1489. #endif
  1490. }
  1491. }
  1492. if (rz > current_position[Z_AXIS]) { // raising?
  1493. destination[Z_AXIS] = rz;
  1494. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1495. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1496. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1497. #endif
  1498. }
  1499. destination[X_AXIS] = rx;
  1500. destination[Y_AXIS] = ry;
  1501. prepare_move_to_destination(); // set_current_from_destination
  1502. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1503. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1504. #endif
  1505. if (rz < current_position[Z_AXIS]) { // lowering?
  1506. destination[Z_AXIS] = rz;
  1507. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1508. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1509. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1510. #endif
  1511. }
  1512. #elif IS_SCARA
  1513. if (!position_is_reachable(rx, ry)) return;
  1514. set_destination_from_current();
  1515. // If Z needs to raise, do it before moving XY
  1516. if (destination[Z_AXIS] < rz) {
  1517. destination[Z_AXIS] = rz;
  1518. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1519. }
  1520. destination[X_AXIS] = rx;
  1521. destination[Y_AXIS] = ry;
  1522. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1523. // If Z needs to lower, do it after moving XY
  1524. if (destination[Z_AXIS] > rz) {
  1525. destination[Z_AXIS] = rz;
  1526. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1527. }
  1528. #else
  1529. // If Z needs to raise, do it before moving XY
  1530. if (current_position[Z_AXIS] < rz) {
  1531. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1532. current_position[Z_AXIS] = rz;
  1533. buffer_line_to_current_position();
  1534. }
  1535. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1536. current_position[X_AXIS] = rx;
  1537. current_position[Y_AXIS] = ry;
  1538. buffer_line_to_current_position();
  1539. // If Z needs to lower, do it after moving XY
  1540. if (current_position[Z_AXIS] > rz) {
  1541. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1542. current_position[Z_AXIS] = rz;
  1543. buffer_line_to_current_position();
  1544. }
  1545. #endif
  1546. stepper.synchronize();
  1547. feedrate_mm_s = old_feedrate_mm_s;
  1548. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1549. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1550. #endif
  1551. }
  1552. void do_blocking_move_to_x(const float &rx, const float &fr_mm_s/*=0.0*/) {
  1553. do_blocking_move_to(rx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1554. }
  1555. void do_blocking_move_to_z(const float &rz, const float &fr_mm_s/*=0.0*/) {
  1556. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], rz, fr_mm_s);
  1557. }
  1558. void do_blocking_move_to_xy(const float &rx, const float &ry, const float &fr_mm_s/*=0.0*/) {
  1559. do_blocking_move_to(rx, ry, current_position[Z_AXIS], fr_mm_s);
  1560. }
  1561. //
  1562. // Prepare to do endstop or probe moves
  1563. // with custom feedrates.
  1564. //
  1565. // - Save current feedrates
  1566. // - Reset the rate multiplier
  1567. // - Reset the command timeout
  1568. // - Enable the endstops (for endstop moves)
  1569. //
  1570. static void setup_for_endstop_or_probe_move() {
  1571. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1572. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1573. #endif
  1574. saved_feedrate_mm_s = feedrate_mm_s;
  1575. saved_feedrate_percentage = feedrate_percentage;
  1576. feedrate_percentage = 100;
  1577. refresh_cmd_timeout();
  1578. }
  1579. static void clean_up_after_endstop_or_probe_move() {
  1580. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1581. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1582. #endif
  1583. feedrate_mm_s = saved_feedrate_mm_s;
  1584. feedrate_percentage = saved_feedrate_percentage;
  1585. refresh_cmd_timeout();
  1586. }
  1587. #if HAS_BED_PROBE
  1588. /**
  1589. * Raise Z to a minimum height to make room for a probe to move
  1590. */
  1591. inline void do_probe_raise(const float z_raise) {
  1592. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1593. if (DEBUGGING(LEVELING)) {
  1594. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1595. SERIAL_CHAR(')');
  1596. SERIAL_EOL();
  1597. }
  1598. #endif
  1599. float z_dest = z_raise;
  1600. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1601. if (z_dest > current_position[Z_AXIS])
  1602. do_blocking_move_to_z(z_dest);
  1603. }
  1604. #endif // HAS_BED_PROBE
  1605. #if HAS_AXIS_UNHOMED_ERR
  1606. bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
  1607. #if ENABLED(HOME_AFTER_DEACTIVATE)
  1608. const bool xx = x && !axis_known_position[X_AXIS],
  1609. yy = y && !axis_known_position[Y_AXIS],
  1610. zz = z && !axis_known_position[Z_AXIS];
  1611. #else
  1612. const bool xx = x && !axis_homed[X_AXIS],
  1613. yy = y && !axis_homed[Y_AXIS],
  1614. zz = z && !axis_homed[Z_AXIS];
  1615. #endif
  1616. if (xx || yy || zz) {
  1617. SERIAL_ECHO_START();
  1618. SERIAL_ECHOPGM(MSG_HOME " ");
  1619. if (xx) SERIAL_ECHOPGM(MSG_X);
  1620. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1621. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1622. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1623. #if ENABLED(ULTRA_LCD)
  1624. lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
  1625. #endif
  1626. return true;
  1627. }
  1628. return false;
  1629. }
  1630. #endif // HAS_AXIS_UNHOMED_ERR
  1631. #if ENABLED(Z_PROBE_SLED)
  1632. #ifndef SLED_DOCKING_OFFSET
  1633. #define SLED_DOCKING_OFFSET 0
  1634. #endif
  1635. /**
  1636. * Method to dock/undock a sled designed by Charles Bell.
  1637. *
  1638. * stow[in] If false, move to MAX_X and engage the solenoid
  1639. * If true, move to MAX_X and release the solenoid
  1640. */
  1641. static void dock_sled(bool stow) {
  1642. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1643. if (DEBUGGING(LEVELING)) {
  1644. SERIAL_ECHOPAIR("dock_sled(", stow);
  1645. SERIAL_CHAR(')');
  1646. SERIAL_EOL();
  1647. }
  1648. #endif
  1649. // Dock sled a bit closer to ensure proper capturing
  1650. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1651. #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
  1652. WRITE(SOL1_PIN, !stow); // switch solenoid
  1653. #endif
  1654. }
  1655. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1656. FORCE_INLINE void do_blocking_move_to(const float raw[XYZ], const float &fr_mm_s) {
  1657. do_blocking_move_to(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], fr_mm_s);
  1658. }
  1659. void run_deploy_moves_script() {
  1660. #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)
  1661. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1662. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1663. #endif
  1664. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1665. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1666. #endif
  1667. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1668. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1669. #endif
  1670. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1671. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1672. #endif
  1673. const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
  1674. do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1675. #endif
  1676. #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)
  1677. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1678. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1679. #endif
  1680. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1681. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1682. #endif
  1683. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1684. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1685. #endif
  1686. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1687. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1688. #endif
  1689. const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
  1690. do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1691. #endif
  1692. #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)
  1693. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1694. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1695. #endif
  1696. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1697. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1698. #endif
  1699. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1700. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1701. #endif
  1702. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1703. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1704. #endif
  1705. const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
  1706. do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1707. #endif
  1708. #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)
  1709. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1710. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1711. #endif
  1712. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1713. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1714. #endif
  1715. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1716. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1717. #endif
  1718. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1719. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1720. #endif
  1721. const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
  1722. do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1723. #endif
  1724. #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)
  1725. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1726. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1727. #endif
  1728. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1729. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1730. #endif
  1731. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1732. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1733. #endif
  1734. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1735. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1736. #endif
  1737. const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
  1738. do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1739. #endif
  1740. }
  1741. void run_stow_moves_script() {
  1742. #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)
  1743. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1744. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1745. #endif
  1746. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1747. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1748. #endif
  1749. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1750. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1751. #endif
  1752. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1753. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1754. #endif
  1755. const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
  1756. do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1757. #endif
  1758. #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)
  1759. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1760. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1761. #endif
  1762. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1763. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1764. #endif
  1765. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1766. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1767. #endif
  1768. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1769. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1770. #endif
  1771. const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
  1772. do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1773. #endif
  1774. #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)
  1775. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1776. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1777. #endif
  1778. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1779. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1780. #endif
  1781. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1782. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1783. #endif
  1784. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1785. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1786. #endif
  1787. const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
  1788. do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1789. #endif
  1790. #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)
  1791. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1792. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1793. #endif
  1794. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1795. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1796. #endif
  1797. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1798. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1799. #endif
  1800. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1801. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1802. #endif
  1803. const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
  1804. do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1805. #endif
  1806. #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)
  1807. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1808. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1809. #endif
  1810. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1811. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1812. #endif
  1813. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1814. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1815. #endif
  1816. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1817. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1818. #endif
  1819. const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
  1820. do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1821. #endif
  1822. }
  1823. #endif // Z_PROBE_ALLEN_KEY
  1824. #if ENABLED(PROBING_FANS_OFF)
  1825. void fans_pause(const bool p) {
  1826. if (p != fans_paused) {
  1827. fans_paused = p;
  1828. if (p)
  1829. for (uint8_t x = 0; x < FAN_COUNT; x++) {
  1830. paused_fanSpeeds[x] = fanSpeeds[x];
  1831. fanSpeeds[x] = 0;
  1832. }
  1833. else
  1834. for (uint8_t x = 0; x < FAN_COUNT; x++)
  1835. fanSpeeds[x] = paused_fanSpeeds[x];
  1836. }
  1837. }
  1838. #endif // PROBING_FANS_OFF
  1839. #if HAS_BED_PROBE
  1840. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1841. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1842. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1843. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1844. #else
  1845. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1846. #endif
  1847. #endif
  1848. #if QUIET_PROBING
  1849. void probing_pause(const bool p) {
  1850. #if ENABLED(PROBING_HEATERS_OFF)
  1851. thermalManager.pause(p);
  1852. #endif
  1853. #if ENABLED(PROBING_FANS_OFF)
  1854. fans_pause(p);
  1855. #endif
  1856. if (p) safe_delay(
  1857. #if DELAY_BEFORE_PROBING > 25
  1858. DELAY_BEFORE_PROBING
  1859. #else
  1860. 25
  1861. #endif
  1862. );
  1863. }
  1864. #endif // QUIET_PROBING
  1865. #if ENABLED(BLTOUCH)
  1866. void bltouch_command(int angle) {
  1867. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
  1868. safe_delay(BLTOUCH_DELAY);
  1869. }
  1870. bool set_bltouch_deployed(const bool deploy) {
  1871. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1872. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1873. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1874. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1875. safe_delay(1500); // Wait for internal self-test to complete.
  1876. // (Measured completion time was 0.65 seconds
  1877. // after reset, deploy, and stow sequence)
  1878. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1879. SERIAL_ERROR_START();
  1880. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1881. stop(); // punt!
  1882. return true;
  1883. }
  1884. }
  1885. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1886. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1887. if (DEBUGGING(LEVELING)) {
  1888. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1889. SERIAL_CHAR(')');
  1890. SERIAL_EOL();
  1891. }
  1892. #endif
  1893. return false;
  1894. }
  1895. #endif // BLTOUCH
  1896. // returns false for ok and true for failure
  1897. bool set_probe_deployed(bool deploy) {
  1898. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1899. if (DEBUGGING(LEVELING)) {
  1900. DEBUG_POS("set_probe_deployed", current_position);
  1901. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1902. }
  1903. #endif
  1904. if (endstops.z_probe_enabled == deploy) return false;
  1905. // Make room for probe
  1906. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1907. #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
  1908. #if ENABLED(Z_PROBE_SLED)
  1909. #define _AUE_ARGS true, false, false
  1910. #else
  1911. #define _AUE_ARGS
  1912. #endif
  1913. if (axis_unhomed_error(_AUE_ARGS)) {
  1914. SERIAL_ERROR_START();
  1915. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1916. stop();
  1917. return true;
  1918. }
  1919. #endif
  1920. const float oldXpos = current_position[X_AXIS],
  1921. oldYpos = current_position[Y_AXIS];
  1922. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1923. // If endstop is already false, the Z probe is deployed
  1924. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1925. // Would a goto be less ugly?
  1926. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1927. // for a triggered when stowed manual probe.
  1928. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1929. // otherwise an Allen-Key probe can't be stowed.
  1930. #endif
  1931. #if ENABLED(SOLENOID_PROBE)
  1932. #if HAS_SOLENOID_1
  1933. WRITE(SOL1_PIN, deploy);
  1934. #endif
  1935. #elif ENABLED(Z_PROBE_SLED)
  1936. dock_sled(!deploy);
  1937. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1938. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
  1939. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1940. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1941. #endif
  1942. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1943. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1944. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1945. if (IsRunning()) {
  1946. SERIAL_ERROR_START();
  1947. SERIAL_ERRORLNPGM("Z-Probe failed");
  1948. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1949. }
  1950. stop();
  1951. return true;
  1952. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1953. #endif
  1954. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1955. endstops.enable_z_probe(deploy);
  1956. return false;
  1957. }
  1958. /**
  1959. * @brief Used by run_z_probe to do a single Z probe move.
  1960. *
  1961. * @param z Z destination
  1962. * @param fr_mm_s Feedrate in mm/s
  1963. * @return true to indicate an error
  1964. */
  1965. static bool do_probe_move(const float z, const float fr_mm_m) {
  1966. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1967. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1968. #endif
  1969. // Deploy BLTouch at the start of any probe
  1970. #if ENABLED(BLTOUCH)
  1971. if (set_bltouch_deployed(true)) return true;
  1972. #endif
  1973. #if QUIET_PROBING
  1974. probing_pause(true);
  1975. #endif
  1976. // Move down until probe triggered
  1977. do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
  1978. // Check to see if the probe was triggered
  1979. const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
  1980. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  1981. Z_MIN
  1982. #else
  1983. Z_MIN_PROBE
  1984. #endif
  1985. );
  1986. #if QUIET_PROBING
  1987. probing_pause(false);
  1988. #endif
  1989. // Retract BLTouch immediately after a probe if it was triggered
  1990. #if ENABLED(BLTOUCH)
  1991. if (probe_triggered && set_bltouch_deployed(false)) return true;
  1992. #endif
  1993. // Clear endstop flags
  1994. endstops.hit_on_purpose();
  1995. // Get Z where the steppers were interrupted
  1996. set_current_from_steppers_for_axis(Z_AXIS);
  1997. // Tell the planner where we actually are
  1998. SYNC_PLAN_POSITION_KINEMATIC();
  1999. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2000. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  2001. #endif
  2002. return !probe_triggered;
  2003. }
  2004. /**
  2005. * @details Used by probe_pt to do a single Z probe.
  2006. * Leaves current_position[Z_AXIS] at the height where the probe triggered.
  2007. *
  2008. * @return The raw Z position where the probe was triggered
  2009. */
  2010. static float run_z_probe() {
  2011. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2012. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  2013. #endif
  2014. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  2015. refresh_cmd_timeout();
  2016. #if ENABLED(PROBE_DOUBLE_TOUCH)
  2017. // Do a first probe at the fast speed
  2018. if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
  2019. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2020. float first_probe_z = current_position[Z_AXIS];
  2021. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  2022. #endif
  2023. // move up to make clearance for the probe
  2024. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2025. #else
  2026. // If the nozzle is above the travel height then
  2027. // move down quickly before doing the slow probe
  2028. float z = Z_CLEARANCE_DEPLOY_PROBE;
  2029. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  2030. if (z < current_position[Z_AXIS]) {
  2031. // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
  2032. if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
  2033. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2034. }
  2035. #endif
  2036. // move down slowly to find bed
  2037. if (do_probe_move(-10, Z_PROBE_SPEED_SLOW)) return NAN;
  2038. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2039. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  2040. #endif
  2041. // Debug: compare probe heights
  2042. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  2043. if (DEBUGGING(LEVELING)) {
  2044. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  2045. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  2046. }
  2047. #endif
  2048. return current_position[Z_AXIS] + zprobe_zoffset;
  2049. }
  2050. /**
  2051. * - Move to the given XY
  2052. * - Deploy the probe, if not already deployed
  2053. * - Probe the bed, get the Z position
  2054. * - Depending on the 'stow' flag
  2055. * - Stow the probe, or
  2056. * - Raise to the BETWEEN height
  2057. * - Return the probed Z position
  2058. */
  2059. float probe_pt(const float &rx, const float &ry, const bool stow, const uint8_t verbose_level, const bool printable=true) {
  2060. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2061. if (DEBUGGING(LEVELING)) {
  2062. SERIAL_ECHOPAIR(">>> probe_pt(", LOGICAL_X_POSITION(rx));
  2063. SERIAL_ECHOPAIR(", ", LOGICAL_Y_POSITION(ry));
  2064. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  2065. SERIAL_ECHOLNPGM("stow)");
  2066. DEBUG_POS("", current_position);
  2067. }
  2068. #endif
  2069. const float nx = rx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ry - (Y_PROBE_OFFSET_FROM_EXTRUDER);
  2070. if (!printable
  2071. ? !position_is_reachable(nx, ny)
  2072. : !position_is_reachable_by_probe(rx, ry)
  2073. ) return NAN;
  2074. // Move the probe to the given XY
  2075. do_blocking_move_to_xy(nx, ny, XY_PROBE_FEEDRATE_MM_S);
  2076. float measured_z = NAN;
  2077. if (!DEPLOY_PROBE()) {
  2078. measured_z = run_z_probe();
  2079. if (!stow)
  2080. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2081. else
  2082. if (STOW_PROBE()) measured_z = NAN;
  2083. }
  2084. if (verbose_level > 2) {
  2085. SERIAL_PROTOCOLPGM("Bed X: ");
  2086. SERIAL_PROTOCOL_F(LOGICAL_X_POSITION(rx), 3);
  2087. SERIAL_PROTOCOLPGM(" Y: ");
  2088. SERIAL_PROTOCOL_F(LOGICAL_Y_POSITION(ry), 3);
  2089. SERIAL_PROTOCOLPGM(" Z: ");
  2090. SERIAL_PROTOCOL_F(measured_z, 3);
  2091. SERIAL_EOL();
  2092. }
  2093. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2094. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  2095. #endif
  2096. if (isnan(measured_z)) {
  2097. LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
  2098. SERIAL_ERROR_START();
  2099. SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
  2100. }
  2101. return measured_z;
  2102. }
  2103. #endif // HAS_BED_PROBE
  2104. #if HAS_LEVELING
  2105. bool leveling_is_valid() {
  2106. return
  2107. #if ENABLED(MESH_BED_LEVELING)
  2108. mbl.has_mesh
  2109. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2110. !!bilinear_grid_spacing[X_AXIS]
  2111. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2112. true
  2113. #else // 3POINT, LINEAR
  2114. true
  2115. #endif
  2116. ;
  2117. }
  2118. /**
  2119. * Turn bed leveling on or off, fixing the current
  2120. * position as-needed.
  2121. *
  2122. * Disable: Current position = physical position
  2123. * Enable: Current position = "unleveled" physical position
  2124. */
  2125. void set_bed_leveling_enabled(const bool enable/*=true*/) {
  2126. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2127. const bool can_change = (!enable || leveling_is_valid());
  2128. #else
  2129. constexpr bool can_change = true;
  2130. #endif
  2131. if (can_change && enable != planner.leveling_active) {
  2132. #if ENABLED(MESH_BED_LEVELING)
  2133. if (!enable)
  2134. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2135. const bool enabling = enable && leveling_is_valid();
  2136. planner.leveling_active = enabling;
  2137. if (enabling) planner.unapply_leveling(current_position);
  2138. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2139. #if PLANNER_LEVELING
  2140. if (planner.leveling_active) { // leveling from on to off
  2141. // change unleveled current_position to physical current_position without moving steppers.
  2142. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2143. planner.leveling_active = false; // disable only AFTER calling apply_leveling
  2144. }
  2145. else { // leveling from off to on
  2146. planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
  2147. // change physical current_position to unleveled current_position without moving steppers.
  2148. planner.unapply_leveling(current_position);
  2149. }
  2150. #else
  2151. planner.leveling_active = enable; // just flip the bit, current_position will be wrong until next move.
  2152. #endif
  2153. #else // ABL
  2154. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2155. // Force bilinear_z_offset to re-calculate next time
  2156. const float reset[XYZ] = { -9999.999, -9999.999, 0 };
  2157. (void)bilinear_z_offset(reset);
  2158. #endif
  2159. // Enable or disable leveling compensation in the planner
  2160. planner.leveling_active = enable;
  2161. if (!enable)
  2162. // When disabling just get the current position from the steppers.
  2163. // This will yield the smallest error when first converted back to steps.
  2164. set_current_from_steppers_for_axis(
  2165. #if ABL_PLANAR
  2166. ALL_AXES
  2167. #else
  2168. Z_AXIS
  2169. #endif
  2170. );
  2171. else
  2172. // When enabling, remove compensation from the current position,
  2173. // so compensation will give the right stepper counts.
  2174. planner.unapply_leveling(current_position);
  2175. #endif // ABL
  2176. }
  2177. }
  2178. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  2179. void set_z_fade_height(const float zfh) {
  2180. const bool level_active = planner.leveling_active;
  2181. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2182. if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
  2183. #endif
  2184. planner.set_z_fade_height(zfh);
  2185. if (level_active) {
  2186. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2187. set_bed_leveling_enabled(true); // turn back on after changing fade height
  2188. #else
  2189. set_current_from_steppers_for_axis(
  2190. #if ABL_PLANAR
  2191. ALL_AXES
  2192. #else
  2193. Z_AXIS
  2194. #endif
  2195. );
  2196. #endif
  2197. }
  2198. }
  2199. #endif // LEVELING_FADE_HEIGHT
  2200. /**
  2201. * Reset calibration results to zero.
  2202. */
  2203. void reset_bed_level() {
  2204. set_bed_leveling_enabled(false);
  2205. #if ENABLED(MESH_BED_LEVELING)
  2206. if (leveling_is_valid()) {
  2207. mbl.reset();
  2208. mbl.has_mesh = false;
  2209. }
  2210. #else
  2211. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2212. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2213. #endif
  2214. #if ABL_PLANAR
  2215. planner.bed_level_matrix.set_to_identity();
  2216. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2217. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  2218. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  2219. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2220. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2221. z_values[x][y] = NAN;
  2222. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2223. ubl.reset();
  2224. #endif
  2225. #endif
  2226. }
  2227. #endif // HAS_LEVELING
  2228. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
  2229. /**
  2230. * Enable to produce output in JSON format suitable
  2231. * for SCAD or JavaScript mesh visualizers.
  2232. *
  2233. * Visualize meshes in OpenSCAD using the included script.
  2234. *
  2235. * buildroot/shared/scripts/MarlinMesh.scad
  2236. */
  2237. //#define SCAD_MESH_OUTPUT
  2238. /**
  2239. * Print calibration results for plotting or manual frame adjustment.
  2240. */
  2241. static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
  2242. #ifndef SCAD_MESH_OUTPUT
  2243. for (uint8_t x = 0; x < sx; x++) {
  2244. for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
  2245. SERIAL_PROTOCOLCHAR(' ');
  2246. SERIAL_PROTOCOL((int)x);
  2247. }
  2248. SERIAL_EOL();
  2249. #endif
  2250. #ifdef SCAD_MESH_OUTPUT
  2251. SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
  2252. #endif
  2253. for (uint8_t y = 0; y < sy; y++) {
  2254. #ifdef SCAD_MESH_OUTPUT
  2255. SERIAL_PROTOCOLPGM(" ["); // open sub-array
  2256. #else
  2257. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2258. SERIAL_PROTOCOL((int)y);
  2259. #endif
  2260. for (uint8_t x = 0; x < sx; x++) {
  2261. SERIAL_PROTOCOLCHAR(' ');
  2262. const float offset = fn(x, y);
  2263. if (!isnan(offset)) {
  2264. if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
  2265. SERIAL_PROTOCOL_F(offset, precision);
  2266. }
  2267. else {
  2268. #ifdef SCAD_MESH_OUTPUT
  2269. for (uint8_t i = 3; i < precision + 3; i++)
  2270. SERIAL_PROTOCOLCHAR(' ');
  2271. SERIAL_PROTOCOLPGM("NAN");
  2272. #else
  2273. for (uint8_t i = 0; i < precision + 3; i++)
  2274. SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
  2275. #endif
  2276. }
  2277. #ifdef SCAD_MESH_OUTPUT
  2278. if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
  2279. #endif
  2280. }
  2281. #ifdef SCAD_MESH_OUTPUT
  2282. SERIAL_PROTOCOLCHAR(' ');
  2283. SERIAL_PROTOCOLCHAR(']'); // close sub-array
  2284. if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
  2285. #endif
  2286. SERIAL_EOL();
  2287. }
  2288. #ifdef SCAD_MESH_OUTPUT
  2289. SERIAL_PROTOCOLPGM("];"); // close 2D array
  2290. #endif
  2291. SERIAL_EOL();
  2292. }
  2293. #endif
  2294. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2295. /**
  2296. * Extrapolate a single point from its neighbors
  2297. */
  2298. static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
  2299. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2300. if (DEBUGGING(LEVELING)) {
  2301. SERIAL_ECHOPGM("Extrapolate [");
  2302. if (x < 10) SERIAL_CHAR(' ');
  2303. SERIAL_ECHO((int)x);
  2304. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2305. SERIAL_CHAR(' ');
  2306. if (y < 10) SERIAL_CHAR(' ');
  2307. SERIAL_ECHO((int)y);
  2308. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2309. SERIAL_CHAR(']');
  2310. }
  2311. #endif
  2312. if (!isnan(z_values[x][y])) {
  2313. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2314. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2315. #endif
  2316. return; // Don't overwrite good values.
  2317. }
  2318. SERIAL_EOL();
  2319. // Get X neighbors, Y neighbors, and XY neighbors
  2320. const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
  2321. float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
  2322. b1 = z_values[x ][y1], b2 = z_values[x ][y2],
  2323. c1 = z_values[x1][y1], c2 = z_values[x2][y2];
  2324. // Treat far unprobed points as zero, near as equal to far
  2325. if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
  2326. if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
  2327. if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
  2328. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2329. // Take the average instead of the median
  2330. z_values[x][y] = (a + b + c) / 3.0;
  2331. // Median is robust (ignores outliers).
  2332. // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2333. // : ((c < b) ? b : (a < c) ? a : c);
  2334. }
  2335. //Enable this if your SCARA uses 180° of total area
  2336. //#define EXTRAPOLATE_FROM_EDGE
  2337. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2338. #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
  2339. #define HALF_IN_X
  2340. #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
  2341. #define HALF_IN_Y
  2342. #endif
  2343. #endif
  2344. /**
  2345. * Fill in the unprobed points (corners of circular print surface)
  2346. * using linear extrapolation, away from the center.
  2347. */
  2348. static void extrapolate_unprobed_bed_level() {
  2349. #ifdef HALF_IN_X
  2350. constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
  2351. #else
  2352. constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2353. ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
  2354. xlen = ctrx1;
  2355. #endif
  2356. #ifdef HALF_IN_Y
  2357. constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
  2358. #else
  2359. constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2360. ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
  2361. ylen = ctry1;
  2362. #endif
  2363. for (uint8_t xo = 0; xo <= xlen; xo++)
  2364. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2365. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2366. #ifndef HALF_IN_X
  2367. const uint8_t x1 = ctrx1 - xo;
  2368. #endif
  2369. #ifndef HALF_IN_Y
  2370. const uint8_t y1 = ctry1 - yo;
  2371. #ifndef HALF_IN_X
  2372. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2373. #endif
  2374. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2375. #endif
  2376. #ifndef HALF_IN_X
  2377. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2378. #endif
  2379. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2380. }
  2381. }
  2382. static void print_bilinear_leveling_grid() {
  2383. SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
  2384. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
  2385. [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
  2386. );
  2387. }
  2388. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2389. #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2390. #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2391. #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
  2392. #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
  2393. float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2394. int bilinear_grid_spacing_virt[2] = { 0 };
  2395. float bilinear_grid_factor_virt[2] = { 0 };
  2396. static void print_bilinear_leveling_grid_virt() {
  2397. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2398. print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
  2399. [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
  2400. );
  2401. }
  2402. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2403. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2404. uint8_t ep = 0, ip = 1;
  2405. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2406. if (x) {
  2407. ep = GRID_MAX_POINTS_X - 1;
  2408. ip = GRID_MAX_POINTS_X - 2;
  2409. }
  2410. if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
  2411. return LINEAR_EXTRAPOLATION(
  2412. z_values[ep][y - 1],
  2413. z_values[ip][y - 1]
  2414. );
  2415. else
  2416. return LINEAR_EXTRAPOLATION(
  2417. bed_level_virt_coord(ep + 1, y),
  2418. bed_level_virt_coord(ip + 1, y)
  2419. );
  2420. }
  2421. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2422. if (y) {
  2423. ep = GRID_MAX_POINTS_Y - 1;
  2424. ip = GRID_MAX_POINTS_Y - 2;
  2425. }
  2426. if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
  2427. return LINEAR_EXTRAPOLATION(
  2428. z_values[x - 1][ep],
  2429. z_values[x - 1][ip]
  2430. );
  2431. else
  2432. return LINEAR_EXTRAPOLATION(
  2433. bed_level_virt_coord(x, ep + 1),
  2434. bed_level_virt_coord(x, ip + 1)
  2435. );
  2436. }
  2437. return z_values[x - 1][y - 1];
  2438. }
  2439. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2440. return (
  2441. p[i-1] * -t * sq(1 - t)
  2442. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2443. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2444. - p[i+2] * sq(t) * (1 - t)
  2445. ) * 0.5;
  2446. }
  2447. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2448. float row[4], column[4];
  2449. for (uint8_t i = 0; i < 4; i++) {
  2450. for (uint8_t j = 0; j < 4; j++) {
  2451. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2452. }
  2453. row[i] = bed_level_virt_cmr(column, 1, ty);
  2454. }
  2455. return bed_level_virt_cmr(row, 1, tx);
  2456. }
  2457. void bed_level_virt_interpolate() {
  2458. bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
  2459. bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
  2460. bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
  2461. bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
  2462. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2463. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2464. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2465. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2466. if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
  2467. continue;
  2468. z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2469. bed_level_virt_2cmr(
  2470. x + 1,
  2471. y + 1,
  2472. (float)tx / (BILINEAR_SUBDIVISIONS),
  2473. (float)ty / (BILINEAR_SUBDIVISIONS)
  2474. );
  2475. }
  2476. }
  2477. #endif // ABL_BILINEAR_SUBDIVISION
  2478. // Refresh after other values have been updated
  2479. void refresh_bed_level() {
  2480. bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
  2481. bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
  2482. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2483. bed_level_virt_interpolate();
  2484. #endif
  2485. }
  2486. #endif // AUTO_BED_LEVELING_BILINEAR
  2487. /**
  2488. * Home an individual linear axis
  2489. */
  2490. static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
  2491. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2492. if (DEBUGGING(LEVELING)) {
  2493. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2494. SERIAL_ECHOPAIR(", ", distance);
  2495. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2496. SERIAL_CHAR(')');
  2497. SERIAL_EOL();
  2498. }
  2499. #endif
  2500. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2501. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2502. if (deploy_bltouch) set_bltouch_deployed(true);
  2503. #endif
  2504. #if QUIET_PROBING
  2505. if (axis == Z_AXIS) probing_pause(true);
  2506. #endif
  2507. // Tell the planner we're at Z=0
  2508. current_position[axis] = 0;
  2509. #if IS_SCARA
  2510. SYNC_PLAN_POSITION_KINEMATIC();
  2511. current_position[axis] = distance;
  2512. inverse_kinematics(current_position);
  2513. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2514. #else
  2515. sync_plan_position();
  2516. current_position[axis] = distance;
  2517. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2518. #endif
  2519. stepper.synchronize();
  2520. #if QUIET_PROBING
  2521. if (axis == Z_AXIS) probing_pause(false);
  2522. #endif
  2523. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2524. if (deploy_bltouch) set_bltouch_deployed(false);
  2525. #endif
  2526. endstops.hit_on_purpose();
  2527. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2528. if (DEBUGGING(LEVELING)) {
  2529. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2530. SERIAL_CHAR(')');
  2531. SERIAL_EOL();
  2532. }
  2533. #endif
  2534. }
  2535. /**
  2536. * TMC2130 specific sensorless homing using stallGuard2.
  2537. * stallGuard2 only works when in spreadCycle mode.
  2538. * spreadCycle and stealthChop are mutually exclusive.
  2539. */
  2540. #if ENABLED(SENSORLESS_HOMING)
  2541. void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
  2542. #if ENABLED(STEALTHCHOP)
  2543. if (enable) {
  2544. st.coolstep_min_speed(1024UL * 1024UL - 1UL);
  2545. st.stealthChop(0);
  2546. }
  2547. else {
  2548. st.coolstep_min_speed(0);
  2549. st.stealthChop(1);
  2550. }
  2551. #endif
  2552. st.diag1_stall(enable ? 1 : 0);
  2553. }
  2554. #endif
  2555. /**
  2556. * Home an individual "raw axis" to its endstop.
  2557. * This applies to XYZ on Cartesian and Core robots, and
  2558. * to the individual ABC steppers on DELTA and SCARA.
  2559. *
  2560. * At the end of the procedure the axis is marked as
  2561. * homed and the current position of that axis is updated.
  2562. * Kinematic robots should wait till all axes are homed
  2563. * before updating the current position.
  2564. */
  2565. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2566. static void homeaxis(const AxisEnum axis) {
  2567. #if IS_SCARA
  2568. // Only Z homing (with probe) is permitted
  2569. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2570. #else
  2571. #define CAN_HOME(A) \
  2572. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2573. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2574. #endif
  2575. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2576. if (DEBUGGING(LEVELING)) {
  2577. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2578. SERIAL_CHAR(')');
  2579. SERIAL_EOL();
  2580. }
  2581. #endif
  2582. const int axis_home_dir =
  2583. #if ENABLED(DUAL_X_CARRIAGE)
  2584. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2585. #endif
  2586. home_dir(axis);
  2587. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2588. #if HOMING_Z_WITH_PROBE
  2589. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2590. #endif
  2591. // Set flags for X, Y, Z motor locking
  2592. #if ENABLED(X_DUAL_ENDSTOPS)
  2593. if (axis == X_AXIS) stepper.set_homing_flag_x(true);
  2594. #endif
  2595. #if ENABLED(Y_DUAL_ENDSTOPS)
  2596. if (axis == Y_AXIS) stepper.set_homing_flag_y(true);
  2597. #endif
  2598. #if ENABLED(Z_DUAL_ENDSTOPS)
  2599. if (axis == Z_AXIS) stepper.set_homing_flag_z(true);
  2600. #endif
  2601. // Disable stealthChop if used. Enable diag1 pin on driver.
  2602. #if ENABLED(SENSORLESS_HOMING)
  2603. #if ENABLED(X_IS_TMC2130)
  2604. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
  2605. #endif
  2606. #if ENABLED(Y_IS_TMC2130)
  2607. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
  2608. #endif
  2609. #endif
  2610. // Fast move towards endstop until triggered
  2611. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2612. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2613. #endif
  2614. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2615. // When homing Z with probe respect probe clearance
  2616. const float bump = axis_home_dir * (
  2617. #if HOMING_Z_WITH_PROBE
  2618. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2619. #endif
  2620. home_bump_mm(axis)
  2621. );
  2622. // If a second homing move is configured...
  2623. if (bump) {
  2624. // Move away from the endstop by the axis HOME_BUMP_MM
  2625. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2626. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2627. #endif
  2628. do_homing_move(axis, -bump);
  2629. // Slow move towards endstop until triggered
  2630. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2631. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2632. #endif
  2633. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2634. }
  2635. /**
  2636. * Home axes that have dual endstops... differently
  2637. */
  2638. #if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  2639. const bool pos_dir = axis_home_dir > 0;
  2640. #if ENABLED(X_DUAL_ENDSTOPS)
  2641. if (axis == X_AXIS) {
  2642. const bool lock_x1 = pos_dir ? (x_endstop_adj > 0) : (x_endstop_adj < 0);
  2643. const float adj = FABS(x_endstop_adj);
  2644. if (lock_x1) stepper.set_x_lock(true); else stepper.set_x2_lock(true);
  2645. do_homing_move(axis, pos_dir ? -adj : adj);
  2646. if (lock_x1) stepper.set_x_lock(false); else stepper.set_x2_lock(false);
  2647. stepper.set_homing_flag_x(false);
  2648. }
  2649. #endif
  2650. #if ENABLED(Y_DUAL_ENDSTOPS)
  2651. if (axis == Y_AXIS) {
  2652. const bool lock_y1 = pos_dir ? (y_endstop_adj > 0) : (y_endstop_adj < 0);
  2653. const float adj = FABS(y_endstop_adj);
  2654. if (lock_y1) stepper.set_y_lock(true); else stepper.set_y2_lock(true);
  2655. do_homing_move(axis, pos_dir ? -adj : adj);
  2656. if (lock_y1) stepper.set_y_lock(false); else stepper.set_y2_lock(false);
  2657. stepper.set_homing_flag_y(false);
  2658. }
  2659. #endif
  2660. #if ENABLED(Z_DUAL_ENDSTOPS)
  2661. if (axis == Z_AXIS) {
  2662. const bool lock_z1 = pos_dir ? (z_endstop_adj > 0) : (z_endstop_adj < 0);
  2663. const float adj = FABS(z_endstop_adj);
  2664. if (lock_z1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2665. do_homing_move(axis, pos_dir ? -adj : adj);
  2666. if (lock_z1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2667. stepper.set_homing_flag_z(false);
  2668. }
  2669. #endif
  2670. #endif
  2671. #if IS_SCARA
  2672. set_axis_is_at_home(axis);
  2673. SYNC_PLAN_POSITION_KINEMATIC();
  2674. #elif ENABLED(DELTA)
  2675. // Delta has already moved all three towers up in G28
  2676. // so here it re-homes each tower in turn.
  2677. // Delta homing treats the axes as normal linear axes.
  2678. // retrace by the amount specified in delta_endstop_adj + additional 0.1mm in order to have minimum steps
  2679. if (delta_endstop_adj[axis] * Z_HOME_DIR <= 0) {
  2680. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2681. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
  2682. #endif
  2683. do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR);
  2684. }
  2685. #else
  2686. // For cartesian/core machines,
  2687. // set the axis to its home position
  2688. set_axis_is_at_home(axis);
  2689. sync_plan_position();
  2690. destination[axis] = current_position[axis];
  2691. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2692. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2693. #endif
  2694. #endif
  2695. // Re-enable stealthChop if used. Disable diag1 pin on driver.
  2696. #if ENABLED(SENSORLESS_HOMING)
  2697. #if ENABLED(X_IS_TMC2130)
  2698. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
  2699. #endif
  2700. #if ENABLED(Y_IS_TMC2130)
  2701. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
  2702. #endif
  2703. #endif
  2704. // Put away the Z probe
  2705. #if HOMING_Z_WITH_PROBE
  2706. if (axis == Z_AXIS && STOW_PROBE()) return;
  2707. #endif
  2708. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2709. if (DEBUGGING(LEVELING)) {
  2710. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2711. SERIAL_CHAR(')');
  2712. SERIAL_EOL();
  2713. }
  2714. #endif
  2715. } // homeaxis()
  2716. #if ENABLED(FWRETRACT)
  2717. /**
  2718. * Retract or recover according to firmware settings
  2719. *
  2720. * This function handles retract/recover moves for G10 and G11,
  2721. * plus auto-retract moves sent from G0/G1 when E-only moves are done.
  2722. *
  2723. * To simplify the logic, doubled retract/recover moves are ignored.
  2724. *
  2725. * Note: Z lift is done transparently to the planner. Aborting
  2726. * a print between G10 and G11 may corrupt the Z position.
  2727. *
  2728. * Note: Auto-retract will apply the set Z hop in addition to any Z hop
  2729. * included in the G-code. Use M207 Z0 to to prevent double hop.
  2730. */
  2731. void retract(const bool retracting
  2732. #if EXTRUDERS > 1
  2733. , bool swapping = false
  2734. #endif
  2735. ) {
  2736. static float hop_amount = 0.0; // Total amount lifted, for use in recover
  2737. // Prevent two retracts or recovers in a row
  2738. if (retracted[active_extruder] == retracting) return;
  2739. // Prevent two swap-retract or recovers in a row
  2740. #if EXTRUDERS > 1
  2741. // Allow G10 S1 only after G10
  2742. if (swapping && retracted_swap[active_extruder] == retracting) return;
  2743. // G11 priority to recover the long retract if activated
  2744. if (!retracting) swapping = retracted_swap[active_extruder];
  2745. #else
  2746. const bool swapping = false;
  2747. #endif
  2748. /* // debugging
  2749. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2750. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2751. SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
  2752. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2753. SERIAL_ECHOPAIR("retracted[", i);
  2754. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2755. SERIAL_ECHOPAIR("retracted_swap[", i);
  2756. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2757. }
  2758. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2759. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2760. //*/
  2761. const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
  2762. const float old_feedrate_mm_s = feedrate_mm_s;
  2763. // The current position will be the destination for E and Z moves
  2764. set_destination_from_current();
  2765. stepper.synchronize(); // Wait for buffered moves to complete
  2766. const float renormalize = 1.0 / planner.e_factor[active_extruder];
  2767. if (retracting) {
  2768. // Retract by moving from a faux E position back to the current E position
  2769. feedrate_mm_s = retract_feedrate_mm_s;
  2770. current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) * renormalize;
  2771. sync_plan_position_e();
  2772. prepare_move_to_destination();
  2773. // Is a Z hop set, and has the hop not yet been done?
  2774. if (has_zhop && !hop_amount) {
  2775. hop_amount += retract_zlift; // Carriage is raised for retraction hop
  2776. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
  2777. current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
  2778. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2779. prepare_move_to_destination(); // Raise up to the old current pos
  2780. feedrate_mm_s = retract_feedrate_mm_s; // Restore feedrate
  2781. }
  2782. }
  2783. else {
  2784. // If a hop was done and Z hasn't changed, undo the Z hop
  2785. if (hop_amount) {
  2786. current_position[Z_AXIS] += retract_zlift; // Pretend current pos is lower. Next move raises Z.
  2787. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2788. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; // Z feedrate to max
  2789. prepare_move_to_destination(); // Raise up to the old current pos
  2790. hop_amount = 0.0; // Clear hop
  2791. }
  2792. // A retract multiplier has been added here to get faster swap recovery
  2793. feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
  2794. const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
  2795. current_position[E_AXIS] -= move_e * renormalize;
  2796. sync_plan_position_e();
  2797. prepare_move_to_destination(); // Recover E
  2798. }
  2799. feedrate_mm_s = old_feedrate_mm_s; // Restore original feedrate
  2800. retracted[active_extruder] = retracting; // Active extruder now retracted / recovered
  2801. // If swap retract/recover update the retracted_swap flag too
  2802. #if EXTRUDERS > 1
  2803. if (swapping) retracted_swap[active_extruder] = retracting;
  2804. #endif
  2805. /* // debugging
  2806. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2807. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2808. SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
  2809. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2810. SERIAL_ECHOPAIR("retracted[", i);
  2811. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2812. SERIAL_ECHOPAIR("retracted_swap[", i);
  2813. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2814. }
  2815. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2816. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2817. //*/
  2818. }
  2819. #endif // FWRETRACT
  2820. #if ENABLED(MIXING_EXTRUDER)
  2821. void normalize_mix() {
  2822. float mix_total = 0.0;
  2823. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2824. // Scale all values if they don't add up to ~1.0
  2825. if (!NEAR(mix_total, 1.0)) {
  2826. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2827. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2828. }
  2829. }
  2830. #if ENABLED(DIRECT_MIXING_IN_G1)
  2831. // Get mixing parameters from the GCode
  2832. // The total "must" be 1.0 (but it will be normalized)
  2833. // If no mix factors are given, the old mix is preserved
  2834. void gcode_get_mix() {
  2835. const char* mixing_codes = "ABCDHI";
  2836. byte mix_bits = 0;
  2837. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2838. if (parser.seenval(mixing_codes[i])) {
  2839. SBI(mix_bits, i);
  2840. float v = parser.value_float();
  2841. NOLESS(v, 0.0);
  2842. mixing_factor[i] = RECIPROCAL(v);
  2843. }
  2844. }
  2845. // If any mixing factors were included, clear the rest
  2846. // If none were included, preserve the last mix
  2847. if (mix_bits) {
  2848. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2849. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2850. normalize_mix();
  2851. }
  2852. }
  2853. #endif
  2854. #endif
  2855. /**
  2856. * ***************************************************************************
  2857. * ***************************** G-CODE HANDLING *****************************
  2858. * ***************************************************************************
  2859. */
  2860. /**
  2861. * Set XYZE destination and feedrate from the current GCode command
  2862. *
  2863. * - Set destination from included axis codes
  2864. * - Set to current for missing axis codes
  2865. * - Set the feedrate, if included
  2866. */
  2867. void gcode_get_destination() {
  2868. LOOP_XYZE(i) {
  2869. if (parser.seen(axis_codes[i])) {
  2870. const float v = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2871. destination[i] = i == E_AXIS ? v : LOGICAL_TO_NATIVE(v, i);
  2872. }
  2873. else
  2874. destination[i] = current_position[i];
  2875. }
  2876. if (parser.linearval('F') > 0.0)
  2877. feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
  2878. #if ENABLED(PRINTCOUNTER)
  2879. if (!DEBUGGING(DRYRUN))
  2880. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2881. #endif
  2882. // Get ABCDHI mixing factors
  2883. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2884. gcode_get_mix();
  2885. #endif
  2886. }
  2887. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2888. /**
  2889. * Output a "busy" message at regular intervals
  2890. * while the machine is not accepting commands.
  2891. */
  2892. void host_keepalive() {
  2893. const millis_t ms = millis();
  2894. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2895. if (PENDING(ms, next_busy_signal_ms)) return;
  2896. switch (busy_state) {
  2897. case IN_HANDLER:
  2898. case IN_PROCESS:
  2899. SERIAL_ECHO_START();
  2900. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2901. break;
  2902. case PAUSED_FOR_USER:
  2903. SERIAL_ECHO_START();
  2904. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2905. break;
  2906. case PAUSED_FOR_INPUT:
  2907. SERIAL_ECHO_START();
  2908. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2909. break;
  2910. default:
  2911. break;
  2912. }
  2913. }
  2914. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2915. }
  2916. #endif // HOST_KEEPALIVE_FEATURE
  2917. /**************************************************
  2918. ***************** GCode Handlers *****************
  2919. **************************************************/
  2920. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2921. #define G0_G1_CONDITION !axis_unhomed_error(parser.seen('X'), parser.seen('Y'), parser.seen('Z'))
  2922. #else
  2923. #define G0_G1_CONDITION true
  2924. #endif
  2925. /**
  2926. * G0, G1: Coordinated movement of X Y Z E axes
  2927. */
  2928. inline void gcode_G0_G1(
  2929. #if IS_SCARA
  2930. bool fast_move=false
  2931. #endif
  2932. ) {
  2933. if (IsRunning() && G0_G1_CONDITION) {
  2934. gcode_get_destination(); // For X Y Z E F
  2935. #if ENABLED(FWRETRACT)
  2936. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  2937. // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
  2938. if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
  2939. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2940. // Is this a retract or recover move?
  2941. if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
  2942. current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
  2943. sync_plan_position_e(); // AND from the planner
  2944. return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
  2945. }
  2946. }
  2947. }
  2948. #endif // FWRETRACT
  2949. #if IS_SCARA
  2950. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2951. #else
  2952. prepare_move_to_destination();
  2953. #endif
  2954. }
  2955. }
  2956. /**
  2957. * G2: Clockwise Arc
  2958. * G3: Counterclockwise Arc
  2959. *
  2960. * This command has two forms: IJ-form and R-form.
  2961. *
  2962. * - I specifies an X offset. J specifies a Y offset.
  2963. * At least one of the IJ parameters is required.
  2964. * X and Y can be omitted to do a complete circle.
  2965. * The given XY is not error-checked. The arc ends
  2966. * based on the angle of the destination.
  2967. * Mixing I or J with R will throw an error.
  2968. *
  2969. * - R specifies the radius. X or Y is required.
  2970. * Omitting both X and Y will throw an error.
  2971. * X or Y must differ from the current XY.
  2972. * Mixing R with I or J will throw an error.
  2973. *
  2974. * - P specifies the number of full circles to do
  2975. * before the specified arc move.
  2976. *
  2977. * Examples:
  2978. *
  2979. * G2 I10 ; CW circle centered at X+10
  2980. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2981. */
  2982. #if ENABLED(ARC_SUPPORT)
  2983. inline void gcode_G2_G3(const bool clockwise) {
  2984. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2985. if (axis_unhomed_error()) return;
  2986. #endif
  2987. if (IsRunning()) {
  2988. #if ENABLED(SF_ARC_FIX)
  2989. const bool relative_mode_backup = relative_mode;
  2990. relative_mode = true;
  2991. #endif
  2992. gcode_get_destination();
  2993. #if ENABLED(SF_ARC_FIX)
  2994. relative_mode = relative_mode_backup;
  2995. #endif
  2996. float arc_offset[2] = { 0.0, 0.0 };
  2997. if (parser.seenval('R')) {
  2998. const float r = parser.value_linear_units(),
  2999. p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
  3000. p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
  3001. if (r && (p2 != p1 || q2 != q1)) {
  3002. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  3003. dx = p2 - p1, dy = q2 - q1, // X and Y differences
  3004. d = HYPOT(dx, dy), // Linear distance between the points
  3005. h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  3006. mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
  3007. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  3008. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  3009. arc_offset[0] = cx - p1;
  3010. arc_offset[1] = cy - q1;
  3011. }
  3012. }
  3013. else {
  3014. if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
  3015. if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
  3016. }
  3017. if (arc_offset[0] || arc_offset[1]) {
  3018. #if ENABLED(ARC_P_CIRCLES)
  3019. // P indicates number of circles to do
  3020. int8_t circles_to_do = parser.byteval('P');
  3021. if (!WITHIN(circles_to_do, 0, 100)) {
  3022. SERIAL_ERROR_START();
  3023. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  3024. }
  3025. while (circles_to_do--)
  3026. plan_arc(current_position, arc_offset, clockwise);
  3027. #endif
  3028. // Send the arc to the planner
  3029. plan_arc(destination, arc_offset, clockwise);
  3030. refresh_cmd_timeout();
  3031. }
  3032. else {
  3033. // Bad arguments
  3034. SERIAL_ERROR_START();
  3035. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  3036. }
  3037. }
  3038. }
  3039. #endif // ARC_SUPPORT
  3040. void dwell(millis_t time) {
  3041. refresh_cmd_timeout();
  3042. time += previous_cmd_ms;
  3043. while (PENDING(millis(), time)) idle();
  3044. }
  3045. /**
  3046. * G4: Dwell S<seconds> or P<milliseconds>
  3047. */
  3048. inline void gcode_G4() {
  3049. millis_t dwell_ms = 0;
  3050. if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
  3051. if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
  3052. stepper.synchronize();
  3053. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  3054. dwell(dwell_ms);
  3055. }
  3056. #if ENABLED(BEZIER_CURVE_SUPPORT)
  3057. /**
  3058. * Parameters interpreted according to:
  3059. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  3060. * However I, J omission is not supported at this point; all
  3061. * parameters can be omitted and default to zero.
  3062. */
  3063. /**
  3064. * G5: Cubic B-spline
  3065. */
  3066. inline void gcode_G5() {
  3067. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  3068. if (axis_unhomed_error()) return;
  3069. #endif
  3070. if (IsRunning()) {
  3071. #if ENABLED(CNC_WORKSPACE_PLANES)
  3072. if (workspace_plane != PLANE_XY) {
  3073. SERIAL_ERROR_START();
  3074. SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
  3075. return;
  3076. }
  3077. #endif
  3078. gcode_get_destination();
  3079. const float offset[] = {
  3080. parser.linearval('I'),
  3081. parser.linearval('J'),
  3082. parser.linearval('P'),
  3083. parser.linearval('Q')
  3084. };
  3085. plan_cubic_move(offset);
  3086. }
  3087. }
  3088. #endif // BEZIER_CURVE_SUPPORT
  3089. #if ENABLED(FWRETRACT)
  3090. /**
  3091. * G10 - Retract filament according to settings of M207
  3092. */
  3093. inline void gcode_G10() {
  3094. #if EXTRUDERS > 1
  3095. const bool rs = parser.boolval('S');
  3096. retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
  3097. #endif
  3098. retract(true
  3099. #if EXTRUDERS > 1
  3100. , rs
  3101. #endif
  3102. );
  3103. }
  3104. /**
  3105. * G11 - Recover filament according to settings of M208
  3106. */
  3107. inline void gcode_G11() { retract(false); }
  3108. #endif // FWRETRACT
  3109. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  3110. /**
  3111. * G12: Clean the nozzle
  3112. */
  3113. inline void gcode_G12() {
  3114. // Don't allow nozzle cleaning without homing first
  3115. if (axis_unhomed_error()) return;
  3116. const uint8_t pattern = parser.ushortval('P', 0),
  3117. strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
  3118. objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
  3119. const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
  3120. Nozzle::clean(pattern, strokes, radius, objects);
  3121. }
  3122. #endif
  3123. #if ENABLED(CNC_WORKSPACE_PLANES)
  3124. inline void report_workspace_plane() {
  3125. SERIAL_ECHO_START();
  3126. SERIAL_ECHOPGM("Workspace Plane ");
  3127. serialprintPGM(
  3128. workspace_plane == PLANE_YZ ? PSTR("YZ\n") :
  3129. workspace_plane == PLANE_ZX ? PSTR("ZX\n") :
  3130. PSTR("XY\n")
  3131. );
  3132. }
  3133. inline void set_workspace_plane(const WorkspacePlane plane) {
  3134. workspace_plane = plane;
  3135. if (DEBUGGING(INFO)) report_workspace_plane();
  3136. }
  3137. /**
  3138. * G17: Select Plane XY
  3139. * G18: Select Plane ZX
  3140. * G19: Select Plane YZ
  3141. */
  3142. inline void gcode_G17() { set_workspace_plane(PLANE_XY); }
  3143. inline void gcode_G18() { set_workspace_plane(PLANE_ZX); }
  3144. inline void gcode_G19() { set_workspace_plane(PLANE_YZ); }
  3145. #endif // CNC_WORKSPACE_PLANES
  3146. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  3147. /**
  3148. * Select a coordinate system and update the workspace offset.
  3149. * System index -1 is used to specify machine-native.
  3150. */
  3151. bool select_coordinate_system(const int8_t _new) {
  3152. if (active_coordinate_system == _new) return false;
  3153. float old_offset[XYZ] = { 0 }, new_offset[XYZ] = { 0 };
  3154. if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
  3155. COPY(old_offset, coordinate_system[active_coordinate_system]);
  3156. if (WITHIN(_new, 0, MAX_COORDINATE_SYSTEMS - 1))
  3157. COPY(new_offset, coordinate_system[_new]);
  3158. active_coordinate_system = _new;
  3159. LOOP_XYZ(i) {
  3160. const float diff = new_offset[i] - old_offset[i];
  3161. if (diff) {
  3162. position_shift[i] += diff;
  3163. update_software_endstops((AxisEnum)i);
  3164. }
  3165. }
  3166. return true;
  3167. }
  3168. /**
  3169. * In CNC G-code G53 is like a modifier
  3170. * It precedes a movement command (or other modifiers) on the same line.
  3171. * This is the first command to use parser.chain() to make this possible.
  3172. */
  3173. inline void gcode_G53() {
  3174. // If this command has more following...
  3175. if (parser.chain()) {
  3176. const int8_t _system = active_coordinate_system;
  3177. active_coordinate_system = -1;
  3178. process_parsed_command();
  3179. active_coordinate_system = _system;
  3180. }
  3181. }
  3182. /**
  3183. * G54-G59.3: Select a new workspace
  3184. *
  3185. * A workspace is an XYZ offset to the machine native space.
  3186. * All workspaces default to 0,0,0 at start, or with EEPROM
  3187. * support they may be restored from a previous session.
  3188. *
  3189. * G92 is used to set the current workspace's offset.
  3190. */
  3191. inline void gcode_G54_59(uint8_t subcode=0) {
  3192. const int8_t _space = parser.codenum - 54 + subcode;
  3193. if (select_coordinate_system(_space)) {
  3194. SERIAL_PROTOCOLLNPAIR("Select workspace ", _space);
  3195. report_current_position();
  3196. }
  3197. }
  3198. FORCE_INLINE void gcode_G54() { gcode_G54_59(); }
  3199. FORCE_INLINE void gcode_G55() { gcode_G54_59(); }
  3200. FORCE_INLINE void gcode_G56() { gcode_G54_59(); }
  3201. FORCE_INLINE void gcode_G57() { gcode_G54_59(); }
  3202. FORCE_INLINE void gcode_G58() { gcode_G54_59(); }
  3203. FORCE_INLINE void gcode_G59() { gcode_G54_59(parser.subcode); }
  3204. #endif
  3205. #if ENABLED(INCH_MODE_SUPPORT)
  3206. /**
  3207. * G20: Set input mode to inches
  3208. */
  3209. inline void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); }
  3210. /**
  3211. * G21: Set input mode to millimeters
  3212. */
  3213. inline void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); }
  3214. #endif
  3215. #if ENABLED(NOZZLE_PARK_FEATURE)
  3216. /**
  3217. * G27: Park the nozzle
  3218. */
  3219. inline void gcode_G27() {
  3220. // Don't allow nozzle parking without homing first
  3221. if (axis_unhomed_error()) return;
  3222. Nozzle::park(parser.ushortval('P'));
  3223. }
  3224. #endif // NOZZLE_PARK_FEATURE
  3225. #if ENABLED(QUICK_HOME)
  3226. static void quick_home_xy() {
  3227. // Pretend the current position is 0,0
  3228. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3229. sync_plan_position();
  3230. const int x_axis_home_dir =
  3231. #if ENABLED(DUAL_X_CARRIAGE)
  3232. x_home_dir(active_extruder)
  3233. #else
  3234. home_dir(X_AXIS)
  3235. #endif
  3236. ;
  3237. const float mlx = max_length(X_AXIS),
  3238. mly = max_length(Y_AXIS),
  3239. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  3240. fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
  3241. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  3242. endstops.hit_on_purpose(); // clear endstop hit flags
  3243. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3244. }
  3245. #endif // QUICK_HOME
  3246. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3247. void log_machine_info() {
  3248. SERIAL_ECHOPGM("Machine Type: ");
  3249. #if ENABLED(DELTA)
  3250. SERIAL_ECHOLNPGM("Delta");
  3251. #elif IS_SCARA
  3252. SERIAL_ECHOLNPGM("SCARA");
  3253. #elif IS_CORE
  3254. SERIAL_ECHOLNPGM("Core");
  3255. #else
  3256. SERIAL_ECHOLNPGM("Cartesian");
  3257. #endif
  3258. SERIAL_ECHOPGM("Probe: ");
  3259. #if ENABLED(PROBE_MANUALLY)
  3260. SERIAL_ECHOLNPGM("PROBE_MANUALLY");
  3261. #elif ENABLED(FIX_MOUNTED_PROBE)
  3262. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  3263. #elif ENABLED(BLTOUCH)
  3264. SERIAL_ECHOLNPGM("BLTOUCH");
  3265. #elif HAS_Z_SERVO_ENDSTOP
  3266. SERIAL_ECHOLNPGM("SERVO PROBE");
  3267. #elif ENABLED(Z_PROBE_SLED)
  3268. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  3269. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  3270. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  3271. #else
  3272. SERIAL_ECHOLNPGM("NONE");
  3273. #endif
  3274. #if HAS_BED_PROBE
  3275. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  3276. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  3277. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  3278. #if X_PROBE_OFFSET_FROM_EXTRUDER > 0
  3279. SERIAL_ECHOPGM(" (Right");
  3280. #elif X_PROBE_OFFSET_FROM_EXTRUDER < 0
  3281. SERIAL_ECHOPGM(" (Left");
  3282. #elif Y_PROBE_OFFSET_FROM_EXTRUDER != 0
  3283. SERIAL_ECHOPGM(" (Middle");
  3284. #else
  3285. SERIAL_ECHOPGM(" (Aligned With");
  3286. #endif
  3287. #if Y_PROBE_OFFSET_FROM_EXTRUDER > 0
  3288. SERIAL_ECHOPGM("-Back");
  3289. #elif Y_PROBE_OFFSET_FROM_EXTRUDER < 0
  3290. SERIAL_ECHOPGM("-Front");
  3291. #elif X_PROBE_OFFSET_FROM_EXTRUDER != 0
  3292. SERIAL_ECHOPGM("-Center");
  3293. #endif
  3294. if (zprobe_zoffset < 0)
  3295. SERIAL_ECHOPGM(" & Below");
  3296. else if (zprobe_zoffset > 0)
  3297. SERIAL_ECHOPGM(" & Above");
  3298. else
  3299. SERIAL_ECHOPGM(" & Same Z as");
  3300. SERIAL_ECHOLNPGM(" Nozzle)");
  3301. #endif
  3302. #if HAS_ABL
  3303. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  3304. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3305. SERIAL_ECHOPGM("LINEAR");
  3306. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3307. SERIAL_ECHOPGM("BILINEAR");
  3308. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3309. SERIAL_ECHOPGM("3POINT");
  3310. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3311. SERIAL_ECHOPGM("UBL");
  3312. #endif
  3313. if (planner.leveling_active) {
  3314. SERIAL_ECHOLNPGM(" (enabled)");
  3315. #if ABL_PLANAR
  3316. const float diff[XYZ] = {
  3317. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  3318. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  3319. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  3320. };
  3321. SERIAL_ECHOPGM("ABL Adjustment X");
  3322. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  3323. SERIAL_ECHO(diff[X_AXIS]);
  3324. SERIAL_ECHOPGM(" Y");
  3325. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  3326. SERIAL_ECHO(diff[Y_AXIS]);
  3327. SERIAL_ECHOPGM(" Z");
  3328. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  3329. SERIAL_ECHO(diff[Z_AXIS]);
  3330. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3331. SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
  3332. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3333. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  3334. #endif
  3335. }
  3336. else
  3337. SERIAL_ECHOLNPGM(" (disabled)");
  3338. SERIAL_EOL();
  3339. #elif ENABLED(MESH_BED_LEVELING)
  3340. SERIAL_ECHOPGM("Mesh Bed Leveling");
  3341. if (planner.leveling_active) {
  3342. float rz = current_position[Z_AXIS];
  3343. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], rz);
  3344. SERIAL_ECHOLNPGM(" (enabled)");
  3345. SERIAL_ECHOPAIR("MBL Adjustment Z", rz);
  3346. }
  3347. else
  3348. SERIAL_ECHOPGM(" (disabled)");
  3349. SERIAL_EOL();
  3350. #endif // MESH_BED_LEVELING
  3351. }
  3352. #endif // DEBUG_LEVELING_FEATURE
  3353. #if ENABLED(DELTA)
  3354. /**
  3355. * A delta can only safely home all axes at the same time
  3356. * This is like quick_home_xy() but for 3 towers.
  3357. */
  3358. inline bool home_delta() {
  3359. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3360. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  3361. #endif
  3362. // Init the current position of all carriages to 0,0,0
  3363. ZERO(current_position);
  3364. sync_plan_position();
  3365. // Move all carriages together linearly until an endstop is hit.
  3366. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (delta_height + 10);
  3367. feedrate_mm_s = homing_feedrate(X_AXIS);
  3368. buffer_line_to_current_position();
  3369. stepper.synchronize();
  3370. // If an endstop was not hit, then damage can occur if homing is continued.
  3371. // This can occur if the delta height not set correctly.
  3372. if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
  3373. LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
  3374. SERIAL_ERROR_START();
  3375. SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
  3376. return false;
  3377. }
  3378. endstops.hit_on_purpose(); // clear endstop hit flags
  3379. // At least one carriage has reached the top.
  3380. // Now re-home each carriage separately.
  3381. HOMEAXIS(A);
  3382. HOMEAXIS(B);
  3383. HOMEAXIS(C);
  3384. // Set all carriages to their home positions
  3385. // Do this here all at once for Delta, because
  3386. // XYZ isn't ABC. Applying this per-tower would
  3387. // give the impression that they are the same.
  3388. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  3389. SYNC_PLAN_POSITION_KINEMATIC();
  3390. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3391. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  3392. #endif
  3393. return true;
  3394. }
  3395. #endif // DELTA
  3396. #if ENABLED(Z_SAFE_HOMING)
  3397. inline void home_z_safely() {
  3398. // Disallow Z homing if X or Y are unknown
  3399. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  3400. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  3401. SERIAL_ECHO_START();
  3402. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  3403. return;
  3404. }
  3405. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3406. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  3407. #endif
  3408. SYNC_PLAN_POSITION_KINEMATIC();
  3409. /**
  3410. * Move the Z probe (or just the nozzle) to the safe homing point
  3411. */
  3412. destination[X_AXIS] = Z_SAFE_HOMING_X_POINT;
  3413. destination[Y_AXIS] = Z_SAFE_HOMING_Y_POINT;
  3414. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  3415. #if HOMING_Z_WITH_PROBE
  3416. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  3417. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  3418. #endif
  3419. if (position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) {
  3420. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3421. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  3422. #endif
  3423. // This causes the carriage on Dual X to unpark
  3424. #if ENABLED(DUAL_X_CARRIAGE)
  3425. active_extruder_parked = false;
  3426. #endif
  3427. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  3428. HOMEAXIS(Z);
  3429. }
  3430. else {
  3431. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  3432. SERIAL_ECHO_START();
  3433. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  3434. }
  3435. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3436. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  3437. #endif
  3438. }
  3439. #endif // Z_SAFE_HOMING
  3440. #if ENABLED(PROBE_MANUALLY)
  3441. bool g29_in_progress = false;
  3442. #else
  3443. constexpr bool g29_in_progress = false;
  3444. #endif
  3445. /**
  3446. * G28: Home all axes according to settings
  3447. *
  3448. * Parameters
  3449. *
  3450. * None Home to all axes with no parameters.
  3451. * With QUICK_HOME enabled XY will home together, then Z.
  3452. *
  3453. * Cartesian parameters
  3454. *
  3455. * X Home to the X endstop
  3456. * Y Home to the Y endstop
  3457. * Z Home to the Z endstop
  3458. *
  3459. */
  3460. inline void gcode_G28(const bool always_home_all) {
  3461. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3462. if (DEBUGGING(LEVELING)) {
  3463. SERIAL_ECHOLNPGM(">>> gcode_G28");
  3464. log_machine_info();
  3465. }
  3466. #endif
  3467. // Wait for planner moves to finish!
  3468. stepper.synchronize();
  3469. // Cancel the active G29 session
  3470. #if ENABLED(PROBE_MANUALLY)
  3471. g29_in_progress = false;
  3472. #endif
  3473. // Disable the leveling matrix before homing
  3474. #if HAS_LEVELING
  3475. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3476. const bool ubl_state_at_entry = planner.leveling_active;
  3477. #endif
  3478. set_bed_leveling_enabled(false);
  3479. #endif
  3480. #if ENABLED(CNC_WORKSPACE_PLANES)
  3481. workspace_plane = PLANE_XY;
  3482. #endif
  3483. // Always home with tool 0 active
  3484. #if HOTENDS > 1
  3485. const uint8_t old_tool_index = active_extruder;
  3486. tool_change(0, 0, true);
  3487. #endif
  3488. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  3489. extruder_duplication_enabled = false;
  3490. #endif
  3491. setup_for_endstop_or_probe_move();
  3492. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3493. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3494. #endif
  3495. endstops.enable(true); // Enable endstops for next homing move
  3496. #if ENABLED(DELTA)
  3497. home_delta();
  3498. UNUSED(always_home_all);
  3499. #else // NOT DELTA
  3500. const bool homeX = always_home_all || parser.seen('X'),
  3501. homeY = always_home_all || parser.seen('Y'),
  3502. homeZ = always_home_all || parser.seen('Z'),
  3503. home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3504. set_destination_from_current();
  3505. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3506. if (home_all || homeZ) {
  3507. HOMEAXIS(Z);
  3508. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3509. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3510. #endif
  3511. }
  3512. #else
  3513. if (home_all || homeX || homeY) {
  3514. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3515. destination[Z_AXIS] = Z_HOMING_HEIGHT;
  3516. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3517. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3518. if (DEBUGGING(LEVELING))
  3519. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3520. #endif
  3521. do_blocking_move_to_z(destination[Z_AXIS]);
  3522. }
  3523. }
  3524. #endif
  3525. #if ENABLED(QUICK_HOME)
  3526. if (home_all || (homeX && homeY)) quick_home_xy();
  3527. #endif
  3528. #if ENABLED(HOME_Y_BEFORE_X)
  3529. // Home Y
  3530. if (home_all || homeY) {
  3531. HOMEAXIS(Y);
  3532. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3533. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3534. #endif
  3535. }
  3536. #endif
  3537. // Home X
  3538. if (home_all || homeX) {
  3539. #if ENABLED(DUAL_X_CARRIAGE)
  3540. // Always home the 2nd (right) extruder first
  3541. active_extruder = 1;
  3542. HOMEAXIS(X);
  3543. // Remember this extruder's position for later tool change
  3544. inactive_extruder_x_pos = current_position[X_AXIS];
  3545. // Home the 1st (left) extruder
  3546. active_extruder = 0;
  3547. HOMEAXIS(X);
  3548. // Consider the active extruder to be parked
  3549. COPY(raised_parked_position, current_position);
  3550. delayed_move_time = 0;
  3551. active_extruder_parked = true;
  3552. #else
  3553. HOMEAXIS(X);
  3554. #endif
  3555. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3556. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3557. #endif
  3558. }
  3559. #if DISABLED(HOME_Y_BEFORE_X)
  3560. // Home Y
  3561. if (home_all || homeY) {
  3562. HOMEAXIS(Y);
  3563. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3564. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3565. #endif
  3566. }
  3567. #endif
  3568. // Home Z last if homing towards the bed
  3569. #if Z_HOME_DIR < 0
  3570. if (home_all || homeZ) {
  3571. #if ENABLED(Z_SAFE_HOMING)
  3572. home_z_safely();
  3573. #else
  3574. HOMEAXIS(Z);
  3575. #endif
  3576. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3577. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
  3578. #endif
  3579. } // home_all || homeZ
  3580. #endif // Z_HOME_DIR < 0
  3581. SYNC_PLAN_POSITION_KINEMATIC();
  3582. #endif // !DELTA (gcode_G28)
  3583. endstops.not_homing();
  3584. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3585. // move to a height where we can use the full xy-area
  3586. do_blocking_move_to_z(delta_clip_start_height);
  3587. #endif
  3588. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3589. set_bed_leveling_enabled(ubl_state_at_entry);
  3590. #endif
  3591. clean_up_after_endstop_or_probe_move();
  3592. // Restore the active tool after homing
  3593. #if HOTENDS > 1
  3594. #if ENABLED(PARKING_EXTRUDER)
  3595. #define NO_FETCH false // fetch the previous toolhead
  3596. #else
  3597. #define NO_FETCH true
  3598. #endif
  3599. tool_change(old_tool_index, 0, NO_FETCH);
  3600. #endif
  3601. lcd_refresh();
  3602. report_current_position();
  3603. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3604. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3605. #endif
  3606. } // G28
  3607. void home_all_axes() { gcode_G28(true); }
  3608. #if HAS_PROBING_PROCEDURE
  3609. void out_of_range_error(const char* p_edge) {
  3610. SERIAL_PROTOCOLPGM("?Probe ");
  3611. serialprintPGM(p_edge);
  3612. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3613. }
  3614. #endif
  3615. #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
  3616. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3617. extern bool lcd_wait_for_move;
  3618. #endif
  3619. inline void _manual_goto_xy(const float &rx, const float &ry) {
  3620. #if MANUAL_PROBE_HEIGHT > 0
  3621. const float prev_z = current_position[Z_AXIS];
  3622. do_blocking_move_to_z(MANUAL_PROBE_HEIGHT, homing_feedrate(Z_AXIS));
  3623. #endif
  3624. do_blocking_move_to_xy(rx, ry, MMM_TO_MMS(XY_PROBE_SPEED));
  3625. #if MANUAL_PROBE_HEIGHT > 0
  3626. do_blocking_move_to_z(prev_z, homing_feedrate(Z_AXIS));
  3627. #endif
  3628. current_position[X_AXIS] = rx;
  3629. current_position[Y_AXIS] = ry;
  3630. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3631. lcd_wait_for_move = false;
  3632. #endif
  3633. }
  3634. #endif
  3635. #if ENABLED(MESH_BED_LEVELING)
  3636. // Save 130 bytes with non-duplication of PSTR
  3637. void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3638. void mbl_mesh_report() {
  3639. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
  3640. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3641. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3642. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
  3643. [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
  3644. );
  3645. }
  3646. void mesh_probing_done() {
  3647. mbl.has_mesh = true;
  3648. home_all_axes();
  3649. set_bed_leveling_enabled(true);
  3650. #if ENABLED(MESH_G28_REST_ORIGIN)
  3651. current_position[Z_AXIS] = Z_MIN_POS;
  3652. set_destination_from_current();
  3653. buffer_line_to_destination(homing_feedrate(Z_AXIS));
  3654. stepper.synchronize();
  3655. #endif
  3656. }
  3657. /**
  3658. * G29: Mesh-based Z probe, probes a grid and produces a
  3659. * mesh to compensate for variable bed height
  3660. *
  3661. * Parameters With MESH_BED_LEVELING:
  3662. *
  3663. * S0 Produce a mesh report
  3664. * S1 Start probing mesh points
  3665. * S2 Probe the next mesh point
  3666. * S3 Xn Yn Zn.nn Manually modify a single point
  3667. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3668. * S5 Reset and disable mesh
  3669. *
  3670. * The S0 report the points as below
  3671. *
  3672. * +----> X-axis 1-n
  3673. * |
  3674. * |
  3675. * v Y-axis 1-n
  3676. *
  3677. */
  3678. inline void gcode_G29() {
  3679. static int mbl_probe_index = -1;
  3680. #if HAS_SOFTWARE_ENDSTOPS
  3681. static bool enable_soft_endstops;
  3682. #endif
  3683. const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
  3684. if (!WITHIN(state, 0, 5)) {
  3685. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3686. return;
  3687. }
  3688. int8_t px, py;
  3689. switch (state) {
  3690. case MeshReport:
  3691. if (leveling_is_valid()) {
  3692. SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
  3693. mbl_mesh_report();
  3694. }
  3695. else
  3696. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3697. break;
  3698. case MeshStart:
  3699. mbl.reset();
  3700. mbl_probe_index = 0;
  3701. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3702. break;
  3703. case MeshNext:
  3704. if (mbl_probe_index < 0) {
  3705. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3706. return;
  3707. }
  3708. // For each G29 S2...
  3709. if (mbl_probe_index == 0) {
  3710. #if HAS_SOFTWARE_ENDSTOPS
  3711. // For the initial G29 S2 save software endstop state
  3712. enable_soft_endstops = soft_endstops_enabled;
  3713. #endif
  3714. }
  3715. else {
  3716. // For G29 S2 after adjusting Z.
  3717. mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
  3718. #if HAS_SOFTWARE_ENDSTOPS
  3719. soft_endstops_enabled = enable_soft_endstops;
  3720. #endif
  3721. }
  3722. // If there's another point to sample, move there with optional lift.
  3723. if (mbl_probe_index < GRID_MAX_POINTS) {
  3724. mbl.zigzag(mbl_probe_index, px, py);
  3725. _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
  3726. #if HAS_SOFTWARE_ENDSTOPS
  3727. // Disable software endstops to allow manual adjustment
  3728. // If G29 is not completed, they will not be re-enabled
  3729. soft_endstops_enabled = false;
  3730. #endif
  3731. mbl_probe_index++;
  3732. }
  3733. else {
  3734. // One last "return to the bed" (as originally coded) at completion
  3735. current_position[Z_AXIS] = Z_MIN_POS + MANUAL_PROBE_HEIGHT;
  3736. buffer_line_to_current_position();
  3737. stepper.synchronize();
  3738. // After recording the last point, activate home and activate
  3739. mbl_probe_index = -1;
  3740. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3741. BUZZ(100, 659);
  3742. BUZZ(100, 698);
  3743. mesh_probing_done();
  3744. }
  3745. break;
  3746. case MeshSet:
  3747. if (parser.seenval('X')) {
  3748. px = parser.value_int() - 1;
  3749. if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
  3750. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
  3751. return;
  3752. }
  3753. }
  3754. else {
  3755. SERIAL_CHAR('X'); echo_not_entered();
  3756. return;
  3757. }
  3758. if (parser.seenval('Y')) {
  3759. py = parser.value_int() - 1;
  3760. if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  3761. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
  3762. return;
  3763. }
  3764. }
  3765. else {
  3766. SERIAL_CHAR('Y'); echo_not_entered();
  3767. return;
  3768. }
  3769. if (parser.seenval('Z')) {
  3770. mbl.z_values[px][py] = parser.value_linear_units();
  3771. }
  3772. else {
  3773. SERIAL_CHAR('Z'); echo_not_entered();
  3774. return;
  3775. }
  3776. break;
  3777. case MeshSetZOffset:
  3778. if (parser.seenval('Z')) {
  3779. mbl.z_offset = parser.value_linear_units();
  3780. }
  3781. else {
  3782. SERIAL_CHAR('Z'); echo_not_entered();
  3783. return;
  3784. }
  3785. break;
  3786. case MeshReset:
  3787. reset_bed_level();
  3788. break;
  3789. } // switch(state)
  3790. report_current_position();
  3791. }
  3792. #elif OLDSCHOOL_ABL
  3793. #if ABL_GRID
  3794. #if ENABLED(PROBE_Y_FIRST)
  3795. #define PR_OUTER_VAR xCount
  3796. #define PR_OUTER_END abl_grid_points_x
  3797. #define PR_INNER_VAR yCount
  3798. #define PR_INNER_END abl_grid_points_y
  3799. #else
  3800. #define PR_OUTER_VAR yCount
  3801. #define PR_OUTER_END abl_grid_points_y
  3802. #define PR_INNER_VAR xCount
  3803. #define PR_INNER_END abl_grid_points_x
  3804. #endif
  3805. #endif
  3806. /**
  3807. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3808. * Will fail if the printer has not been homed with G28.
  3809. *
  3810. * Enhanced G29 Auto Bed Leveling Probe Routine
  3811. *
  3812. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3813. * or alter the bed level data. Useful to check the topology
  3814. * after a first run of G29.
  3815. *
  3816. * J Jettison current bed leveling data
  3817. *
  3818. * V Set the verbose level (0-4). Example: "G29 V3"
  3819. *
  3820. * Parameters With LINEAR leveling only:
  3821. *
  3822. * P Set the size of the grid that will be probed (P x P points).
  3823. * Example: "G29 P4"
  3824. *
  3825. * X Set the X size of the grid that will be probed (X x Y points).
  3826. * Example: "G29 X7 Y5"
  3827. *
  3828. * Y Set the Y size of the grid that will be probed (X x Y points).
  3829. *
  3830. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3831. * This is useful for manual bed leveling and finding flaws in the bed (to
  3832. * assist with part placement).
  3833. * Not supported by non-linear delta printer bed leveling.
  3834. *
  3835. * Parameters With LINEAR and BILINEAR leveling only:
  3836. *
  3837. * S Set the XY travel speed between probe points (in units/min)
  3838. *
  3839. * F Set the Front limit of the probing grid
  3840. * B Set the Back limit of the probing grid
  3841. * L Set the Left limit of the probing grid
  3842. * R Set the Right limit of the probing grid
  3843. *
  3844. * Parameters with DEBUG_LEVELING_FEATURE only:
  3845. *
  3846. * C Make a totally fake grid with no actual probing.
  3847. * For use in testing when no probing is possible.
  3848. *
  3849. * Parameters with BILINEAR leveling only:
  3850. *
  3851. * Z Supply an additional Z probe offset
  3852. *
  3853. * Extra parameters with PROBE_MANUALLY:
  3854. *
  3855. * To do manual probing simply repeat G29 until the procedure is complete.
  3856. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
  3857. *
  3858. * Q Query leveling and G29 state
  3859. *
  3860. * A Abort current leveling procedure
  3861. *
  3862. * Extra parameters with BILINEAR only:
  3863. *
  3864. * W Write a mesh point. (If G29 is idle.)
  3865. * I X index for mesh point
  3866. * J Y index for mesh point
  3867. * X X for mesh point, overrides I
  3868. * Y Y for mesh point, overrides J
  3869. * Z Z for mesh point. Otherwise, raw current Z.
  3870. *
  3871. * Without PROBE_MANUALLY:
  3872. *
  3873. * E By default G29 will engage the Z probe, test the bed, then disengage.
  3874. * Include "E" to engage/disengage the Z probe for each sample.
  3875. * There's no extra effect if you have a fixed Z probe.
  3876. *
  3877. */
  3878. inline void gcode_G29() {
  3879. // G29 Q is also available if debugging
  3880. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3881. const bool query = parser.seen('Q');
  3882. const uint8_t old_debug_flags = marlin_debug_flags;
  3883. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3884. if (DEBUGGING(LEVELING)) {
  3885. DEBUG_POS(">>> gcode_G29", current_position);
  3886. log_machine_info();
  3887. }
  3888. marlin_debug_flags = old_debug_flags;
  3889. #if DISABLED(PROBE_MANUALLY)
  3890. if (query) return;
  3891. #endif
  3892. #endif
  3893. #if ENABLED(PROBE_MANUALLY)
  3894. const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ;
  3895. #endif
  3896. #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
  3897. const bool faux = parser.boolval('C');
  3898. #elif ENABLED(PROBE_MANUALLY)
  3899. const bool faux = no_action;
  3900. #else
  3901. bool constexpr faux = false;
  3902. #endif
  3903. // Don't allow auto-leveling without homing first
  3904. if (axis_unhomed_error()) return;
  3905. // Define local vars 'static' for manual probing, 'auto' otherwise
  3906. #if ENABLED(PROBE_MANUALLY)
  3907. #define ABL_VAR static
  3908. #else
  3909. #define ABL_VAR
  3910. #endif
  3911. ABL_VAR int verbose_level;
  3912. ABL_VAR float xProbe, yProbe, measured_z;
  3913. ABL_VAR bool dryrun, abl_should_enable;
  3914. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3915. ABL_VAR int abl_probe_index;
  3916. #endif
  3917. #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
  3918. ABL_VAR bool enable_soft_endstops = true;
  3919. #endif
  3920. #if ABL_GRID
  3921. #if ENABLED(PROBE_MANUALLY)
  3922. ABL_VAR uint8_t PR_OUTER_VAR;
  3923. ABL_VAR int8_t PR_INNER_VAR;
  3924. #endif
  3925. ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
  3926. ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
  3927. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3928. ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
  3929. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3930. ABL_VAR bool do_topography_map;
  3931. #else // Bilinear
  3932. uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
  3933. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3934. #endif
  3935. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
  3936. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3937. ABL_VAR int abl2;
  3938. #else // Bilinear
  3939. int constexpr abl2 = GRID_MAX_POINTS;
  3940. #endif
  3941. #endif
  3942. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3943. ABL_VAR float zoffset;
  3944. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3945. ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  3946. ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
  3947. eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
  3948. mean;
  3949. #endif
  3950. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3951. int constexpr abl2 = 3;
  3952. // Probe at 3 arbitrary points
  3953. ABL_VAR vector_3 points[3] = {
  3954. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3955. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3956. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3957. };
  3958. #endif // AUTO_BED_LEVELING_3POINT
  3959. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3960. struct linear_fit_data lsf_results;
  3961. incremental_LSF_reset(&lsf_results);
  3962. #endif
  3963. /**
  3964. * On the initial G29 fetch command parameters.
  3965. */
  3966. if (!g29_in_progress) {
  3967. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3968. abl_probe_index = -1;
  3969. #endif
  3970. abl_should_enable = planner.leveling_active;
  3971. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3972. if (parser.seen('W')) {
  3973. if (!leveling_is_valid()) {
  3974. SERIAL_ERROR_START();
  3975. SERIAL_ERRORLNPGM("No bilinear grid");
  3976. return;
  3977. }
  3978. const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position[Z_AXIS];
  3979. if (!WITHIN(rz, -10, 10)) {
  3980. SERIAL_ERROR_START();
  3981. SERIAL_ERRORLNPGM("Bad Z value");
  3982. return;
  3983. }
  3984. const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
  3985. ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
  3986. int8_t i = parser.byteval('I', -1),
  3987. j = parser.byteval('J', -1);
  3988. if (!isnan(rx) && !isnan(ry)) {
  3989. // Get nearest i / j from x / y
  3990. i = (rx - bilinear_start[X_AXIS] + 0.5 * xGridSpacing) / xGridSpacing;
  3991. j = (ry - bilinear_start[Y_AXIS] + 0.5 * yGridSpacing) / yGridSpacing;
  3992. i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
  3993. j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
  3994. }
  3995. if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
  3996. set_bed_leveling_enabled(false);
  3997. z_values[i][j] = rz;
  3998. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3999. bed_level_virt_interpolate();
  4000. #endif
  4001. set_bed_leveling_enabled(abl_should_enable);
  4002. }
  4003. return;
  4004. } // parser.seen('W')
  4005. #endif
  4006. #if HAS_LEVELING
  4007. // Jettison bed leveling data
  4008. if (parser.seen('J')) {
  4009. reset_bed_level();
  4010. return;
  4011. }
  4012. #endif
  4013. verbose_level = parser.intval('V');
  4014. if (!WITHIN(verbose_level, 0, 4)) {
  4015. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  4016. return;
  4017. }
  4018. dryrun = parser.boolval('D')
  4019. #if ENABLED(PROBE_MANUALLY)
  4020. || no_action
  4021. #endif
  4022. ;
  4023. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4024. do_topography_map = verbose_level > 2 || parser.boolval('T');
  4025. // X and Y specify points in each direction, overriding the default
  4026. // These values may be saved with the completed mesh
  4027. abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
  4028. abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
  4029. if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
  4030. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  4031. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  4032. return;
  4033. }
  4034. abl2 = abl_grid_points_x * abl_grid_points_y;
  4035. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4036. zoffset = parser.linearval('Z');
  4037. #endif
  4038. #if ABL_GRID
  4039. xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
  4040. left_probe_bed_position = parser.seenval('L') ? (int)RAW_X_POSITION(parser.value_linear_units()) : LEFT_PROBE_BED_POSITION;
  4041. right_probe_bed_position = parser.seenval('R') ? (int)RAW_X_POSITION(parser.value_linear_units()) : RIGHT_PROBE_BED_POSITION;
  4042. front_probe_bed_position = parser.seenval('F') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : FRONT_PROBE_BED_POSITION;
  4043. back_probe_bed_position = parser.seenval('B') ? (int)RAW_Y_POSITION(parser.value_linear_units()) : BACK_PROBE_BED_POSITION;
  4044. const bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
  4045. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  4046. right_out_r = right_probe_bed_position > MAX_PROBE_X,
  4047. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  4048. front_out_f = front_probe_bed_position < MIN_PROBE_Y,
  4049. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  4050. back_out_b = back_probe_bed_position > MAX_PROBE_Y,
  4051. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  4052. if (left_out || right_out || front_out || back_out) {
  4053. if (left_out) {
  4054. out_of_range_error(PSTR("(L)eft"));
  4055. left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - (MIN_PROBE_EDGE);
  4056. }
  4057. if (right_out) {
  4058. out_of_range_error(PSTR("(R)ight"));
  4059. right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
  4060. }
  4061. if (front_out) {
  4062. out_of_range_error(PSTR("(F)ront"));
  4063. front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - (MIN_PROBE_EDGE);
  4064. }
  4065. if (back_out) {
  4066. out_of_range_error(PSTR("(B)ack"));
  4067. back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
  4068. }
  4069. return;
  4070. }
  4071. // probe at the points of a lattice grid
  4072. xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
  4073. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  4074. #endif // ABL_GRID
  4075. if (verbose_level > 0) {
  4076. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  4077. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  4078. }
  4079. stepper.synchronize();
  4080. // Disable auto bed leveling during G29
  4081. planner.leveling_active = false;
  4082. if (!dryrun) {
  4083. // Re-orient the current position without leveling
  4084. // based on where the steppers are positioned.
  4085. set_current_from_steppers_for_axis(ALL_AXES);
  4086. // Sync the planner to where the steppers stopped
  4087. SYNC_PLAN_POSITION_KINEMATIC();
  4088. }
  4089. #if HAS_BED_PROBE
  4090. // Deploy the probe. Probe will raise if needed.
  4091. if (DEPLOY_PROBE()) {
  4092. planner.leveling_active = abl_should_enable;
  4093. return;
  4094. }
  4095. #endif
  4096. if (!faux) setup_for_endstop_or_probe_move();
  4097. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4098. #if ENABLED(PROBE_MANUALLY)
  4099. if (!no_action)
  4100. #endif
  4101. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  4102. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  4103. || left_probe_bed_position != bilinear_start[X_AXIS]
  4104. || front_probe_bed_position != bilinear_start[Y_AXIS]
  4105. ) {
  4106. if (dryrun) {
  4107. // Before reset bed level, re-enable to correct the position
  4108. planner.leveling_active = abl_should_enable;
  4109. }
  4110. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  4111. reset_bed_level();
  4112. // Initialize a grid with the given dimensions
  4113. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  4114. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  4115. bilinear_start[X_AXIS] = left_probe_bed_position;
  4116. bilinear_start[Y_AXIS] = front_probe_bed_position;
  4117. // Can't re-enable (on error) until the new grid is written
  4118. abl_should_enable = false;
  4119. }
  4120. #endif // AUTO_BED_LEVELING_BILINEAR
  4121. #if ENABLED(AUTO_BED_LEVELING_3POINT)
  4122. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4123. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  4124. #endif
  4125. // Probe at 3 arbitrary points
  4126. points[0].z = points[1].z = points[2].z = 0;
  4127. #endif // AUTO_BED_LEVELING_3POINT
  4128. } // !g29_in_progress
  4129. #if ENABLED(PROBE_MANUALLY)
  4130. // For manual probing, get the next index to probe now.
  4131. // On the first probe this will be incremented to 0.
  4132. if (!no_action) {
  4133. ++abl_probe_index;
  4134. g29_in_progress = true;
  4135. }
  4136. // Abort current G29 procedure, go back to idle state
  4137. if (seenA && g29_in_progress) {
  4138. SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
  4139. #if HAS_SOFTWARE_ENDSTOPS
  4140. soft_endstops_enabled = enable_soft_endstops;
  4141. #endif
  4142. planner.leveling_active = abl_should_enable;
  4143. g29_in_progress = false;
  4144. #if ENABLED(LCD_BED_LEVELING)
  4145. lcd_wait_for_move = false;
  4146. #endif
  4147. }
  4148. // Query G29 status
  4149. if (verbose_level || seenQ) {
  4150. SERIAL_PROTOCOLPGM("Manual G29 ");
  4151. if (g29_in_progress) {
  4152. SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2));
  4153. SERIAL_PROTOCOLLNPAIR(" of ", abl2);
  4154. }
  4155. else
  4156. SERIAL_PROTOCOLLNPGM("idle");
  4157. }
  4158. if (no_action) return;
  4159. if (abl_probe_index == 0) {
  4160. // For the initial G29 save software endstop state
  4161. #if HAS_SOFTWARE_ENDSTOPS
  4162. enable_soft_endstops = soft_endstops_enabled;
  4163. #endif
  4164. }
  4165. else {
  4166. // For G29 after adjusting Z.
  4167. // Save the previous Z before going to the next point
  4168. measured_z = current_position[Z_AXIS];
  4169. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4170. mean += measured_z;
  4171. eqnBVector[abl_probe_index] = measured_z;
  4172. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4173. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4174. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4175. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4176. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4177. z_values[xCount][yCount] = measured_z + zoffset;
  4178. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4179. if (DEBUGGING(LEVELING)) {
  4180. SERIAL_PROTOCOLPAIR("Save X", xCount);
  4181. SERIAL_PROTOCOLPAIR(" Y", yCount);
  4182. SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
  4183. }
  4184. #endif
  4185. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4186. points[abl_probe_index].z = measured_z;
  4187. #endif
  4188. }
  4189. //
  4190. // If there's another point to sample, move there with optional lift.
  4191. //
  4192. #if ABL_GRID
  4193. // Skip any unreachable points
  4194. while (abl_probe_index < abl2) {
  4195. // Set xCount, yCount based on abl_probe_index, with zig-zag
  4196. PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
  4197. PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
  4198. // Probe in reverse order for every other row/column
  4199. bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
  4200. if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
  4201. const float xBase = xCount * xGridSpacing + left_probe_bed_position,
  4202. yBase = yCount * yGridSpacing + front_probe_bed_position;
  4203. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4204. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4205. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4206. indexIntoAB[xCount][yCount] = abl_probe_index;
  4207. #endif
  4208. // Keep looping till a reachable point is found
  4209. if (position_is_reachable(xProbe, yProbe)) break;
  4210. ++abl_probe_index;
  4211. }
  4212. // Is there a next point to move to?
  4213. if (abl_probe_index < abl2) {
  4214. _manual_goto_xy(xProbe, yProbe); // Can be used here too!
  4215. #if HAS_SOFTWARE_ENDSTOPS
  4216. // Disable software endstops to allow manual adjustment
  4217. // If G29 is not completed, they will not be re-enabled
  4218. soft_endstops_enabled = false;
  4219. #endif
  4220. return;
  4221. }
  4222. else {
  4223. // Leveling done! Fall through to G29 finishing code below
  4224. SERIAL_PROTOCOLLNPGM("Grid probing done.");
  4225. // Re-enable software endstops, if needed
  4226. #if HAS_SOFTWARE_ENDSTOPS
  4227. soft_endstops_enabled = enable_soft_endstops;
  4228. #endif
  4229. }
  4230. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4231. // Probe at 3 arbitrary points
  4232. if (abl_probe_index < 3) {
  4233. xProbe = points[abl_probe_index].x;
  4234. yProbe = points[abl_probe_index].y;
  4235. #if HAS_SOFTWARE_ENDSTOPS
  4236. // Disable software endstops to allow manual adjustment
  4237. // If G29 is not completed, they will not be re-enabled
  4238. soft_endstops_enabled = false;
  4239. #endif
  4240. return;
  4241. }
  4242. else {
  4243. SERIAL_PROTOCOLLNPGM("3-point probing done.");
  4244. // Re-enable software endstops, if needed
  4245. #if HAS_SOFTWARE_ENDSTOPS
  4246. soft_endstops_enabled = enable_soft_endstops;
  4247. #endif
  4248. if (!dryrun) {
  4249. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4250. if (planeNormal.z < 0) {
  4251. planeNormal.x *= -1;
  4252. planeNormal.y *= -1;
  4253. planeNormal.z *= -1;
  4254. }
  4255. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4256. // Can't re-enable (on error) until the new grid is written
  4257. abl_should_enable = false;
  4258. }
  4259. }
  4260. #endif // AUTO_BED_LEVELING_3POINT
  4261. #else // !PROBE_MANUALLY
  4262. {
  4263. const bool stow_probe_after_each = parser.boolval('E');
  4264. #if ABL_GRID
  4265. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  4266. measured_z = 0;
  4267. // Outer loop is Y with PROBE_Y_FIRST disabled
  4268. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
  4269. int8_t inStart, inStop, inInc;
  4270. if (zig) { // away from origin
  4271. inStart = 0;
  4272. inStop = PR_INNER_END;
  4273. inInc = 1;
  4274. }
  4275. else { // towards origin
  4276. inStart = PR_INNER_END - 1;
  4277. inStop = -1;
  4278. inInc = -1;
  4279. }
  4280. zig ^= true; // zag
  4281. // Inner loop is Y with PROBE_Y_FIRST enabled
  4282. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  4283. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  4284. yBase = front_probe_bed_position + yGridSpacing * yCount;
  4285. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4286. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4287. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4288. indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
  4289. #endif
  4290. #if IS_KINEMATIC
  4291. // Avoid probing outside the round or hexagonal area
  4292. if (!position_is_reachable_by_probe(xProbe, yProbe)) continue;
  4293. #endif
  4294. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4295. if (isnan(measured_z)) {
  4296. planner.leveling_active = abl_should_enable;
  4297. break;
  4298. }
  4299. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4300. mean += measured_z;
  4301. eqnBVector[abl_probe_index] = measured_z;
  4302. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4303. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4304. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4305. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4306. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4307. z_values[xCount][yCount] = measured_z + zoffset;
  4308. #endif
  4309. abl_should_enable = false;
  4310. idle();
  4311. } // inner
  4312. } // outer
  4313. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4314. // Probe at 3 arbitrary points
  4315. for (uint8_t i = 0; i < 3; ++i) {
  4316. // Retain the last probe position
  4317. xProbe = points[i].x;
  4318. yProbe = points[i].y;
  4319. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4320. if (isnan(measured_z)) {
  4321. planner.leveling_active = abl_should_enable;
  4322. break;
  4323. }
  4324. points[i].z = measured_z;
  4325. }
  4326. if (!dryrun && !isnan(measured_z)) {
  4327. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4328. if (planeNormal.z < 0) {
  4329. planeNormal.x *= -1;
  4330. planeNormal.y *= -1;
  4331. planeNormal.z *= -1;
  4332. }
  4333. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4334. // Can't re-enable (on error) until the new grid is written
  4335. abl_should_enable = false;
  4336. }
  4337. #endif // AUTO_BED_LEVELING_3POINT
  4338. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  4339. if (STOW_PROBE()) {
  4340. planner.leveling_active = abl_should_enable;
  4341. measured_z = NAN;
  4342. }
  4343. }
  4344. #endif // !PROBE_MANUALLY
  4345. //
  4346. // G29 Finishing Code
  4347. //
  4348. // Unless this is a dry run, auto bed leveling will
  4349. // definitely be enabled after this point.
  4350. //
  4351. // If code above wants to continue leveling, it should
  4352. // return or loop before this point.
  4353. //
  4354. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4355. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  4356. #endif
  4357. #if ENABLED(PROBE_MANUALLY)
  4358. g29_in_progress = false;
  4359. #if ENABLED(LCD_BED_LEVELING)
  4360. lcd_wait_for_move = false;
  4361. #endif
  4362. #endif
  4363. // Calculate leveling, print reports, correct the position
  4364. if (!isnan(measured_z)) {
  4365. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4366. if (!dryrun) extrapolate_unprobed_bed_level();
  4367. print_bilinear_leveling_grid();
  4368. refresh_bed_level();
  4369. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  4370. print_bilinear_leveling_grid_virt();
  4371. #endif
  4372. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  4373. // For LINEAR leveling calculate matrix, print reports, correct the position
  4374. /**
  4375. * solve the plane equation ax + by + d = z
  4376. * A is the matrix with rows [x y 1] for all the probed points
  4377. * B is the vector of the Z positions
  4378. * the normal vector to the plane is formed by the coefficients of the
  4379. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  4380. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4381. */
  4382. float plane_equation_coefficients[3];
  4383. finish_incremental_LSF(&lsf_results);
  4384. plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
  4385. plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
  4386. plane_equation_coefficients[2] = -lsf_results.D;
  4387. mean /= abl2;
  4388. if (verbose_level) {
  4389. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4390. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  4391. SERIAL_PROTOCOLPGM(" b: ");
  4392. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  4393. SERIAL_PROTOCOLPGM(" d: ");
  4394. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  4395. SERIAL_EOL();
  4396. if (verbose_level > 2) {
  4397. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  4398. SERIAL_PROTOCOL_F(mean, 8);
  4399. SERIAL_EOL();
  4400. }
  4401. }
  4402. // Create the matrix but don't correct the position yet
  4403. if (!dryrun)
  4404. planner.bed_level_matrix = matrix_3x3::create_look_at(
  4405. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
  4406. );
  4407. // Show the Topography map if enabled
  4408. if (do_topography_map) {
  4409. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  4410. " +--- BACK --+\n"
  4411. " | |\n"
  4412. " L | (+) | R\n"
  4413. " E | | I\n"
  4414. " F | (-) N (+) | G\n"
  4415. " T | | H\n"
  4416. " | (-) | T\n"
  4417. " | |\n"
  4418. " O-- FRONT --+\n"
  4419. " (0,0)");
  4420. float min_diff = 999;
  4421. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4422. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4423. int ind = indexIntoAB[xx][yy];
  4424. float diff = eqnBVector[ind] - mean,
  4425. x_tmp = eqnAMatrix[ind + 0 * abl2],
  4426. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4427. z_tmp = 0;
  4428. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4429. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  4430. if (diff >= 0.0)
  4431. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  4432. else
  4433. SERIAL_PROTOCOLCHAR(' ');
  4434. SERIAL_PROTOCOL_F(diff, 5);
  4435. } // xx
  4436. SERIAL_EOL();
  4437. } // yy
  4438. SERIAL_EOL();
  4439. if (verbose_level > 3) {
  4440. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  4441. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4442. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4443. int ind = indexIntoAB[xx][yy];
  4444. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  4445. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4446. z_tmp = 0;
  4447. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4448. float diff = eqnBVector[ind] - z_tmp - min_diff;
  4449. if (diff >= 0.0)
  4450. SERIAL_PROTOCOLPGM(" +");
  4451. // Include + for column alignment
  4452. else
  4453. SERIAL_PROTOCOLCHAR(' ');
  4454. SERIAL_PROTOCOL_F(diff, 5);
  4455. } // xx
  4456. SERIAL_EOL();
  4457. } // yy
  4458. SERIAL_EOL();
  4459. }
  4460. } //do_topography_map
  4461. #endif // AUTO_BED_LEVELING_LINEAR
  4462. #if ABL_PLANAR
  4463. // For LINEAR and 3POINT leveling correct the current position
  4464. if (verbose_level > 0)
  4465. planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
  4466. if (!dryrun) {
  4467. //
  4468. // Correct the current XYZ position based on the tilted plane.
  4469. //
  4470. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4471. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  4472. #endif
  4473. float converted[XYZ];
  4474. COPY(converted, current_position);
  4475. planner.leveling_active = true;
  4476. planner.unapply_leveling(converted); // use conversion machinery
  4477. planner.leveling_active = false;
  4478. // Use the last measured distance to the bed, if possible
  4479. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  4480. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  4481. ) {
  4482. const float simple_z = current_position[Z_AXIS] - measured_z;
  4483. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4484. if (DEBUGGING(LEVELING)) {
  4485. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  4486. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  4487. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  4488. }
  4489. #endif
  4490. converted[Z_AXIS] = simple_z;
  4491. }
  4492. // The rotated XY and corrected Z are now current_position
  4493. COPY(current_position, converted);
  4494. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4495. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  4496. #endif
  4497. }
  4498. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4499. if (!dryrun) {
  4500. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4501. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  4502. #endif
  4503. // Unapply the offset because it is going to be immediately applied
  4504. // and cause compensation movement in Z
  4505. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  4506. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4507. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  4508. #endif
  4509. }
  4510. #endif // ABL_PLANAR
  4511. #ifdef Z_PROBE_END_SCRIPT
  4512. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4513. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  4514. #endif
  4515. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  4516. stepper.synchronize();
  4517. #endif
  4518. // Auto Bed Leveling is complete! Enable if possible.
  4519. planner.leveling_active = dryrun ? abl_should_enable : true;
  4520. } // !isnan(measured_z)
  4521. // Restore state after probing
  4522. if (!faux) clean_up_after_endstop_or_probe_move();
  4523. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4524. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  4525. #endif
  4526. report_current_position();
  4527. KEEPALIVE_STATE(IN_HANDLER);
  4528. if (planner.leveling_active)
  4529. SYNC_PLAN_POSITION_KINEMATIC();
  4530. }
  4531. #endif // OLDSCHOOL_ABL
  4532. #if HAS_BED_PROBE
  4533. /**
  4534. * G30: Do a single Z probe at the current XY
  4535. *
  4536. * Parameters:
  4537. *
  4538. * X Probe X position (default current X)
  4539. * Y Probe Y position (default current Y)
  4540. * E Engage the probe for each probe
  4541. */
  4542. inline void gcode_G30() {
  4543. const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
  4544. ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
  4545. if (!position_is_reachable_by_probe(xpos, ypos)) return;
  4546. // Disable leveling so the planner won't mess with us
  4547. #if HAS_LEVELING
  4548. set_bed_leveling_enabled(false);
  4549. #endif
  4550. setup_for_endstop_or_probe_move();
  4551. const float measured_z = probe_pt(xpos, ypos, parser.boolval('E'), 1);
  4552. if (!isnan(measured_z)) {
  4553. SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
  4554. SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
  4555. SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
  4556. }
  4557. clean_up_after_endstop_or_probe_move();
  4558. report_current_position();
  4559. }
  4560. #if ENABLED(Z_PROBE_SLED)
  4561. /**
  4562. * G31: Deploy the Z probe
  4563. */
  4564. inline void gcode_G31() { DEPLOY_PROBE(); }
  4565. /**
  4566. * G32: Stow the Z probe
  4567. */
  4568. inline void gcode_G32() { STOW_PROBE(); }
  4569. #endif // Z_PROBE_SLED
  4570. #endif // HAS_BED_PROBE
  4571. #if ENABLED(DELTA_AUTO_CALIBRATION)
  4572. constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points
  4573. _4P_STEP = _7P_STEP * 2, // 4-point step
  4574. NPP = _7P_STEP * 6; // number of calibration points on the radius
  4575. enum CalEnum { // the 7 main calibration points - add definitions if needed
  4576. CEN = 0,
  4577. __A = 1,
  4578. _AB = __A + _7P_STEP,
  4579. __B = _AB + _7P_STEP,
  4580. _BC = __B + _7P_STEP,
  4581. __C = _BC + _7P_STEP,
  4582. _CA = __C + _7P_STEP,
  4583. };
  4584. #define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N)
  4585. #define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR<NPP+0.9999; VAR+=N)
  4586. #define I_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VAR>CEN+0.9999; VAR-=N)
  4587. #define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1)
  4588. #define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP)
  4589. #define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP)
  4590. static void print_signed_float(const char * const prefix, const float &f) {
  4591. SERIAL_PROTOCOLPGM(" ");
  4592. serialprintPGM(prefix);
  4593. SERIAL_PROTOCOLCHAR(':');
  4594. if (f >= 0) SERIAL_CHAR('+');
  4595. SERIAL_PROTOCOL_F(f, 2);
  4596. }
  4597. static void print_G33_settings(const bool end_stops, const bool tower_angles) {
  4598. SERIAL_PROTOCOLPAIR(".Height:", delta_height);
  4599. if (end_stops) {
  4600. print_signed_float(PSTR("Ex"), delta_endstop_adj[A_AXIS]);
  4601. print_signed_float(PSTR("Ey"), delta_endstop_adj[B_AXIS]);
  4602. print_signed_float(PSTR("Ez"), delta_endstop_adj[C_AXIS]);
  4603. }
  4604. if (end_stops && tower_angles) {
  4605. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4606. SERIAL_EOL();
  4607. SERIAL_CHAR('.');
  4608. SERIAL_PROTOCOL_SP(13);
  4609. }
  4610. if (tower_angles) {
  4611. print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
  4612. print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
  4613. print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
  4614. }
  4615. if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR
  4616. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4617. }
  4618. SERIAL_EOL();
  4619. }
  4620. static void print_G33_results(const float z_at_pt[NPP + 1], const bool tower_points, const bool opposite_points) {
  4621. SERIAL_PROTOCOLPGM(". ");
  4622. print_signed_float(PSTR("c"), z_at_pt[CEN]);
  4623. if (tower_points) {
  4624. print_signed_float(PSTR(" x"), z_at_pt[__A]);
  4625. print_signed_float(PSTR(" y"), z_at_pt[__B]);
  4626. print_signed_float(PSTR(" z"), z_at_pt[__C]);
  4627. }
  4628. if (tower_points && opposite_points) {
  4629. SERIAL_EOL();
  4630. SERIAL_CHAR('.');
  4631. SERIAL_PROTOCOL_SP(13);
  4632. }
  4633. if (opposite_points) {
  4634. print_signed_float(PSTR("yz"), z_at_pt[_BC]);
  4635. print_signed_float(PSTR("zx"), z_at_pt[_CA]);
  4636. print_signed_float(PSTR("xy"), z_at_pt[_AB]);
  4637. }
  4638. SERIAL_EOL();
  4639. }
  4640. /**
  4641. * After G33:
  4642. * - Move to the print ceiling (DELTA_HOME_TO_SAFE_ZONE only)
  4643. * - Stow the probe
  4644. * - Restore endstops state
  4645. * - Select the old tool, if needed
  4646. */
  4647. static void G33_cleanup(
  4648. #if HOTENDS > 1
  4649. const uint8_t old_tool_index
  4650. #endif
  4651. ) {
  4652. #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  4653. do_blocking_move_to_z(delta_clip_start_height);
  4654. #endif
  4655. STOW_PROBE();
  4656. clean_up_after_endstop_or_probe_move();
  4657. #if HOTENDS > 1
  4658. tool_change(old_tool_index, 0, true);
  4659. #endif
  4660. }
  4661. static float probe_G33_points(float z_at_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) {
  4662. const bool _0p_calibration = probe_points == 0,
  4663. _1p_calibration = probe_points == 1,
  4664. _4p_calibration = probe_points == 2,
  4665. _4p_opposite_points = _4p_calibration && !towers_set,
  4666. _7p_calibration = probe_points >= 3 || probe_points == 0,
  4667. _7p_no_intermediates = probe_points == 3,
  4668. _7p_1_intermediates = probe_points == 4,
  4669. _7p_2_intermediates = probe_points == 5,
  4670. _7p_4_intermediates = probe_points == 6,
  4671. _7p_6_intermediates = probe_points == 7,
  4672. _7p_8_intermediates = probe_points == 8,
  4673. _7p_11_intermediates = probe_points == 9,
  4674. _7p_14_intermediates = probe_points == 10,
  4675. _7p_intermed_points = probe_points >= 4,
  4676. _7p_6_centre = probe_points >= 5 && probe_points <= 7,
  4677. _7p_9_centre = probe_points >= 8;
  4678. #if HAS_BED_PROBE
  4679. const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
  4680. dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
  4681. #endif
  4682. LOOP_CAL_ALL(axis) z_at_pt[axis] = 0.0;
  4683. if (!_0p_calibration) {
  4684. if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center
  4685. z_at_pt[CEN] +=
  4686. #if HAS_BED_PROBE
  4687. probe_pt(dx, dy, stow_after_each, 1, false)
  4688. #else
  4689. lcd_probe_pt(0, 0)
  4690. #endif
  4691. ;
  4692. }
  4693. if (_7p_calibration) { // probe extra center points
  4694. const float start = _7p_9_centre ? _CA + _7P_STEP / 3.0 : _7p_6_centre ? _CA : __C,
  4695. steps = _7p_9_centre ? _4P_STEP / 3.0 : _7p_6_centre ? _7P_STEP : _4P_STEP;
  4696. I_LOOP_CAL_PT(axis, start, steps) {
  4697. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4698. r = delta_calibration_radius * 0.1;
  4699. z_at_pt[CEN] +=
  4700. #if HAS_BED_PROBE
  4701. probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false)
  4702. #else
  4703. lcd_probe_pt(cos(a) * r, sin(a) * r)
  4704. #endif
  4705. ;
  4706. }
  4707. z_at_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points);
  4708. }
  4709. if (!_1p_calibration) { // probe the radius
  4710. const CalEnum start = _4p_opposite_points ? _AB : __A;
  4711. const float steps = _7p_14_intermediates ? _7P_STEP / 15.0 : // 15r * 6 + 10c = 100
  4712. _7p_11_intermediates ? _7P_STEP / 12.0 : // 12r * 6 + 9c = 81
  4713. _7p_8_intermediates ? _7P_STEP / 9.0 : // 9r * 6 + 10c = 64
  4714. _7p_6_intermediates ? _7P_STEP / 7.0 : // 7r * 6 + 7c = 49
  4715. _7p_4_intermediates ? _7P_STEP / 5.0 : // 5r * 6 + 6c = 36
  4716. _7p_2_intermediates ? _7P_STEP / 3.0 : // 3r * 6 + 7c = 25
  4717. _7p_1_intermediates ? _7P_STEP / 2.0 : // 2r * 6 + 4c = 16
  4718. _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9
  4719. _4P_STEP; // .5r * 6 + 1c = 4
  4720. bool zig_zag = true;
  4721. F_LOOP_CAL_PT(axis, start, _7p_9_centre ? steps * 3 : steps) {
  4722. const int8_t offset = _7p_9_centre ? 1 : 0;
  4723. for (int8_t circle = -offset; circle <= offset; circle++) {
  4724. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4725. r = delta_calibration_radius * (1 + 0.1 * (zig_zag ? circle : - circle)),
  4726. interpol = fmod(axis, 1);
  4727. const float z_temp =
  4728. #if HAS_BED_PROBE
  4729. probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1, false)
  4730. #else
  4731. lcd_probe_pt(cos(a) * r, sin(a) * r)
  4732. #endif
  4733. ;
  4734. // split probe point to neighbouring calibration points
  4735. z_at_pt[uint8_t(round(axis - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90)));
  4736. z_at_pt[uint8_t(round(axis - interpol )) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90)));
  4737. }
  4738. zig_zag = !zig_zag;
  4739. }
  4740. if (_7p_intermed_points)
  4741. LOOP_CAL_RAD(axis)
  4742. z_at_pt[axis] /= _7P_STEP / steps;
  4743. }
  4744. float S1 = z_at_pt[CEN],
  4745. S2 = sq(z_at_pt[CEN]);
  4746. int16_t N = 1;
  4747. if (!_1p_calibration) { // std dev from zero plane
  4748. LOOP_CAL_ACT(axis, _4p_calibration, _4p_opposite_points) {
  4749. S1 += z_at_pt[axis];
  4750. S2 += sq(z_at_pt[axis]);
  4751. N++;
  4752. }
  4753. return round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
  4754. }
  4755. }
  4756. return 0.00001;
  4757. }
  4758. #if HAS_BED_PROBE
  4759. static void G33_auto_tune() {
  4760. float z_at_pt[NPP + 1] = { 0.0 },
  4761. z_at_pt_base[NPP + 1] = { 0.0 },
  4762. z_temp, h_fac = 0.0, r_fac = 0.0, a_fac = 0.0, norm = 0.8;
  4763. #define ZP(N,I) ((N) * z_at_pt[I])
  4764. #define Z06(I) ZP(6, I)
  4765. #define Z03(I) ZP(3, I)
  4766. #define Z02(I) ZP(2, I)
  4767. #define Z01(I) ZP(1, I)
  4768. #define Z32(I) ZP(3/2, I)
  4769. SERIAL_PROTOCOLPGM("AUTO TUNE baseline");
  4770. SERIAL_EOL();
  4771. probe_G33_points(z_at_pt_base, 3, true, false);
  4772. print_G33_results(z_at_pt_base, true, true);
  4773. LOOP_XYZ(axis) {
  4774. delta_endstop_adj[axis] -= 1.0;
  4775. recalc_delta_settings();
  4776. endstops.enable(true);
  4777. if (!home_delta()) return;
  4778. endstops.not_homing();
  4779. SERIAL_PROTOCOLPGM("Tuning E");
  4780. SERIAL_CHAR(tolower(axis_codes[axis]));
  4781. SERIAL_EOL();
  4782. probe_G33_points(z_at_pt, 3, true, false);
  4783. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4784. print_G33_results(z_at_pt, true, true);
  4785. delta_endstop_adj[axis] += 1.0;
  4786. recalc_delta_settings();
  4787. switch (axis) {
  4788. case A_AXIS :
  4789. h_fac += 4.0 / (Z03(CEN) +Z01(__A) +Z32(_CA) +Z32(_AB)); // Offset by X-tower end-stop
  4790. break;
  4791. case B_AXIS :
  4792. h_fac += 4.0 / (Z03(CEN) +Z01(__B) +Z32(_BC) +Z32(_AB)); // Offset by Y-tower end-stop
  4793. break;
  4794. case C_AXIS :
  4795. h_fac += 4.0 / (Z03(CEN) +Z01(__C) +Z32(_BC) +Z32(_CA) ); // Offset by Z-tower end-stop
  4796. break;
  4797. }
  4798. }
  4799. h_fac /= 3.0;
  4800. h_fac *= norm; // Normalize to 1.02 for Kossel mini
  4801. for (int8_t zig_zag = -1; zig_zag < 2; zig_zag += 2) {
  4802. delta_radius += 1.0 * zig_zag;
  4803. recalc_delta_settings();
  4804. endstops.enable(true);
  4805. if (!home_delta()) return;
  4806. endstops.not_homing();
  4807. SERIAL_PROTOCOLPGM("Tuning R");
  4808. SERIAL_PROTOCOL(zig_zag == -1 ? "-" : "+");
  4809. SERIAL_EOL();
  4810. probe_G33_points(z_at_pt, 3, true, false);
  4811. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4812. print_G33_results(z_at_pt, true, true);
  4813. delta_radius -= 1.0 * zig_zag;
  4814. recalc_delta_settings();
  4815. r_fac -= zig_zag * 6.0 / (Z03(__A) +Z03(__B) +Z03(__C) +Z03(_BC) +Z03(_CA) +Z03(_AB)); // Offset by delta radius
  4816. }
  4817. r_fac /= 2.0;
  4818. r_fac *= 3 * norm; // Normalize to 2.25 for Kossel mini
  4819. LOOP_XYZ(axis) {
  4820. delta_tower_angle_trim[axis] += 1.0;
  4821. delta_endstop_adj[(axis + 1) % 3] -= 1.0 / 4.5;
  4822. delta_endstop_adj[(axis + 2) % 3] += 1.0 / 4.5;
  4823. z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  4824. delta_height -= z_temp;
  4825. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  4826. recalc_delta_settings();
  4827. endstops.enable(true);
  4828. if (!home_delta()) return;
  4829. endstops.not_homing();
  4830. SERIAL_PROTOCOLPGM("Tuning T");
  4831. SERIAL_CHAR(tolower(axis_codes[axis]));
  4832. SERIAL_EOL();
  4833. probe_G33_points(z_at_pt, 3, true, false);
  4834. LOOP_CAL_ALL(axis) z_at_pt[axis] -= z_at_pt_base[axis];
  4835. print_G33_results(z_at_pt, true, true);
  4836. delta_tower_angle_trim[axis] -= 1.0;
  4837. delta_endstop_adj[(axis+1) % 3] += 1.0/4.5;
  4838. delta_endstop_adj[(axis+2) % 3] -= 1.0/4.5;
  4839. z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  4840. delta_height -= z_temp;
  4841. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  4842. recalc_delta_settings();
  4843. switch (axis) {
  4844. case A_AXIS :
  4845. a_fac += 4.0 / ( Z06(__B) -Z06(__C) +Z06(_CA) -Z06(_AB)); // Offset by alpha tower angle
  4846. break;
  4847. case B_AXIS :
  4848. a_fac += 4.0 / (-Z06(__A) +Z06(__C) -Z06(_BC) +Z06(_AB)); // Offset by beta tower angle
  4849. break;
  4850. case C_AXIS :
  4851. a_fac += 4.0 / (Z06(__A) -Z06(__B) +Z06(_BC) -Z06(_CA) ); // Offset by gamma tower angle
  4852. break;
  4853. }
  4854. }
  4855. a_fac /= 3.0;
  4856. a_fac *= norm; // Normalize to 0.83 for Kossel mini
  4857. endstops.enable(true);
  4858. if (!home_delta()) return;
  4859. endstops.not_homing();
  4860. print_signed_float(PSTR( "H_FACTOR: "), h_fac);
  4861. print_signed_float(PSTR(" R_FACTOR: "), r_fac);
  4862. print_signed_float(PSTR(" A_FACTOR: "), a_fac);
  4863. SERIAL_EOL();
  4864. SERIAL_PROTOCOLPGM("Copy these values to Configuration.h");
  4865. SERIAL_EOL();
  4866. }
  4867. #endif // HAS_BED_PROBE
  4868. /**
  4869. * G33 - Delta '1-4-7-point' Auto-Calibration
  4870. * Calibrate height, endstops, delta radius, and tower angles.
  4871. *
  4872. * Parameters:
  4873. *
  4874. * Pn Number of probe points:
  4875. * P0 No probe. Normalize only.
  4876. * P1 Probe center and set height only.
  4877. * P2 Probe center and towers. Set height, endstops and delta radius.
  4878. * P3 Probe all positions: center, towers and opposite towers. Set all.
  4879. * P4-P10 Probe all positions + at different itermediate locations and average them.
  4880. *
  4881. * T Don't calibrate tower angle corrections
  4882. *
  4883. * Cn.nn Calibration precision; when omitted calibrates to maximum precision
  4884. *
  4885. * Fn Force to run at least n iterations and takes the best result
  4886. *
  4887. * A Auto tune calibartion factors (set in Configuration.h)
  4888. *
  4889. * Vn Verbose level:
  4890. * V0 Dry-run mode. Report settings and probe results. No calibration.
  4891. * V1 Report settings
  4892. * V2 Report settings and probe results
  4893. *
  4894. * E Engage the probe for each point
  4895. */
  4896. inline void gcode_G33() {
  4897. const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
  4898. if (!WITHIN(probe_points, 0, 10)) {
  4899. SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-10).");
  4900. return;
  4901. }
  4902. const int8_t verbose_level = parser.byteval('V', 1);
  4903. if (!WITHIN(verbose_level, 0, 2)) {
  4904. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
  4905. return;
  4906. }
  4907. const float calibration_precision = parser.floatval('C');
  4908. if (calibration_precision < 0) {
  4909. SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>=0).");
  4910. return;
  4911. }
  4912. const int8_t force_iterations = parser.intval('F', 0);
  4913. if (!WITHIN(force_iterations, 0, 30)) {
  4914. SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
  4915. return;
  4916. }
  4917. const bool towers_set = !parser.boolval('T'),
  4918. auto_tune = parser.boolval('A'),
  4919. stow_after_each = parser.boolval('E'),
  4920. _0p_calibration = probe_points == 0,
  4921. _1p_calibration = probe_points == 1,
  4922. _4p_calibration = probe_points == 2,
  4923. _7p_9_centre = probe_points >= 8,
  4924. _tower_results = (_4p_calibration && towers_set)
  4925. || probe_points >= 3 || probe_points == 0,
  4926. _opposite_results = (_4p_calibration && !towers_set)
  4927. || probe_points >= 3 || probe_points == 0,
  4928. _endstop_results = probe_points != 1,
  4929. _angle_results = (probe_points >= 3 || probe_points == 0) && towers_set;
  4930. const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
  4931. int8_t iterations = 0;
  4932. float test_precision,
  4933. zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
  4934. zero_std_dev_min = zero_std_dev,
  4935. e_old[ABC] = {
  4936. delta_endstop_adj[A_AXIS],
  4937. delta_endstop_adj[B_AXIS],
  4938. delta_endstop_adj[C_AXIS]
  4939. },
  4940. dr_old = delta_radius,
  4941. zh_old = delta_height,
  4942. ta_old[ABC] = {
  4943. delta_tower_angle_trim[A_AXIS],
  4944. delta_tower_angle_trim[B_AXIS],
  4945. delta_tower_angle_trim[C_AXIS]
  4946. };
  4947. SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
  4948. if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
  4949. LOOP_CAL_RAD(axis) {
  4950. const float a = RADIANS(210 + (360 / NPP) * (axis - 1)),
  4951. r = delta_calibration_radius * (1 + (_7p_9_centre ? 0.1 : 0.0));
  4952. if (!position_is_reachable(cos(a) * r, sin(a) * r)) {
  4953. SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
  4954. return;
  4955. }
  4956. }
  4957. }
  4958. stepper.synchronize();
  4959. #if HAS_LEVELING
  4960. reset_bed_level(); // After calibration bed-level data is no longer valid
  4961. #endif
  4962. #if HOTENDS > 1
  4963. const uint8_t old_tool_index = active_extruder;
  4964. tool_change(0, 0, true);
  4965. #define G33_CLEANUP() G33_cleanup(old_tool_index)
  4966. #else
  4967. #define G33_CLEANUP() G33_cleanup()
  4968. #endif
  4969. setup_for_endstop_or_probe_move();
  4970. endstops.enable(true);
  4971. if (!_0p_calibration) {
  4972. if (!home_delta())
  4973. return;
  4974. endstops.not_homing();
  4975. }
  4976. if (auto_tune) {
  4977. #if HAS_BED_PROBE
  4978. G33_auto_tune();
  4979. #else
  4980. SERIAL_PROTOCOLLNPGM("A probe is needed for auto-tune");
  4981. #endif
  4982. G33_CLEANUP();
  4983. return;
  4984. }
  4985. // Report settings
  4986. const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
  4987. serialprintPGM(checkingac);
  4988. if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
  4989. SERIAL_EOL();
  4990. lcd_setstatusPGM(checkingac);
  4991. print_G33_settings(_endstop_results, _angle_results);
  4992. do {
  4993. float z_at_pt[NPP + 1] = { 0.0 };
  4994. test_precision = zero_std_dev;
  4995. iterations++;
  4996. // Probe the points
  4997. zero_std_dev = probe_G33_points(z_at_pt, probe_points, towers_set, stow_after_each);
  4998. // Solve matrices
  4999. if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
  5000. if (zero_std_dev < zero_std_dev_min) {
  5001. COPY(e_old, delta_endstop_adj);
  5002. dr_old = delta_radius;
  5003. zh_old = delta_height;
  5004. COPY(ta_old, delta_tower_angle_trim);
  5005. }
  5006. float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
  5007. const float r_diff = delta_radius - delta_calibration_radius,
  5008. h_factor = 1 / 6.0 *
  5009. #ifdef H_FACTOR
  5010. (H_FACTOR), // Set in Configuration.h
  5011. #else
  5012. (1.00 + r_diff * 0.001), // 1.02 for r_diff = 20mm
  5013. #endif
  5014. r_factor = 1 / 6.0 *
  5015. #ifdef R_FACTOR
  5016. -(R_FACTOR), // Set in Configuration.h
  5017. #else
  5018. -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), // 2.25 for r_diff = 20mm
  5019. #endif
  5020. a_factor = 1 / 6.0 *
  5021. #ifdef A_FACTOR
  5022. (A_FACTOR); // Set in Configuration.h
  5023. #else
  5024. (66.66 / delta_calibration_radius); // 0.83 for cal_rd = 80mm
  5025. #endif
  5026. #define ZP(N,I) ((N) * z_at_pt[I])
  5027. #define Z6(I) ZP(6, I)
  5028. #define Z4(I) ZP(4, I)
  5029. #define Z2(I) ZP(2, I)
  5030. #define Z1(I) ZP(1, I)
  5031. #if !HAS_BED_PROBE
  5032. test_precision = 0.00; // forced end
  5033. #endif
  5034. switch (probe_points) {
  5035. case 0:
  5036. test_precision = 0.00; // forced end
  5037. break;
  5038. case 1:
  5039. test_precision = 0.00; // forced end
  5040. LOOP_XYZ(axis) e_delta[axis] = Z1(CEN);
  5041. break;
  5042. case 2:
  5043. if (towers_set) {
  5044. e_delta[A_AXIS] = (Z6(CEN) +Z4(__A) -Z2(__B) -Z2(__C)) * h_factor;
  5045. e_delta[B_AXIS] = (Z6(CEN) -Z2(__A) +Z4(__B) -Z2(__C)) * h_factor;
  5046. e_delta[C_AXIS] = (Z6(CEN) -Z2(__A) -Z2(__B) +Z4(__C)) * h_factor;
  5047. r_delta = (Z6(CEN) -Z2(__A) -Z2(__B) -Z2(__C)) * r_factor;
  5048. }
  5049. else {
  5050. e_delta[A_AXIS] = (Z6(CEN) -Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor;
  5051. e_delta[B_AXIS] = (Z6(CEN) +Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor;
  5052. e_delta[C_AXIS] = (Z6(CEN) +Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor;
  5053. r_delta = (Z6(CEN) -Z2(_BC) -Z2(_CA) -Z2(_AB)) * r_factor;
  5054. }
  5055. break;
  5056. default:
  5057. e_delta[A_AXIS] = (Z6(CEN) +Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor;
  5058. e_delta[B_AXIS] = (Z6(CEN) -Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor;
  5059. e_delta[C_AXIS] = (Z6(CEN) -Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor;
  5060. r_delta = (Z6(CEN) -Z1(__A) -Z1(__B) -Z1(__C) -Z1(_BC) -Z1(_CA) -Z1(_AB)) * r_factor;
  5061. if (towers_set) {
  5062. t_delta[A_AXIS] = ( -Z4(__B) +Z4(__C) -Z4(_CA) +Z4(_AB)) * a_factor;
  5063. t_delta[B_AXIS] = ( Z4(__A) -Z4(__C) +Z4(_BC) -Z4(_AB)) * a_factor;
  5064. t_delta[C_AXIS] = (-Z4(__A) +Z4(__B) -Z4(_BC) +Z4(_CA) ) * a_factor;
  5065. e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
  5066. e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
  5067. e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
  5068. }
  5069. break;
  5070. }
  5071. LOOP_XYZ(axis) delta_endstop_adj[axis] += e_delta[axis];
  5072. delta_radius += r_delta;
  5073. LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
  5074. }
  5075. else if (zero_std_dev >= test_precision) { // step one back
  5076. COPY(delta_endstop_adj, e_old);
  5077. delta_radius = dr_old;
  5078. delta_height = zh_old;
  5079. COPY(delta_tower_angle_trim, ta_old);
  5080. }
  5081. if (verbose_level != 0) { // !dry run
  5082. // normalise angles to least squares
  5083. if (_angle_results) {
  5084. float a_sum = 0.0;
  5085. LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
  5086. LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
  5087. }
  5088. // adjust delta_height and endstops by the max amount
  5089. const float z_temp = MAX3(delta_endstop_adj[A_AXIS], delta_endstop_adj[B_AXIS], delta_endstop_adj[C_AXIS]);
  5090. delta_height -= z_temp;
  5091. LOOP_XYZ(axis) delta_endstop_adj[axis] -= z_temp;
  5092. }
  5093. recalc_delta_settings();
  5094. NOMORE(zero_std_dev_min, zero_std_dev);
  5095. // print report
  5096. if (verbose_level != 1)
  5097. print_G33_results(z_at_pt, _tower_results, _opposite_results);
  5098. if (verbose_level != 0) { // !dry run
  5099. if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
  5100. SERIAL_PROTOCOLPGM("Calibration OK");
  5101. SERIAL_PROTOCOL_SP(32);
  5102. #if HAS_BED_PROBE
  5103. if (zero_std_dev >= test_precision && !_1p_calibration)
  5104. SERIAL_PROTOCOLPGM("rolling back.");
  5105. else
  5106. #endif
  5107. {
  5108. SERIAL_PROTOCOLPGM("std dev:");
  5109. SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
  5110. }
  5111. SERIAL_EOL();
  5112. char mess[21];
  5113. strcpy_P(mess, PSTR("Calibration sd:"));
  5114. if (zero_std_dev_min < 1)
  5115. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
  5116. else
  5117. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
  5118. lcd_setstatus(mess);
  5119. print_G33_settings(_endstop_results, _angle_results);
  5120. serialprintPGM(save_message);
  5121. SERIAL_EOL();
  5122. }
  5123. else { // !end iterations
  5124. char mess[15];
  5125. if (iterations < 31)
  5126. sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
  5127. else
  5128. strcpy_P(mess, PSTR("No convergence"));
  5129. SERIAL_PROTOCOL(mess);
  5130. SERIAL_PROTOCOL_SP(32);
  5131. SERIAL_PROTOCOLPGM("std dev:");
  5132. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  5133. SERIAL_EOL();
  5134. lcd_setstatus(mess);
  5135. print_G33_settings(_endstop_results, _angle_results);
  5136. }
  5137. }
  5138. else { // dry run
  5139. const char *enddryrun = PSTR("End DRY-RUN");
  5140. serialprintPGM(enddryrun);
  5141. SERIAL_PROTOCOL_SP(35);
  5142. SERIAL_PROTOCOLPGM("std dev:");
  5143. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  5144. SERIAL_EOL();
  5145. char mess[21];
  5146. strcpy_P(mess, enddryrun);
  5147. strcpy_P(&mess[11], PSTR(" sd:"));
  5148. if (zero_std_dev < 1)
  5149. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
  5150. else
  5151. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
  5152. lcd_setstatus(mess);
  5153. }
  5154. endstops.enable(true);
  5155. if (!home_delta())
  5156. return;
  5157. endstops.not_homing();
  5158. }
  5159. while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
  5160. G33_CLEANUP();
  5161. }
  5162. #endif // DELTA_AUTO_CALIBRATION
  5163. #if ENABLED(G38_PROBE_TARGET)
  5164. static bool G38_run_probe() {
  5165. bool G38_pass_fail = false;
  5166. #if ENABLED(PROBE_DOUBLE_TOUCH)
  5167. // Get direction of move and retract
  5168. float retract_mm[XYZ];
  5169. LOOP_XYZ(i) {
  5170. float dist = destination[i] - current_position[i];
  5171. retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  5172. }
  5173. #endif
  5174. stepper.synchronize(); // wait until the machine is idle
  5175. // Move until destination reached or target hit
  5176. endstops.enable(true);
  5177. G38_move = true;
  5178. G38_endstop_hit = false;
  5179. prepare_move_to_destination();
  5180. stepper.synchronize();
  5181. G38_move = false;
  5182. endstops.hit_on_purpose();
  5183. set_current_from_steppers_for_axis(ALL_AXES);
  5184. SYNC_PLAN_POSITION_KINEMATIC();
  5185. if (G38_endstop_hit) {
  5186. G38_pass_fail = true;
  5187. #if ENABLED(PROBE_DOUBLE_TOUCH)
  5188. // Move away by the retract distance
  5189. set_destination_from_current();
  5190. LOOP_XYZ(i) destination[i] += retract_mm[i];
  5191. endstops.enable(false);
  5192. prepare_move_to_destination();
  5193. stepper.synchronize();
  5194. feedrate_mm_s /= 4;
  5195. // Bump the target more slowly
  5196. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  5197. endstops.enable(true);
  5198. G38_move = true;
  5199. prepare_move_to_destination();
  5200. stepper.synchronize();
  5201. G38_move = false;
  5202. set_current_from_steppers_for_axis(ALL_AXES);
  5203. SYNC_PLAN_POSITION_KINEMATIC();
  5204. #endif
  5205. }
  5206. endstops.hit_on_purpose();
  5207. endstops.not_homing();
  5208. return G38_pass_fail;
  5209. }
  5210. /**
  5211. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  5212. * G38.3 - probe toward workpiece, stop on contact
  5213. *
  5214. * Like G28 except uses Z min probe for all axes
  5215. */
  5216. inline void gcode_G38(bool is_38_2) {
  5217. // Get X Y Z E F
  5218. gcode_get_destination();
  5219. setup_for_endstop_or_probe_move();
  5220. // If any axis has enough movement, do the move
  5221. LOOP_XYZ(i)
  5222. if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  5223. if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
  5224. // If G38.2 fails throw an error
  5225. if (!G38_run_probe() && is_38_2) {
  5226. SERIAL_ERROR_START();
  5227. SERIAL_ERRORLNPGM("Failed to reach target");
  5228. }
  5229. break;
  5230. }
  5231. clean_up_after_endstop_or_probe_move();
  5232. }
  5233. #endif // G38_PROBE_TARGET
  5234. #if HAS_MESH
  5235. /**
  5236. * G42: Move X & Y axes to mesh coordinates (I & J)
  5237. */
  5238. inline void gcode_G42() {
  5239. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  5240. if (axis_unhomed_error()) return;
  5241. #endif
  5242. if (IsRunning()) {
  5243. const bool hasI = parser.seenval('I');
  5244. const int8_t ix = hasI ? parser.value_int() : 0;
  5245. const bool hasJ = parser.seenval('J');
  5246. const int8_t iy = hasJ ? parser.value_int() : 0;
  5247. if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
  5248. SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
  5249. return;
  5250. }
  5251. set_destination_from_current();
  5252. if (hasI) destination[X_AXIS] = _GET_MESH_X(ix);
  5253. if (hasJ) destination[Y_AXIS] = _GET_MESH_Y(iy);
  5254. if (parser.boolval('P')) {
  5255. if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  5256. if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  5257. }
  5258. const float fval = parser.linearval('F');
  5259. if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
  5260. // SCARA kinematic has "safe" XY raw moves
  5261. #if IS_SCARA
  5262. prepare_uninterpolated_move_to_destination();
  5263. #else
  5264. prepare_move_to_destination();
  5265. #endif
  5266. }
  5267. }
  5268. #endif // HAS_MESH
  5269. /**
  5270. * G92: Set current position to given X Y Z E
  5271. */
  5272. inline void gcode_G92() {
  5273. stepper.synchronize();
  5274. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5275. switch (parser.subcode) {
  5276. case 1:
  5277. // Zero the G92 values and restore current position
  5278. #if !IS_SCARA
  5279. LOOP_XYZ(i) {
  5280. const float v = position_shift[i];
  5281. if (v) {
  5282. position_shift[i] = 0;
  5283. update_software_endstops((AxisEnum)i);
  5284. }
  5285. }
  5286. #endif // Not SCARA
  5287. return;
  5288. }
  5289. #endif
  5290. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5291. #define IS_G92_0 (parser.subcode == 0)
  5292. #else
  5293. #define IS_G92_0 true
  5294. #endif
  5295. bool didE = false;
  5296. #if IS_SCARA || !HAS_POSITION_SHIFT
  5297. bool didXYZ = false;
  5298. #else
  5299. constexpr bool didXYZ = false;
  5300. #endif
  5301. if (IS_G92_0) LOOP_XYZE(i) {
  5302. if (parser.seenval(axis_codes[i])) {
  5303. const float l = parser.value_axis_units((AxisEnum)i),
  5304. v = i == E_AXIS ? l : LOGICAL_TO_NATIVE(l, i),
  5305. d = v - current_position[i];
  5306. if (!NEAR_ZERO(d)) {
  5307. #if IS_SCARA || !HAS_POSITION_SHIFT
  5308. if (i == E_AXIS) didE = true; else didXYZ = true;
  5309. current_position[i] = v; // Without workspaces revert to Marlin 1.0 behavior
  5310. #elif HAS_POSITION_SHIFT
  5311. if (i == E_AXIS) {
  5312. didE = true;
  5313. current_position[E_AXIS] = v; // When using coordinate spaces, only E is set directly
  5314. }
  5315. else {
  5316. position_shift[i] += d; // Other axes simply offset the coordinate space
  5317. update_software_endstops((AxisEnum)i);
  5318. }
  5319. #endif
  5320. }
  5321. }
  5322. }
  5323. #if ENABLED(CNC_COORDINATE_SYSTEMS)
  5324. // Apply workspace offset to the active coordinate system
  5325. if (WITHIN(active_coordinate_system, 0, MAX_COORDINATE_SYSTEMS - 1))
  5326. COPY(coordinate_system[active_coordinate_system], position_shift);
  5327. #endif
  5328. if (didXYZ)
  5329. SYNC_PLAN_POSITION_KINEMATIC();
  5330. else if (didE)
  5331. sync_plan_position_e();
  5332. report_current_position();
  5333. }
  5334. #if HAS_RESUME_CONTINUE
  5335. /**
  5336. * M0: Unconditional stop - Wait for user button press on LCD
  5337. * M1: Conditional stop - Wait for user button press on LCD
  5338. */
  5339. inline void gcode_M0_M1() {
  5340. const char * const args = parser.string_arg;
  5341. millis_t ms = 0;
  5342. bool hasP = false, hasS = false;
  5343. if (parser.seenval('P')) {
  5344. ms = parser.value_millis(); // milliseconds to wait
  5345. hasP = ms > 0;
  5346. }
  5347. if (parser.seenval('S')) {
  5348. ms = parser.value_millis_from_seconds(); // seconds to wait
  5349. hasS = ms > 0;
  5350. }
  5351. #if ENABLED(ULTIPANEL)
  5352. if (!hasP && !hasS && args && *args)
  5353. lcd_setstatus(args, true);
  5354. else {
  5355. LCD_MESSAGEPGM(MSG_USERWAIT);
  5356. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  5357. dontExpireStatus();
  5358. #endif
  5359. }
  5360. #else
  5361. if (!hasP && !hasS && args && *args) {
  5362. SERIAL_ECHO_START();
  5363. SERIAL_ECHOLN(args);
  5364. }
  5365. #endif
  5366. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5367. wait_for_user = true;
  5368. stepper.synchronize();
  5369. refresh_cmd_timeout();
  5370. if (ms > 0) {
  5371. ms += previous_cmd_ms; // wait until this time for a click
  5372. while (PENDING(millis(), ms) && wait_for_user) idle();
  5373. }
  5374. else {
  5375. #if ENABLED(ULTIPANEL)
  5376. if (lcd_detected()) {
  5377. while (wait_for_user) idle();
  5378. print_job_timer.isPaused() ? LCD_MESSAGEPGM(WELCOME_MSG) : LCD_MESSAGEPGM(MSG_RESUMING);
  5379. }
  5380. #else
  5381. while (wait_for_user) idle();
  5382. #endif
  5383. }
  5384. wait_for_user = false;
  5385. KEEPALIVE_STATE(IN_HANDLER);
  5386. }
  5387. #endif // HAS_RESUME_CONTINUE
  5388. #if ENABLED(SPINDLE_LASER_ENABLE)
  5389. /**
  5390. * M3: Spindle Clockwise
  5391. * M4: Spindle Counter-clockwise
  5392. *
  5393. * S0 turns off spindle.
  5394. *
  5395. * If no speed PWM output is defined then M3/M4 just turns it on.
  5396. *
  5397. * At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
  5398. * Hardware PWM is required. ISRs are too slow.
  5399. *
  5400. * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
  5401. * No other settings give a PWM signal that goes from 0 to 5 volts.
  5402. *
  5403. * The system automatically sets WGM to Mode 1, so no special
  5404. * initialization is needed.
  5405. *
  5406. * WGM bits for timer 2 are automatically set by the system to
  5407. * Mode 1. This produces an acceptable 0 to 5 volt signal.
  5408. * No special initialization is needed.
  5409. *
  5410. * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
  5411. * factors for timers 2, 3, 4, and 5 are acceptable.
  5412. *
  5413. * SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
  5414. * the spindle/laser during power-up or when connecting to the host
  5415. * (usually goes through a reset which sets all I/O pins to tri-state)
  5416. *
  5417. * PWM duty cycle goes from 0 (off) to 255 (always on).
  5418. */
  5419. // Wait for spindle to come up to speed
  5420. inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); }
  5421. // Wait for spindle to stop turning
  5422. inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); }
  5423. /**
  5424. * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
  5425. *
  5426. * it accepts inputs of 0-255
  5427. */
  5428. inline void ocr_val_mode() {
  5429. uint8_t spindle_laser_power = parser.value_byte();
  5430. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5431. if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
  5432. analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
  5433. }
  5434. inline void gcode_M3_M4(bool is_M3) {
  5435. stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
  5436. #if SPINDLE_DIR_CHANGE
  5437. const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
  5438. if (SPINDLE_STOP_ON_DIR_CHANGE \
  5439. && READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
  5440. && READ(SPINDLE_DIR_PIN) != rotation_dir
  5441. ) {
  5442. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
  5443. delay_for_power_down();
  5444. }
  5445. WRITE(SPINDLE_DIR_PIN, rotation_dir);
  5446. #endif
  5447. /**
  5448. * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
  5449. * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
  5450. * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
  5451. */
  5452. #if ENABLED(SPINDLE_LASER_PWM)
  5453. if (parser.seen('O')) ocr_val_mode();
  5454. else {
  5455. const float spindle_laser_power = parser.floatval('S');
  5456. if (spindle_laser_power == 0) {
  5457. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
  5458. analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // only write low byte
  5459. delay_for_power_down();
  5460. }
  5461. else {
  5462. int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
  5463. NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
  5464. if (spindle_laser_power <= SPEED_POWER_MIN)
  5465. ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
  5466. if (spindle_laser_power >= SPEED_POWER_MAX)
  5467. ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
  5468. if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
  5469. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5470. analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
  5471. delay_for_power_up();
  5472. }
  5473. }
  5474. #else
  5475. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
  5476. delay_for_power_up();
  5477. #endif
  5478. }
  5479. /**
  5480. * M5 turn off spindle
  5481. */
  5482. inline void gcode_M5() {
  5483. stepper.synchronize();
  5484. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
  5485. delay_for_power_down();
  5486. }
  5487. #endif // SPINDLE_LASER_ENABLE
  5488. /**
  5489. * M17: Enable power on all stepper motors
  5490. */
  5491. inline void gcode_M17() {
  5492. LCD_MESSAGEPGM(MSG_NO_MOVE);
  5493. enable_all_steppers();
  5494. }
  5495. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  5496. static float resume_position[XYZE];
  5497. static bool move_away_flag = false;
  5498. #if ENABLED(SDSUPPORT)
  5499. static bool sd_print_paused = false;
  5500. #endif
  5501. static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
  5502. static millis_t next_buzz = 0;
  5503. static int8_t runout_beep = 0;
  5504. if (init) next_buzz = runout_beep = 0;
  5505. const millis_t ms = millis();
  5506. if (ELAPSED(ms, next_buzz)) {
  5507. if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
  5508. next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400);
  5509. BUZZ(300, 2000);
  5510. runout_beep++;
  5511. }
  5512. }
  5513. }
  5514. static void ensure_safe_temperature() {
  5515. bool heaters_heating = true;
  5516. wait_for_heatup = true; // M108 will clear this
  5517. while (wait_for_heatup && heaters_heating) {
  5518. idle();
  5519. heaters_heating = false;
  5520. HOTEND_LOOP() {
  5521. if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) {
  5522. heaters_heating = true;
  5523. #if ENABLED(ULTIPANEL)
  5524. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  5525. #endif
  5526. break;
  5527. }
  5528. }
  5529. }
  5530. }
  5531. #if IS_KINEMATIC
  5532. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
  5533. #else
  5534. #define RUNPLAN(RATE_MM_S) buffer_line_to_destination(RATE_MM_S)
  5535. #endif
  5536. void do_pause_e_move(const float &length, const float fr) {
  5537. current_position[E_AXIS] += length / planner.e_factor[active_extruder];
  5538. set_destination_from_current();
  5539. RUNPLAN(fr);
  5540. stepper.synchronize();
  5541. }
  5542. static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos,
  5543. const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false
  5544. ) {
  5545. if (move_away_flag) return false; // already paused
  5546. if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) {
  5547. #if ENABLED(PREVENT_COLD_EXTRUSION)
  5548. if (!thermalManager.allow_cold_extrude &&
  5549. thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) {
  5550. SERIAL_ERROR_START();
  5551. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5552. return false;
  5553. }
  5554. #endif
  5555. ensure_safe_temperature(); // wait for extruder to heat up before unloading
  5556. }
  5557. // Indicate that the printer is paused
  5558. move_away_flag = true;
  5559. // Pause the print job and timer
  5560. #if ENABLED(SDSUPPORT)
  5561. if (card.sdprinting) {
  5562. card.pauseSDPrint();
  5563. sd_print_paused = true;
  5564. }
  5565. #endif
  5566. print_job_timer.pause();
  5567. // Show initial message and wait for synchronize steppers
  5568. if (show_lcd) {
  5569. #if ENABLED(ULTIPANEL)
  5570. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
  5571. #endif
  5572. }
  5573. // Save current position
  5574. stepper.synchronize();
  5575. COPY(resume_position, current_position);
  5576. // Initial retract before move to filament change position
  5577. if (retract) do_pause_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
  5578. // Lift Z axis
  5579. if (z_lift > 0)
  5580. do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE);
  5581. // Move XY axes to filament exchange position
  5582. do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE);
  5583. if (unload_length != 0) {
  5584. if (show_lcd) {
  5585. #if ENABLED(ULTIPANEL)
  5586. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD);
  5587. idle();
  5588. #endif
  5589. }
  5590. // Unload filament
  5591. do_pause_e_move(unload_length, FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5592. }
  5593. if (show_lcd) {
  5594. #if ENABLED(ULTIPANEL)
  5595. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5596. #endif
  5597. }
  5598. #if HAS_BUZZER
  5599. filament_change_beep(max_beep_count, true);
  5600. #endif
  5601. idle();
  5602. // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
  5603. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
  5604. disable_e_steppers();
  5605. safe_delay(100);
  5606. #endif
  5607. // Start the heater idle timers
  5608. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5609. HOTEND_LOOP()
  5610. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5611. return true;
  5612. }
  5613. static void wait_for_filament_reload(const int8_t max_beep_count = 0) {
  5614. bool nozzle_timed_out = false;
  5615. // Wait for filament insert by user and press button
  5616. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5617. wait_for_user = true; // LCD click or M108 will clear this
  5618. while (wait_for_user) {
  5619. #if HAS_BUZZER
  5620. filament_change_beep(max_beep_count);
  5621. #endif
  5622. // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
  5623. // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
  5624. if (!nozzle_timed_out)
  5625. HOTEND_LOOP()
  5626. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5627. if (nozzle_timed_out) {
  5628. #if ENABLED(ULTIPANEL)
  5629. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  5630. #endif
  5631. // Wait for LCD click or M108
  5632. while (wait_for_user) idle(true);
  5633. // Re-enable the heaters if they timed out
  5634. HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
  5635. // Wait for the heaters to reach the target temperatures
  5636. ensure_safe_temperature();
  5637. #if ENABLED(ULTIPANEL)
  5638. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5639. #endif
  5640. // Start the heater idle timers
  5641. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5642. HOTEND_LOOP()
  5643. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5644. wait_for_user = true; /* Wait for user to load filament */
  5645. nozzle_timed_out = false;
  5646. #if HAS_BUZZER
  5647. filament_change_beep(max_beep_count, true);
  5648. #endif
  5649. }
  5650. idle(true);
  5651. }
  5652. KEEPALIVE_STATE(IN_HANDLER);
  5653. }
  5654. static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) {
  5655. bool nozzle_timed_out = false;
  5656. if (!move_away_flag) return;
  5657. // Re-enable the heaters if they timed out
  5658. HOTEND_LOOP() {
  5659. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5660. thermalManager.reset_heater_idle_timer(e);
  5661. }
  5662. if (nozzle_timed_out) ensure_safe_temperature();
  5663. #if HAS_BUZZER
  5664. filament_change_beep(max_beep_count, true);
  5665. #endif
  5666. set_destination_from_current();
  5667. if (load_length != 0) {
  5668. #if ENABLED(ULTIPANEL)
  5669. // Show "insert filament"
  5670. if (nozzle_timed_out)
  5671. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5672. #endif
  5673. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5674. wait_for_user = true; // LCD click or M108 will clear this
  5675. while (wait_for_user && nozzle_timed_out) {
  5676. #if HAS_BUZZER
  5677. filament_change_beep(max_beep_count);
  5678. #endif
  5679. idle(true);
  5680. }
  5681. KEEPALIVE_STATE(IN_HANDLER);
  5682. #if ENABLED(ULTIPANEL)
  5683. // Show "load" message
  5684. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD);
  5685. #endif
  5686. // Load filament
  5687. do_pause_e_move(load_length, FILAMENT_CHANGE_LOAD_FEEDRATE);
  5688. }
  5689. #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0
  5690. float extrude_length = initial_extrude_length;
  5691. do {
  5692. if (extrude_length > 0) {
  5693. // "Wait for filament extrude"
  5694. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE);
  5695. // Extrude filament to get into hotend
  5696. do_pause_e_move(extrude_length, ADVANCED_PAUSE_EXTRUDE_FEEDRATE);
  5697. }
  5698. // Show "Extrude More" / "Resume" menu and wait for reply
  5699. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5700. wait_for_user = false;
  5701. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION);
  5702. while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
  5703. KEEPALIVE_STATE(IN_HANDLER);
  5704. extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH;
  5705. // Keep looping if "Extrude More" was selected
  5706. } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE);
  5707. #endif
  5708. #if ENABLED(ULTIPANEL)
  5709. // "Wait for print to resume"
  5710. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
  5711. #endif
  5712. // Set extruder to saved position
  5713. destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
  5714. planner.set_e_position_mm(current_position[E_AXIS]);
  5715. // Move XY to starting position, then Z
  5716. do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE);
  5717. do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE);
  5718. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5719. filament_ran_out = false;
  5720. #endif
  5721. #if ENABLED(ULTIPANEL)
  5722. // Show status screen
  5723. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
  5724. #endif
  5725. #if ENABLED(SDSUPPORT)
  5726. if (sd_print_paused) {
  5727. card.startFileprint();
  5728. sd_print_paused = false;
  5729. }
  5730. #endif
  5731. move_away_flag = false;
  5732. }
  5733. #endif // ADVANCED_PAUSE_FEATURE
  5734. #if ENABLED(SDSUPPORT)
  5735. /**
  5736. * M20: List SD card to serial output
  5737. */
  5738. inline void gcode_M20() {
  5739. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  5740. card.ls();
  5741. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  5742. }
  5743. /**
  5744. * M21: Init SD Card
  5745. */
  5746. inline void gcode_M21() { card.initsd(); }
  5747. /**
  5748. * M22: Release SD Card
  5749. */
  5750. inline void gcode_M22() { card.release(); }
  5751. /**
  5752. * M23: Open a file
  5753. */
  5754. inline void gcode_M23() {
  5755. // Simplify3D includes the size, so zero out all spaces (#7227)
  5756. for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0';
  5757. card.openFile(parser.string_arg, true);
  5758. }
  5759. /**
  5760. * M24: Start or Resume SD Print
  5761. */
  5762. inline void gcode_M24() {
  5763. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5764. resume_print();
  5765. #endif
  5766. card.startFileprint();
  5767. print_job_timer.start();
  5768. }
  5769. /**
  5770. * M25: Pause SD Print
  5771. */
  5772. inline void gcode_M25() {
  5773. card.pauseSDPrint();
  5774. print_job_timer.pause();
  5775. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5776. enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
  5777. #endif
  5778. }
  5779. /**
  5780. * M26: Set SD Card file index
  5781. */
  5782. inline void gcode_M26() {
  5783. if (card.cardOK && parser.seenval('S'))
  5784. card.setIndex(parser.value_long());
  5785. }
  5786. /**
  5787. * M27: Get SD Card status
  5788. */
  5789. inline void gcode_M27() { card.getStatus(); }
  5790. /**
  5791. * M28: Start SD Write
  5792. */
  5793. inline void gcode_M28() { card.openFile(parser.string_arg, false); }
  5794. /**
  5795. * M29: Stop SD Write
  5796. * Processed in write to file routine above
  5797. */
  5798. inline void gcode_M29() {
  5799. // card.saving = false;
  5800. }
  5801. /**
  5802. * M30 <filename>: Delete SD Card file
  5803. */
  5804. inline void gcode_M30() {
  5805. if (card.cardOK) {
  5806. card.closefile();
  5807. card.removeFile(parser.string_arg);
  5808. }
  5809. }
  5810. #endif // SDSUPPORT
  5811. /**
  5812. * M31: Get the time since the start of SD Print (or last M109)
  5813. */
  5814. inline void gcode_M31() {
  5815. char buffer[21];
  5816. duration_t elapsed = print_job_timer.duration();
  5817. elapsed.toString(buffer);
  5818. lcd_setstatus(buffer);
  5819. SERIAL_ECHO_START();
  5820. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  5821. }
  5822. #if ENABLED(SDSUPPORT)
  5823. /**
  5824. * M32: Select file and start SD Print
  5825. *
  5826. * Examples:
  5827. *
  5828. * M32 !PATH/TO/FILE.GCO# ; Start FILE.GCO
  5829. * M32 P !PATH/TO/FILE.GCO# ; Start FILE.GCO as a procedure
  5830. * M32 S60 !PATH/TO/FILE.GCO# ; Start FILE.GCO at byte 60
  5831. *
  5832. */
  5833. inline void gcode_M32() {
  5834. if (card.sdprinting) stepper.synchronize();
  5835. if (card.cardOK) {
  5836. const bool call_procedure = parser.boolval('P');
  5837. card.openFile(parser.string_arg, true, call_procedure);
  5838. if (parser.seenval('S')) card.setIndex(parser.value_long());
  5839. card.startFileprint();
  5840. // Procedure calls count as normal print time.
  5841. if (!call_procedure) print_job_timer.start();
  5842. }
  5843. }
  5844. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  5845. /**
  5846. * M33: Get the long full path of a file or folder
  5847. *
  5848. * Parameters:
  5849. * <dospath> Case-insensitive DOS-style path to a file or folder
  5850. *
  5851. * Example:
  5852. * M33 miscel~1/armchair/armcha~1.gco
  5853. *
  5854. * Output:
  5855. * /Miscellaneous/Armchair/Armchair.gcode
  5856. */
  5857. inline void gcode_M33() {
  5858. card.printLongPath(parser.string_arg);
  5859. }
  5860. #endif
  5861. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  5862. /**
  5863. * M34: Set SD Card Sorting Options
  5864. */
  5865. inline void gcode_M34() {
  5866. if (parser.seen('S')) card.setSortOn(parser.value_bool());
  5867. if (parser.seenval('F')) {
  5868. const int v = parser.value_long();
  5869. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  5870. }
  5871. //if (parser.seen('R')) card.setSortReverse(parser.value_bool());
  5872. }
  5873. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  5874. /**
  5875. * M928: Start SD Write
  5876. */
  5877. inline void gcode_M928() {
  5878. card.openLogFile(parser.string_arg);
  5879. }
  5880. #endif // SDSUPPORT
  5881. /**
  5882. * Sensitive pin test for M42, M226
  5883. */
  5884. static bool pin_is_protected(const int8_t pin) {
  5885. static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
  5886. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  5887. if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true;
  5888. return false;
  5889. }
  5890. /**
  5891. * M42: Change pin status via GCode
  5892. *
  5893. * P<pin> Pin number (LED if omitted)
  5894. * S<byte> Pin status from 0 - 255
  5895. */
  5896. inline void gcode_M42() {
  5897. if (!parser.seenval('S')) return;
  5898. const byte pin_status = parser.value_byte();
  5899. const int pin_number = parser.intval('P', LED_PIN);
  5900. if (pin_number < 0) return;
  5901. if (pin_is_protected(pin_number)) {
  5902. SERIAL_ERROR_START();
  5903. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  5904. return;
  5905. }
  5906. pinMode(pin_number, OUTPUT);
  5907. digitalWrite(pin_number, pin_status);
  5908. analogWrite(pin_number, pin_status);
  5909. #if FAN_COUNT > 0
  5910. switch (pin_number) {
  5911. #if HAS_FAN0
  5912. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  5913. #endif
  5914. #if HAS_FAN1
  5915. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  5916. #endif
  5917. #if HAS_FAN2
  5918. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  5919. #endif
  5920. }
  5921. #endif
  5922. }
  5923. #if ENABLED(PINS_DEBUGGING)
  5924. #include "pinsDebug.h"
  5925. inline void toggle_pins() {
  5926. const bool I_flag = parser.boolval('I');
  5927. const int repeat = parser.intval('R', 1),
  5928. start = parser.intval('S'),
  5929. end = parser.intval('L', NUM_DIGITAL_PINS - 1),
  5930. wait = parser.intval('W', 500);
  5931. for (uint8_t pin = start; pin <= end; pin++) {
  5932. //report_pin_state_extended(pin, I_flag, false);
  5933. if (!I_flag && pin_is_protected(pin)) {
  5934. report_pin_state_extended(pin, I_flag, true, "Untouched ");
  5935. SERIAL_EOL();
  5936. }
  5937. else {
  5938. report_pin_state_extended(pin, I_flag, true, "Pulsing ");
  5939. #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
  5940. if (pin == TEENSY_E2) {
  5941. SET_OUTPUT(TEENSY_E2);
  5942. for (int16_t j = 0; j < repeat; j++) {
  5943. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5944. WRITE(TEENSY_E2, HIGH); safe_delay(wait);
  5945. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5946. }
  5947. }
  5948. else if (pin == TEENSY_E3) {
  5949. SET_OUTPUT(TEENSY_E3);
  5950. for (int16_t j = 0; j < repeat; j++) {
  5951. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5952. WRITE(TEENSY_E3, HIGH); safe_delay(wait);
  5953. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5954. }
  5955. }
  5956. else
  5957. #endif
  5958. {
  5959. pinMode(pin, OUTPUT);
  5960. for (int16_t j = 0; j < repeat; j++) {
  5961. digitalWrite(pin, 0); safe_delay(wait);
  5962. digitalWrite(pin, 1); safe_delay(wait);
  5963. digitalWrite(pin, 0); safe_delay(wait);
  5964. }
  5965. }
  5966. }
  5967. SERIAL_EOL();
  5968. }
  5969. SERIAL_ECHOLNPGM("Done.");
  5970. } // toggle_pins
  5971. inline void servo_probe_test() {
  5972. #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
  5973. SERIAL_ERROR_START();
  5974. SERIAL_ERRORLNPGM("SERVO not setup");
  5975. #elif !HAS_Z_SERVO_ENDSTOP
  5976. SERIAL_ERROR_START();
  5977. SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
  5978. #else // HAS_Z_SERVO_ENDSTOP
  5979. const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
  5980. SERIAL_PROTOCOLLNPGM("Servo probe test");
  5981. SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
  5982. SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
  5983. SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
  5984. bool probe_inverting;
  5985. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  5986. #define PROBE_TEST_PIN Z_MIN_PIN
  5987. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
  5988. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
  5989. SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
  5990. #if Z_MIN_ENDSTOP_INVERTING
  5991. SERIAL_PROTOCOLLNPGM("true");
  5992. #else
  5993. SERIAL_PROTOCOLLNPGM("false");
  5994. #endif
  5995. probe_inverting = Z_MIN_ENDSTOP_INVERTING;
  5996. #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
  5997. #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
  5998. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
  5999. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
  6000. SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
  6001. #if Z_MIN_PROBE_ENDSTOP_INVERTING
  6002. SERIAL_PROTOCOLLNPGM("true");
  6003. #else
  6004. SERIAL_PROTOCOLLNPGM("false");
  6005. #endif
  6006. probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
  6007. #endif
  6008. SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
  6009. SET_INPUT_PULLUP(PROBE_TEST_PIN);
  6010. bool deploy_state, stow_state;
  6011. for (uint8_t i = 0; i < 4; i++) {
  6012. MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
  6013. safe_delay(500);
  6014. deploy_state = READ(PROBE_TEST_PIN);
  6015. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  6016. safe_delay(500);
  6017. stow_state = READ(PROBE_TEST_PIN);
  6018. }
  6019. if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
  6020. refresh_cmd_timeout();
  6021. if (deploy_state != stow_state) {
  6022. SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
  6023. if (deploy_state) {
  6024. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
  6025. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
  6026. }
  6027. else {
  6028. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
  6029. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
  6030. }
  6031. #if ENABLED(BLTOUCH)
  6032. SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
  6033. #endif
  6034. }
  6035. else { // measure active signal length
  6036. MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
  6037. safe_delay(500);
  6038. SERIAL_PROTOCOLLNPGM("please trigger probe");
  6039. uint16_t probe_counter = 0;
  6040. // Allow 30 seconds max for operator to trigger probe
  6041. for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
  6042. safe_delay(2);
  6043. if (0 == j % (500 * 1)) // keep cmd_timeout happy
  6044. refresh_cmd_timeout();
  6045. if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
  6046. for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
  6047. safe_delay(2);
  6048. if (probe_counter == 50)
  6049. SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
  6050. else if (probe_counter >= 2)
  6051. SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
  6052. else
  6053. SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
  6054. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  6055. } // pulse detected
  6056. } // for loop waiting for trigger
  6057. if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
  6058. } // measure active signal length
  6059. #endif
  6060. } // servo_probe_test
  6061. /**
  6062. * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
  6063. *
  6064. * M43 - report name and state of pin(s)
  6065. * P<pin> Pin to read or watch. If omitted, reads all pins.
  6066. * I Flag to ignore Marlin's pin protection.
  6067. *
  6068. * M43 W - Watch pins -reporting changes- until reset, click, or M108.
  6069. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  6070. * I Flag to ignore Marlin's pin protection.
  6071. *
  6072. * M43 E<bool> - Enable / disable background endstop monitoring
  6073. * - Machine continues to operate
  6074. * - Reports changes to endstops
  6075. * - Toggles LED_PIN when an endstop changes
  6076. * - Can not reliably catch the 5mS pulse from BLTouch type probes
  6077. *
  6078. * M43 T - Toggle pin(s) and report which pin is being toggled
  6079. * S<pin> - Start Pin number. If not given, will default to 0
  6080. * L<pin> - End Pin number. If not given, will default to last pin defined for this board
  6081. * I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
  6082. * R - Repeat pulses on each pin this number of times before continueing to next pin
  6083. * W - Wait time (in miliseconds) between pulses. If not given will default to 500
  6084. *
  6085. * M43 S - Servo probe test
  6086. * P<index> - Probe index (optional - defaults to 0
  6087. */
  6088. inline void gcode_M43() {
  6089. if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
  6090. toggle_pins();
  6091. return;
  6092. }
  6093. // Enable or disable endstop monitoring
  6094. if (parser.seen('E')) {
  6095. endstop_monitor_flag = parser.value_bool();
  6096. SERIAL_PROTOCOLPGM("endstop monitor ");
  6097. serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis"));
  6098. SERIAL_PROTOCOLLNPGM("abled");
  6099. return;
  6100. }
  6101. if (parser.seen('S')) {
  6102. servo_probe_test();
  6103. return;
  6104. }
  6105. // Get the range of pins to test or watch
  6106. const uint8_t first_pin = parser.byteval('P'),
  6107. last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
  6108. if (first_pin > last_pin) return;
  6109. const bool ignore_protection = parser.boolval('I');
  6110. // Watch until click, M108, or reset
  6111. if (parser.boolval('W')) {
  6112. SERIAL_PROTOCOLLNPGM("Watching pins");
  6113. byte pin_state[last_pin - first_pin + 1];
  6114. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  6115. if (pin_is_protected(pin) && !ignore_protection) continue;
  6116. pinMode(pin, INPUT_PULLUP);
  6117. delay(1);
  6118. /*
  6119. if (IS_ANALOG(pin))
  6120. pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  6121. else
  6122. //*/
  6123. pin_state[pin - first_pin] = digitalRead(pin);
  6124. }
  6125. #if HAS_RESUME_CONTINUE
  6126. wait_for_user = true;
  6127. KEEPALIVE_STATE(PAUSED_FOR_USER);
  6128. #endif
  6129. for (;;) {
  6130. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  6131. if (pin_is_protected(pin) && !ignore_protection) continue;
  6132. const byte val =
  6133. /*
  6134. IS_ANALOG(pin)
  6135. ? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
  6136. :
  6137. //*/
  6138. digitalRead(pin);
  6139. if (val != pin_state[pin - first_pin]) {
  6140. report_pin_state_extended(pin, ignore_protection, false);
  6141. pin_state[pin - first_pin] = val;
  6142. }
  6143. }
  6144. #if HAS_RESUME_CONTINUE
  6145. if (!wait_for_user) {
  6146. KEEPALIVE_STATE(IN_HANDLER);
  6147. break;
  6148. }
  6149. #endif
  6150. safe_delay(200);
  6151. }
  6152. return;
  6153. }
  6154. // Report current state of selected pin(s)
  6155. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  6156. report_pin_state_extended(pin, ignore_protection, true);
  6157. }
  6158. #endif // PINS_DEBUGGING
  6159. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6160. /**
  6161. * M48: Z probe repeatability measurement function.
  6162. *
  6163. * Usage:
  6164. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  6165. * P = Number of sampled points (4-50, default 10)
  6166. * X = Sample X position
  6167. * Y = Sample Y position
  6168. * V = Verbose level (0-4, default=1)
  6169. * E = Engage Z probe for each reading
  6170. * L = Number of legs of movement before probe
  6171. * S = Schizoid (Or Star if you prefer)
  6172. *
  6173. * This function assumes the bed has been homed. Specifically, that a G28 command
  6174. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  6175. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  6176. * regenerated.
  6177. */
  6178. inline void gcode_M48() {
  6179. if (axis_unhomed_error()) return;
  6180. const int8_t verbose_level = parser.byteval('V', 1);
  6181. if (!WITHIN(verbose_level, 0, 4)) {
  6182. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  6183. return;
  6184. }
  6185. if (verbose_level > 0)
  6186. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  6187. const int8_t n_samples = parser.byteval('P', 10);
  6188. if (!WITHIN(n_samples, 4, 50)) {
  6189. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  6190. return;
  6191. }
  6192. const bool stow_probe_after_each = parser.boolval('E');
  6193. float X_current = current_position[X_AXIS],
  6194. Y_current = current_position[Y_AXIS];
  6195. const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
  6196. Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
  6197. #if DISABLED(DELTA)
  6198. if (!WITHIN(X_probe_location, MIN_PROBE_X, MAX_PROBE_X)) {
  6199. out_of_range_error(PSTR("X"));
  6200. return;
  6201. }
  6202. if (!WITHIN(Y_probe_location, MIN_PROBE_Y, MAX_PROBE_Y)) {
  6203. out_of_range_error(PSTR("Y"));
  6204. return;
  6205. }
  6206. #else
  6207. if (!position_is_reachable_by_probe(X_probe_location, Y_probe_location)) {
  6208. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  6209. return;
  6210. }
  6211. #endif
  6212. bool seen_L = parser.seen('L');
  6213. uint8_t n_legs = seen_L ? parser.value_byte() : 0;
  6214. if (n_legs > 15) {
  6215. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  6216. return;
  6217. }
  6218. if (n_legs == 1) n_legs = 2;
  6219. const bool schizoid_flag = parser.boolval('S');
  6220. if (schizoid_flag && !seen_L) n_legs = 7;
  6221. /**
  6222. * Now get everything to the specified probe point So we can safely do a
  6223. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  6224. * we don't want to use that as a starting point for each probe.
  6225. */
  6226. if (verbose_level > 2)
  6227. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  6228. // Disable bed level correction in M48 because we want the raw data when we probe
  6229. #if HAS_LEVELING
  6230. const bool was_enabled = planner.leveling_active;
  6231. set_bed_leveling_enabled(false);
  6232. #endif
  6233. setup_for_endstop_or_probe_move();
  6234. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  6235. // Move to the first point, deploy, and probe
  6236. const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  6237. bool probing_good = !isnan(t);
  6238. if (probing_good) {
  6239. randomSeed(millis());
  6240. for (uint8_t n = 0; n < n_samples; n++) {
  6241. if (n_legs) {
  6242. const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  6243. float angle = random(0.0, 360.0);
  6244. const float radius = random(
  6245. #if ENABLED(DELTA)
  6246. 0.1250000000 * (DELTA_PROBEABLE_RADIUS),
  6247. 0.3333333333 * (DELTA_PROBEABLE_RADIUS)
  6248. #else
  6249. 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
  6250. #endif
  6251. );
  6252. if (verbose_level > 3) {
  6253. SERIAL_ECHOPAIR("Starting radius: ", radius);
  6254. SERIAL_ECHOPAIR(" angle: ", angle);
  6255. SERIAL_ECHOPGM(" Direction: ");
  6256. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  6257. SERIAL_ECHOLNPGM("Clockwise");
  6258. }
  6259. for (uint8_t l = 0; l < n_legs - 1; l++) {
  6260. double delta_angle;
  6261. if (schizoid_flag)
  6262. // The points of a 5 point star are 72 degrees apart. We need to
  6263. // skip a point and go to the next one on the star.
  6264. delta_angle = dir * 2.0 * 72.0;
  6265. else
  6266. // If we do this line, we are just trying to move further
  6267. // around the circle.
  6268. delta_angle = dir * (float) random(25, 45);
  6269. angle += delta_angle;
  6270. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  6271. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  6272. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  6273. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  6274. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  6275. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  6276. #if DISABLED(DELTA)
  6277. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  6278. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  6279. #else
  6280. // If we have gone out too far, we can do a simple fix and scale the numbers
  6281. // back in closer to the origin.
  6282. while (!position_is_reachable_by_probe(X_current, Y_current)) {
  6283. X_current *= 0.8;
  6284. Y_current *= 0.8;
  6285. if (verbose_level > 3) {
  6286. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  6287. SERIAL_ECHOLNPAIR(", ", Y_current);
  6288. }
  6289. }
  6290. #endif
  6291. if (verbose_level > 3) {
  6292. SERIAL_PROTOCOLPGM("Going to:");
  6293. SERIAL_ECHOPAIR(" X", X_current);
  6294. SERIAL_ECHOPAIR(" Y", Y_current);
  6295. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  6296. }
  6297. do_blocking_move_to_xy(X_current, Y_current);
  6298. } // n_legs loop
  6299. } // n_legs
  6300. // Probe a single point
  6301. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  6302. // Break the loop if the probe fails
  6303. probing_good = !isnan(sample_set[n]);
  6304. if (!probing_good) break;
  6305. /**
  6306. * Get the current mean for the data points we have so far
  6307. */
  6308. double sum = 0.0;
  6309. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  6310. mean = sum / (n + 1);
  6311. NOMORE(min, sample_set[n]);
  6312. NOLESS(max, sample_set[n]);
  6313. /**
  6314. * Now, use that mean to calculate the standard deviation for the
  6315. * data points we have so far
  6316. */
  6317. sum = 0.0;
  6318. for (uint8_t j = 0; j <= n; j++)
  6319. sum += sq(sample_set[j] - mean);
  6320. sigma = SQRT(sum / (n + 1));
  6321. if (verbose_level > 0) {
  6322. if (verbose_level > 1) {
  6323. SERIAL_PROTOCOL(n + 1);
  6324. SERIAL_PROTOCOLPGM(" of ");
  6325. SERIAL_PROTOCOL((int)n_samples);
  6326. SERIAL_PROTOCOLPGM(": z: ");
  6327. SERIAL_PROTOCOL_F(sample_set[n], 3);
  6328. if (verbose_level > 2) {
  6329. SERIAL_PROTOCOLPGM(" mean: ");
  6330. SERIAL_PROTOCOL_F(mean, 4);
  6331. SERIAL_PROTOCOLPGM(" sigma: ");
  6332. SERIAL_PROTOCOL_F(sigma, 6);
  6333. SERIAL_PROTOCOLPGM(" min: ");
  6334. SERIAL_PROTOCOL_F(min, 3);
  6335. SERIAL_PROTOCOLPGM(" max: ");
  6336. SERIAL_PROTOCOL_F(max, 3);
  6337. SERIAL_PROTOCOLPGM(" range: ");
  6338. SERIAL_PROTOCOL_F(max-min, 3);
  6339. }
  6340. SERIAL_EOL();
  6341. }
  6342. }
  6343. } // n_samples loop
  6344. }
  6345. STOW_PROBE();
  6346. if (probing_good) {
  6347. SERIAL_PROTOCOLLNPGM("Finished!");
  6348. if (verbose_level > 0) {
  6349. SERIAL_PROTOCOLPGM("Mean: ");
  6350. SERIAL_PROTOCOL_F(mean, 6);
  6351. SERIAL_PROTOCOLPGM(" Min: ");
  6352. SERIAL_PROTOCOL_F(min, 3);
  6353. SERIAL_PROTOCOLPGM(" Max: ");
  6354. SERIAL_PROTOCOL_F(max, 3);
  6355. SERIAL_PROTOCOLPGM(" Range: ");
  6356. SERIAL_PROTOCOL_F(max-min, 3);
  6357. SERIAL_EOL();
  6358. }
  6359. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  6360. SERIAL_PROTOCOL_F(sigma, 6);
  6361. SERIAL_EOL();
  6362. SERIAL_EOL();
  6363. }
  6364. clean_up_after_endstop_or_probe_move();
  6365. // Re-enable bed level correction if it had been on
  6366. #if HAS_LEVELING
  6367. set_bed_leveling_enabled(was_enabled);
  6368. #endif
  6369. report_current_position();
  6370. }
  6371. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6372. #if ENABLED(G26_MESH_VALIDATION)
  6373. inline void gcode_M49() {
  6374. g26_debug_flag ^= true;
  6375. SERIAL_PROTOCOLPGM("G26 Debug ");
  6376. serialprintPGM(g26_debug_flag ? PSTR("on.") : PSTR("off."));
  6377. }
  6378. #endif // G26_MESH_VALIDATION
  6379. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  6380. /**
  6381. * M73: Set percentage complete (for display on LCD)
  6382. *
  6383. * Example:
  6384. * M73 P25 ; Set progress to 25%
  6385. *
  6386. * Notes:
  6387. * This has no effect during an SD print job
  6388. */
  6389. inline void gcode_M73() {
  6390. if (!IS_SD_PRINTING && parser.seen('P')) {
  6391. progress_bar_percent = parser.value_byte();
  6392. NOMORE(progress_bar_percent, 100);
  6393. }
  6394. }
  6395. #endif // ULTRA_LCD && LCD_SET_PROGRESS_MANUALLY
  6396. /**
  6397. * M75: Start print timer
  6398. */
  6399. inline void gcode_M75() { print_job_timer.start(); }
  6400. /**
  6401. * M76: Pause print timer
  6402. */
  6403. inline void gcode_M76() { print_job_timer.pause(); }
  6404. /**
  6405. * M77: Stop print timer
  6406. */
  6407. inline void gcode_M77() { print_job_timer.stop(); }
  6408. #if ENABLED(PRINTCOUNTER)
  6409. /**
  6410. * M78: Show print statistics
  6411. */
  6412. inline void gcode_M78() {
  6413. // "M78 S78" will reset the statistics
  6414. if (parser.intval('S') == 78)
  6415. print_job_timer.initStats();
  6416. else
  6417. print_job_timer.showStats();
  6418. }
  6419. #endif
  6420. /**
  6421. * M104: Set hot end temperature
  6422. */
  6423. inline void gcode_M104() {
  6424. if (get_target_extruder_from_command(104)) return;
  6425. if (DEBUGGING(DRYRUN)) return;
  6426. #if ENABLED(SINGLENOZZLE)
  6427. if (target_extruder != active_extruder) return;
  6428. #endif
  6429. if (parser.seenval('S')) {
  6430. const int16_t temp = parser.value_celsius();
  6431. thermalManager.setTargetHotend(temp, target_extruder);
  6432. #if ENABLED(DUAL_X_CARRIAGE)
  6433. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6434. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6435. #endif
  6436. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6437. /**
  6438. * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
  6439. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  6440. * standby mode, for instance in a dual extruder setup, without affecting
  6441. * the running print timer.
  6442. */
  6443. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6444. print_job_timer.stop();
  6445. LCD_MESSAGEPGM(WELCOME_MSG);
  6446. }
  6447. #endif
  6448. if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
  6449. lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6450. }
  6451. #if ENABLED(AUTOTEMP)
  6452. planner.autotemp_M104_M109();
  6453. #endif
  6454. }
  6455. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6456. void print_heater_state(const float &c, const float &t,
  6457. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6458. const float r,
  6459. #endif
  6460. const int8_t e=-2
  6461. ) {
  6462. #if !(HAS_TEMP_BED && HAS_TEMP_HOTEND) && HOTENDS <= 1
  6463. UNUSED(e);
  6464. #endif
  6465. SERIAL_PROTOCOLCHAR(' ');
  6466. SERIAL_PROTOCOLCHAR(
  6467. #if HAS_TEMP_BED && HAS_TEMP_HOTEND
  6468. e == -1 ? 'B' : 'T'
  6469. #elif HAS_TEMP_HOTEND
  6470. 'T'
  6471. #else
  6472. 'B'
  6473. #endif
  6474. );
  6475. #if HOTENDS > 1
  6476. if (e >= 0) SERIAL_PROTOCOLCHAR('0' + e);
  6477. #endif
  6478. SERIAL_PROTOCOLCHAR(':');
  6479. SERIAL_PROTOCOL(c);
  6480. SERIAL_PROTOCOLPAIR(" /" , t);
  6481. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6482. SERIAL_PROTOCOLPAIR(" (", r / OVERSAMPLENR);
  6483. SERIAL_PROTOCOLCHAR(')');
  6484. #endif
  6485. }
  6486. void print_heaterstates() {
  6487. #if HAS_TEMP_HOTEND
  6488. print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder)
  6489. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6490. , thermalManager.rawHotendTemp(target_extruder)
  6491. #endif
  6492. );
  6493. #endif
  6494. #if HAS_TEMP_BED
  6495. print_heater_state(thermalManager.degBed(), thermalManager.degTargetBed(),
  6496. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6497. thermalManager.rawBedTemp(),
  6498. #endif
  6499. -1 // BED
  6500. );
  6501. #endif
  6502. #if HOTENDS > 1
  6503. HOTEND_LOOP() print_heater_state(thermalManager.degHotend(e), thermalManager.degTargetHotend(e),
  6504. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6505. thermalManager.rawHotendTemp(e),
  6506. #endif
  6507. e
  6508. );
  6509. #endif
  6510. SERIAL_PROTOCOLPGM(" @:");
  6511. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  6512. #if HAS_TEMP_BED
  6513. SERIAL_PROTOCOLPGM(" B@:");
  6514. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  6515. #endif
  6516. #if HOTENDS > 1
  6517. HOTEND_LOOP() {
  6518. SERIAL_PROTOCOLPAIR(" @", e);
  6519. SERIAL_PROTOCOLCHAR(':');
  6520. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  6521. }
  6522. #endif
  6523. }
  6524. #endif
  6525. /**
  6526. * M105: Read hot end and bed temperature
  6527. */
  6528. inline void gcode_M105() {
  6529. if (get_target_extruder_from_command(105)) return;
  6530. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6531. SERIAL_PROTOCOLPGM(MSG_OK);
  6532. print_heaterstates();
  6533. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  6534. SERIAL_ERROR_START();
  6535. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  6536. #endif
  6537. SERIAL_EOL();
  6538. }
  6539. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  6540. static uint8_t auto_report_temp_interval;
  6541. static millis_t next_temp_report_ms;
  6542. /**
  6543. * M155: Set temperature auto-report interval. M155 S<seconds>
  6544. */
  6545. inline void gcode_M155() {
  6546. if (parser.seenval('S')) {
  6547. auto_report_temp_interval = parser.value_byte();
  6548. NOMORE(auto_report_temp_interval, 60);
  6549. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6550. }
  6551. }
  6552. inline void auto_report_temperatures() {
  6553. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  6554. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6555. print_heaterstates();
  6556. SERIAL_EOL();
  6557. }
  6558. }
  6559. #endif // AUTO_REPORT_TEMPERATURES
  6560. #if FAN_COUNT > 0
  6561. /**
  6562. * M106: Set Fan Speed
  6563. *
  6564. * S<int> Speed between 0-255
  6565. * P<index> Fan index, if more than one fan
  6566. *
  6567. * With EXTRA_FAN_SPEED enabled:
  6568. *
  6569. * T<int> Restore/Use/Set Temporary Speed:
  6570. * 1 = Restore previous speed after T2
  6571. * 2 = Use temporary speed set with T3-255
  6572. * 3-255 = Set the speed for use with T2
  6573. */
  6574. inline void gcode_M106() {
  6575. const uint8_t p = parser.byteval('P');
  6576. if (p < FAN_COUNT) {
  6577. #if ENABLED(EXTRA_FAN_SPEED)
  6578. const int16_t t = parser.intval('T');
  6579. if (t > 0) {
  6580. switch (t) {
  6581. case 1:
  6582. fanSpeeds[p] = old_fanSpeeds[p];
  6583. break;
  6584. case 2:
  6585. old_fanSpeeds[p] = fanSpeeds[p];
  6586. fanSpeeds[p] = new_fanSpeeds[p];
  6587. break;
  6588. default:
  6589. new_fanSpeeds[p] = min(t, 255);
  6590. break;
  6591. }
  6592. return;
  6593. }
  6594. #endif // EXTRA_FAN_SPEED
  6595. const uint16_t s = parser.ushortval('S', 255);
  6596. fanSpeeds[p] = min(s, 255);
  6597. }
  6598. }
  6599. /**
  6600. * M107: Fan Off
  6601. */
  6602. inline void gcode_M107() {
  6603. const uint16_t p = parser.ushortval('P');
  6604. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  6605. }
  6606. #endif // FAN_COUNT > 0
  6607. #if DISABLED(EMERGENCY_PARSER)
  6608. /**
  6609. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  6610. */
  6611. inline void gcode_M108() { wait_for_heatup = false; }
  6612. /**
  6613. * M112: Emergency Stop
  6614. */
  6615. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  6616. /**
  6617. * M410: Quickstop - Abort all planned moves
  6618. *
  6619. * This will stop the carriages mid-move, so most likely they
  6620. * will be out of sync with the stepper position after this.
  6621. */
  6622. inline void gcode_M410() { quickstop_stepper(); }
  6623. #endif
  6624. /**
  6625. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  6626. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  6627. */
  6628. #ifndef MIN_COOLING_SLOPE_DEG
  6629. #define MIN_COOLING_SLOPE_DEG 1.50
  6630. #endif
  6631. #ifndef MIN_COOLING_SLOPE_TIME
  6632. #define MIN_COOLING_SLOPE_TIME 60
  6633. #endif
  6634. inline void gcode_M109() {
  6635. if (get_target_extruder_from_command(109)) return;
  6636. if (DEBUGGING(DRYRUN)) return;
  6637. #if ENABLED(SINGLENOZZLE)
  6638. if (target_extruder != active_extruder) return;
  6639. #endif
  6640. const bool no_wait_for_cooling = parser.seenval('S');
  6641. if (no_wait_for_cooling || parser.seenval('R')) {
  6642. const int16_t temp = parser.value_celsius();
  6643. thermalManager.setTargetHotend(temp, target_extruder);
  6644. #if ENABLED(DUAL_X_CARRIAGE)
  6645. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6646. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6647. #endif
  6648. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6649. /**
  6650. * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
  6651. * standby mode, (e.g., in a dual extruder setup) without affecting
  6652. * the running print timer.
  6653. */
  6654. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6655. print_job_timer.stop();
  6656. LCD_MESSAGEPGM(WELCOME_MSG);
  6657. }
  6658. else
  6659. print_job_timer.start();
  6660. #endif
  6661. if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6662. }
  6663. else return;
  6664. #if ENABLED(AUTOTEMP)
  6665. planner.autotemp_M104_M109();
  6666. #endif
  6667. #if TEMP_RESIDENCY_TIME > 0
  6668. millis_t residency_start_ms = 0;
  6669. // Loop until the temperature has stabilized
  6670. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  6671. #else
  6672. // Loop until the temperature is very close target
  6673. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  6674. #endif
  6675. float target_temp = -1.0, old_temp = 9999.0;
  6676. bool wants_to_cool = false;
  6677. wait_for_heatup = true;
  6678. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6679. #if DISABLED(BUSY_WHILE_HEATING)
  6680. KEEPALIVE_STATE(NOT_BUSY);
  6681. #endif
  6682. #if ENABLED(PRINTER_EVENT_LEDS)
  6683. const float start_temp = thermalManager.degHotend(target_extruder);
  6684. uint8_t old_blue = 0;
  6685. #endif
  6686. do {
  6687. // Target temperature might be changed during the loop
  6688. if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
  6689. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  6690. target_temp = thermalManager.degTargetHotend(target_extruder);
  6691. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6692. if (no_wait_for_cooling && wants_to_cool) break;
  6693. }
  6694. now = millis();
  6695. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  6696. next_temp_ms = now + 1000UL;
  6697. print_heaterstates();
  6698. #if TEMP_RESIDENCY_TIME > 0
  6699. SERIAL_PROTOCOLPGM(" W:");
  6700. if (residency_start_ms)
  6701. SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6702. else
  6703. SERIAL_PROTOCOLCHAR('?');
  6704. #endif
  6705. SERIAL_EOL();
  6706. }
  6707. idle();
  6708. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6709. const float temp = thermalManager.degHotend(target_extruder);
  6710. #if ENABLED(PRINTER_EVENT_LEDS)
  6711. // Gradually change LED strip from violet to red as nozzle heats up
  6712. if (!wants_to_cool) {
  6713. const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
  6714. if (blue != old_blue) {
  6715. old_blue = blue;
  6716. set_led_color(255, 0, blue
  6717. #if ENABLED(NEOPIXEL_LED)
  6718. , 0
  6719. , pixels.getBrightness()
  6720. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6721. , true
  6722. #endif
  6723. #endif
  6724. );
  6725. }
  6726. }
  6727. #endif
  6728. #if TEMP_RESIDENCY_TIME > 0
  6729. const float temp_diff = FABS(target_temp - temp);
  6730. if (!residency_start_ms) {
  6731. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  6732. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  6733. }
  6734. else if (temp_diff > TEMP_HYSTERESIS) {
  6735. // Restart the timer whenever the temperature falls outside the hysteresis.
  6736. residency_start_ms = now;
  6737. }
  6738. #endif
  6739. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  6740. if (wants_to_cool) {
  6741. // break after MIN_COOLING_SLOPE_TIME seconds
  6742. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  6743. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6744. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  6745. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  6746. old_temp = temp;
  6747. }
  6748. }
  6749. } while (wait_for_heatup && TEMP_CONDITIONS);
  6750. if (wait_for_heatup) {
  6751. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  6752. #if ENABLED(PRINTER_EVENT_LEDS)
  6753. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632) || ENABLED(RGBW_LED)
  6754. set_led_color(LED_WHITE);
  6755. #endif
  6756. #if ENABLED(NEOPIXEL_LED)
  6757. set_neopixel_color(pixels.Color(NEO_WHITE));
  6758. #endif
  6759. #endif
  6760. }
  6761. #if DISABLED(BUSY_WHILE_HEATING)
  6762. KEEPALIVE_STATE(IN_HANDLER);
  6763. #endif
  6764. }
  6765. #if HAS_TEMP_BED
  6766. #ifndef MIN_COOLING_SLOPE_DEG_BED
  6767. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  6768. #endif
  6769. #ifndef MIN_COOLING_SLOPE_TIME_BED
  6770. #define MIN_COOLING_SLOPE_TIME_BED 60
  6771. #endif
  6772. /**
  6773. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  6774. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  6775. */
  6776. inline void gcode_M190() {
  6777. if (DEBUGGING(DRYRUN)) return;
  6778. LCD_MESSAGEPGM(MSG_BED_HEATING);
  6779. const bool no_wait_for_cooling = parser.seenval('S');
  6780. if (no_wait_for_cooling || parser.seenval('R')) {
  6781. thermalManager.setTargetBed(parser.value_celsius());
  6782. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6783. if (parser.value_celsius() > BED_MINTEMP)
  6784. print_job_timer.start();
  6785. #endif
  6786. }
  6787. else return;
  6788. #if TEMP_BED_RESIDENCY_TIME > 0
  6789. millis_t residency_start_ms = 0;
  6790. // Loop until the temperature has stabilized
  6791. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  6792. #else
  6793. // Loop until the temperature is very close target
  6794. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  6795. #endif
  6796. float target_temp = -1.0, old_temp = 9999.0;
  6797. bool wants_to_cool = false;
  6798. wait_for_heatup = true;
  6799. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6800. #if DISABLED(BUSY_WHILE_HEATING)
  6801. KEEPALIVE_STATE(NOT_BUSY);
  6802. #endif
  6803. target_extruder = active_extruder; // for print_heaterstates
  6804. #if ENABLED(PRINTER_EVENT_LEDS)
  6805. const float start_temp = thermalManager.degBed();
  6806. uint8_t old_red = 255;
  6807. #endif
  6808. do {
  6809. // Target temperature might be changed during the loop
  6810. if (target_temp != thermalManager.degTargetBed()) {
  6811. wants_to_cool = thermalManager.isCoolingBed();
  6812. target_temp = thermalManager.degTargetBed();
  6813. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6814. if (no_wait_for_cooling && wants_to_cool) break;
  6815. }
  6816. now = millis();
  6817. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  6818. next_temp_ms = now + 1000UL;
  6819. print_heaterstates();
  6820. #if TEMP_BED_RESIDENCY_TIME > 0
  6821. SERIAL_PROTOCOLPGM(" W:");
  6822. if (residency_start_ms)
  6823. SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6824. else
  6825. SERIAL_PROTOCOLCHAR('?');
  6826. #endif
  6827. SERIAL_EOL();
  6828. }
  6829. idle();
  6830. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6831. const float temp = thermalManager.degBed();
  6832. #if ENABLED(PRINTER_EVENT_LEDS)
  6833. // Gradually change LED strip from blue to violet as bed heats up
  6834. if (!wants_to_cool) {
  6835. const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
  6836. if (red != old_red) {
  6837. old_red = red;
  6838. set_led_color(red, 0, 255
  6839. #if ENABLED(NEOPIXEL_LED)
  6840. , 0, pixels.getBrightness()
  6841. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6842. , true
  6843. #endif
  6844. #endif
  6845. );
  6846. }
  6847. }
  6848. #endif
  6849. #if TEMP_BED_RESIDENCY_TIME > 0
  6850. const float temp_diff = FABS(target_temp - temp);
  6851. if (!residency_start_ms) {
  6852. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  6853. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  6854. }
  6855. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  6856. // Restart the timer whenever the temperature falls outside the hysteresis.
  6857. residency_start_ms = now;
  6858. }
  6859. #endif // TEMP_BED_RESIDENCY_TIME > 0
  6860. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  6861. if (wants_to_cool) {
  6862. // Break after MIN_COOLING_SLOPE_TIME_BED seconds
  6863. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  6864. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6865. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  6866. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  6867. old_temp = temp;
  6868. }
  6869. }
  6870. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  6871. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  6872. #if DISABLED(BUSY_WHILE_HEATING)
  6873. KEEPALIVE_STATE(IN_HANDLER);
  6874. #endif
  6875. }
  6876. #endif // HAS_TEMP_BED
  6877. /**
  6878. * M110: Set Current Line Number
  6879. */
  6880. inline void gcode_M110() {
  6881. if (parser.seenval('N')) gcode_LastN = parser.value_long();
  6882. }
  6883. /**
  6884. * M111: Set the debug level
  6885. */
  6886. inline void gcode_M111() {
  6887. if (parser.seen('S')) marlin_debug_flags = parser.byteval('S');
  6888. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO,
  6889. str_debug_2[] PROGMEM = MSG_DEBUG_INFO,
  6890. str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS,
  6891. str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
  6892. str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
  6893. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6894. , str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
  6895. #endif
  6896. ;
  6897. const static char* const debug_strings[] PROGMEM = {
  6898. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
  6899. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6900. , str_debug_32
  6901. #endif
  6902. };
  6903. SERIAL_ECHO_START();
  6904. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  6905. if (marlin_debug_flags) {
  6906. uint8_t comma = 0;
  6907. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  6908. if (TEST(marlin_debug_flags, i)) {
  6909. if (comma++) SERIAL_CHAR(',');
  6910. serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
  6911. }
  6912. }
  6913. }
  6914. else {
  6915. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  6916. }
  6917. SERIAL_EOL();
  6918. }
  6919. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6920. /**
  6921. * M113: Get or set Host Keepalive interval (0 to disable)
  6922. *
  6923. * S<seconds> Optional. Set the keepalive interval.
  6924. */
  6925. inline void gcode_M113() {
  6926. if (parser.seenval('S')) {
  6927. host_keepalive_interval = parser.value_byte();
  6928. NOMORE(host_keepalive_interval, 60);
  6929. }
  6930. else {
  6931. SERIAL_ECHO_START();
  6932. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  6933. }
  6934. }
  6935. #endif
  6936. #if ENABLED(BARICUDA)
  6937. #if HAS_HEATER_1
  6938. /**
  6939. * M126: Heater 1 valve open
  6940. */
  6941. inline void gcode_M126() { baricuda_valve_pressure = parser.byteval('S', 255); }
  6942. /**
  6943. * M127: Heater 1 valve close
  6944. */
  6945. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  6946. #endif
  6947. #if HAS_HEATER_2
  6948. /**
  6949. * M128: Heater 2 valve open
  6950. */
  6951. inline void gcode_M128() { baricuda_e_to_p_pressure = parser.byteval('S', 255); }
  6952. /**
  6953. * M129: Heater 2 valve close
  6954. */
  6955. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  6956. #endif
  6957. #endif // BARICUDA
  6958. /**
  6959. * M140: Set bed temperature
  6960. */
  6961. inline void gcode_M140() {
  6962. if (DEBUGGING(DRYRUN)) return;
  6963. if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
  6964. }
  6965. #if ENABLED(ULTIPANEL)
  6966. /**
  6967. * M145: Set the heatup state for a material in the LCD menu
  6968. *
  6969. * S<material> (0=PLA, 1=ABS)
  6970. * H<hotend temp>
  6971. * B<bed temp>
  6972. * F<fan speed>
  6973. */
  6974. inline void gcode_M145() {
  6975. const uint8_t material = (uint8_t)parser.intval('S');
  6976. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  6977. SERIAL_ERROR_START();
  6978. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  6979. }
  6980. else {
  6981. int v;
  6982. if (parser.seenval('H')) {
  6983. v = parser.value_int();
  6984. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  6985. }
  6986. if (parser.seenval('F')) {
  6987. v = parser.value_int();
  6988. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  6989. }
  6990. #if TEMP_SENSOR_BED != 0
  6991. if (parser.seenval('B')) {
  6992. v = parser.value_int();
  6993. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  6994. }
  6995. #endif
  6996. }
  6997. }
  6998. #endif // ULTIPANEL
  6999. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  7000. /**
  7001. * M149: Set temperature units
  7002. */
  7003. inline void gcode_M149() {
  7004. if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C);
  7005. else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K);
  7006. else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F);
  7007. }
  7008. #endif
  7009. #if HAS_POWER_SWITCH
  7010. /**
  7011. * M80 : Turn on the Power Supply
  7012. * M80 S : Report the current state and exit
  7013. */
  7014. inline void gcode_M80() {
  7015. // S: Report the current power supply state and exit
  7016. if (parser.seen('S')) {
  7017. serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
  7018. return;
  7019. }
  7020. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
  7021. /**
  7022. * If you have a switch on suicide pin, this is useful
  7023. * if you want to start another print with suicide feature after
  7024. * a print without suicide...
  7025. */
  7026. #if HAS_SUICIDE
  7027. OUT_WRITE(SUICIDE_PIN, HIGH);
  7028. #endif
  7029. #if ENABLED(HAVE_TMC2130)
  7030. delay(100);
  7031. tmc2130_init(); // Settings only stick when the driver has power
  7032. #endif
  7033. powersupply_on = true;
  7034. #if ENABLED(ULTIPANEL)
  7035. LCD_MESSAGEPGM(WELCOME_MSG);
  7036. #endif
  7037. }
  7038. #endif // HAS_POWER_SWITCH
  7039. /**
  7040. * M81: Turn off Power, including Power Supply, if there is one.
  7041. *
  7042. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  7043. */
  7044. inline void gcode_M81() {
  7045. thermalManager.disable_all_heaters();
  7046. stepper.finish_and_disable();
  7047. #if FAN_COUNT > 0
  7048. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  7049. #if ENABLED(PROBING_FANS_OFF)
  7050. fans_paused = false;
  7051. ZERO(paused_fanSpeeds);
  7052. #endif
  7053. #endif
  7054. safe_delay(1000); // Wait 1 second before switching off
  7055. #if HAS_SUICIDE
  7056. stepper.synchronize();
  7057. suicide();
  7058. #elif HAS_POWER_SWITCH
  7059. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  7060. powersupply_on = false;
  7061. #endif
  7062. #if ENABLED(ULTIPANEL)
  7063. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  7064. #endif
  7065. }
  7066. /**
  7067. * M82: Set E codes absolute (default)
  7068. */
  7069. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  7070. /**
  7071. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  7072. */
  7073. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  7074. /**
  7075. * M18, M84: Disable stepper motors
  7076. */
  7077. inline void gcode_M18_M84() {
  7078. if (parser.seenval('S')) {
  7079. stepper_inactive_time = parser.value_millis_from_seconds();
  7080. }
  7081. else {
  7082. bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E')));
  7083. if (all_axis) {
  7084. stepper.finish_and_disable();
  7085. }
  7086. else {
  7087. stepper.synchronize();
  7088. if (parser.seen('X')) disable_X();
  7089. if (parser.seen('Y')) disable_Y();
  7090. if (parser.seen('Z')) disable_Z();
  7091. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS
  7092. if (parser.seen('E')) disable_e_steppers();
  7093. #endif
  7094. }
  7095. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  7096. ubl.lcd_map_control = defer_return_to_status = false;
  7097. #endif
  7098. }
  7099. }
  7100. /**
  7101. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  7102. */
  7103. inline void gcode_M85() {
  7104. if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds();
  7105. }
  7106. /**
  7107. * Multi-stepper support for M92, M201, M203
  7108. */
  7109. #if ENABLED(DISTINCT_E_FACTORS)
  7110. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  7111. #define TARGET_EXTRUDER target_extruder
  7112. #else
  7113. #define GET_TARGET_EXTRUDER(CMD) NOOP
  7114. #define TARGET_EXTRUDER 0
  7115. #endif
  7116. /**
  7117. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  7118. * (Follows the same syntax as G92)
  7119. *
  7120. * With multiple extruders use T to specify which one.
  7121. */
  7122. inline void gcode_M92() {
  7123. GET_TARGET_EXTRUDER(92);
  7124. LOOP_XYZE(i) {
  7125. if (parser.seen(axis_codes[i])) {
  7126. if (i == E_AXIS) {
  7127. const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
  7128. if (value < 20.0) {
  7129. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  7130. planner.max_jerk[E_AXIS] *= factor;
  7131. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  7132. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  7133. }
  7134. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  7135. }
  7136. else {
  7137. planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i);
  7138. }
  7139. }
  7140. }
  7141. planner.refresh_positioning();
  7142. }
  7143. /**
  7144. * Output the current position to serial
  7145. */
  7146. void report_current_position() {
  7147. SERIAL_PROTOCOLPGM("X:");
  7148. SERIAL_PROTOCOL(LOGICAL_X_POSITION(current_position[X_AXIS]));
  7149. SERIAL_PROTOCOLPGM(" Y:");
  7150. SERIAL_PROTOCOL(LOGICAL_Y_POSITION(current_position[Y_AXIS]));
  7151. SERIAL_PROTOCOLPGM(" Z:");
  7152. SERIAL_PROTOCOL(LOGICAL_Z_POSITION(current_position[Z_AXIS]));
  7153. SERIAL_PROTOCOLPGM(" E:");
  7154. SERIAL_PROTOCOL(current_position[E_AXIS]);
  7155. stepper.report_positions();
  7156. #if IS_SCARA
  7157. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  7158. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  7159. SERIAL_EOL();
  7160. #endif
  7161. }
  7162. #ifdef M114_DETAIL
  7163. void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
  7164. char str[12];
  7165. for (uint8_t i = 0; i < n; i++) {
  7166. SERIAL_CHAR(' ');
  7167. SERIAL_CHAR(axis_codes[i]);
  7168. SERIAL_CHAR(':');
  7169. SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
  7170. }
  7171. SERIAL_EOL();
  7172. }
  7173. inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
  7174. void report_current_position_detail() {
  7175. stepper.synchronize();
  7176. SERIAL_PROTOCOLPGM("\nLogical:");
  7177. const float logical[XYZ] = {
  7178. LOGICAL_X_POSITION(current_position[X_AXIS]),
  7179. LOGICAL_Y_POSITION(current_position[Y_AXIS]),
  7180. LOGICAL_Z_POSITION(current_position[Z_AXIS])
  7181. };
  7182. report_xyze(logical);
  7183. SERIAL_PROTOCOLPGM("Raw: ");
  7184. report_xyz(current_position);
  7185. float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
  7186. #if PLANNER_LEVELING
  7187. SERIAL_PROTOCOLPGM("Leveled:");
  7188. planner.apply_leveling(leveled);
  7189. report_xyz(leveled);
  7190. SERIAL_PROTOCOLPGM("UnLevel:");
  7191. float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
  7192. planner.unapply_leveling(unleveled);
  7193. report_xyz(unleveled);
  7194. #endif
  7195. #if IS_KINEMATIC
  7196. #if IS_SCARA
  7197. SERIAL_PROTOCOLPGM("ScaraK: ");
  7198. #else
  7199. SERIAL_PROTOCOLPGM("DeltaK: ");
  7200. #endif
  7201. inverse_kinematics(leveled); // writes delta[]
  7202. report_xyz(delta);
  7203. #endif
  7204. SERIAL_PROTOCOLPGM("Stepper:");
  7205. const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
  7206. report_xyze(step_count, 4, 0);
  7207. #if IS_SCARA
  7208. const float deg[XYZ] = {
  7209. stepper.get_axis_position_degrees(A_AXIS),
  7210. stepper.get_axis_position_degrees(B_AXIS)
  7211. };
  7212. SERIAL_PROTOCOLPGM("Degrees:");
  7213. report_xyze(deg, 2);
  7214. #endif
  7215. SERIAL_PROTOCOLPGM("FromStp:");
  7216. get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
  7217. const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
  7218. report_xyze(from_steppers);
  7219. const float diff[XYZE] = {
  7220. from_steppers[X_AXIS] - leveled[X_AXIS],
  7221. from_steppers[Y_AXIS] - leveled[Y_AXIS],
  7222. from_steppers[Z_AXIS] - leveled[Z_AXIS],
  7223. from_steppers[E_AXIS] - current_position[E_AXIS]
  7224. };
  7225. SERIAL_PROTOCOLPGM("Differ: ");
  7226. report_xyze(diff);
  7227. }
  7228. #endif // M114_DETAIL
  7229. /**
  7230. * M114: Report current position to host
  7231. */
  7232. inline void gcode_M114() {
  7233. #ifdef M114_DETAIL
  7234. if (parser.seen('D')) {
  7235. report_current_position_detail();
  7236. return;
  7237. }
  7238. #endif
  7239. stepper.synchronize();
  7240. report_current_position();
  7241. }
  7242. /**
  7243. * M115: Capabilities string
  7244. */
  7245. inline void gcode_M115() {
  7246. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  7247. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  7248. // EEPROM (M500, M501)
  7249. #if ENABLED(EEPROM_SETTINGS)
  7250. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  7251. #else
  7252. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  7253. #endif
  7254. // AUTOREPORT_TEMP (M155)
  7255. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  7256. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  7257. #else
  7258. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  7259. #endif
  7260. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  7261. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  7262. // Print Job timer M75, M76, M77
  7263. SERIAL_PROTOCOLLNPGM("Cap:PRINT_JOB:1");
  7264. // AUTOLEVEL (G29)
  7265. #if HAS_ABL
  7266. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  7267. #else
  7268. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  7269. #endif
  7270. // Z_PROBE (G30)
  7271. #if HAS_BED_PROBE
  7272. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  7273. #else
  7274. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  7275. #endif
  7276. // MESH_REPORT (M420 V)
  7277. #if HAS_LEVELING
  7278. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
  7279. #else
  7280. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
  7281. #endif
  7282. // BUILD_PERCENT (M73)
  7283. #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
  7284. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:1");
  7285. #else
  7286. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:0");
  7287. #endif
  7288. // SOFTWARE_POWER (M80, M81)
  7289. #if HAS_POWER_SWITCH
  7290. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  7291. #else
  7292. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  7293. #endif
  7294. // CASE LIGHTS (M355)
  7295. #if HAS_CASE_LIGHT
  7296. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  7297. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
  7298. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:1");
  7299. }
  7300. else
  7301. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  7302. #else
  7303. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  7304. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  7305. #endif
  7306. // EMERGENCY_PARSER (M108, M112, M410)
  7307. #if ENABLED(EMERGENCY_PARSER)
  7308. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  7309. #else
  7310. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  7311. #endif
  7312. #endif // EXTENDED_CAPABILITIES_REPORT
  7313. }
  7314. /**
  7315. * M117: Set LCD Status Message
  7316. */
  7317. inline void gcode_M117() { lcd_setstatus(parser.string_arg); }
  7318. /**
  7319. * M118: Display a message in the host console.
  7320. *
  7321. * A1 Append '// ' for an action command, as in OctoPrint
  7322. * E1 Have the host 'echo:' the text
  7323. */
  7324. inline void gcode_M118() {
  7325. if (parser.boolval('E')) SERIAL_ECHO_START();
  7326. if (parser.boolval('A')) SERIAL_ECHOPGM("// ");
  7327. SERIAL_ECHOLN(parser.string_arg);
  7328. }
  7329. /**
  7330. * M119: Output endstop states to serial output
  7331. */
  7332. inline void gcode_M119() { endstops.M119(); }
  7333. /**
  7334. * M120: Enable endstops and set non-homing endstop state to "enabled"
  7335. */
  7336. inline void gcode_M120() { endstops.enable_globally(true); }
  7337. /**
  7338. * M121: Disable endstops and set non-homing endstop state to "disabled"
  7339. */
  7340. inline void gcode_M121() { endstops.enable_globally(false); }
  7341. #if ENABLED(PARK_HEAD_ON_PAUSE)
  7342. /**
  7343. * M125: Store current position and move to filament change position.
  7344. * Called on pause (by M25) to prevent material leaking onto the
  7345. * object. On resume (M24) the head will be moved back and the
  7346. * print will resume.
  7347. *
  7348. * If Marlin is compiled without SD Card support, M125 can be
  7349. * used directly to pause the print and move to park position,
  7350. * resuming with a button click or M108.
  7351. *
  7352. * L = override retract length
  7353. * X = override X
  7354. * Y = override Y
  7355. * Z = override Z raise
  7356. */
  7357. inline void gcode_M125() {
  7358. // Initial retract before move to filament change position
  7359. const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  7360. #ifdef PAUSE_PARK_RETRACT_LENGTH
  7361. - (PAUSE_PARK_RETRACT_LENGTH)
  7362. #endif
  7363. ;
  7364. // Lift Z axis
  7365. const float z_lift = parser.linearval('Z')
  7366. #ifdef PAUSE_PARK_Z_ADD
  7367. + PAUSE_PARK_Z_ADD
  7368. #endif
  7369. ;
  7370. // Move XY axes to filament change position or given position
  7371. const float x_pos = parser.linearval('X')
  7372. #ifdef PAUSE_PARK_X_POS
  7373. + PAUSE_PARK_X_POS
  7374. #endif
  7375. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7376. + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0)
  7377. #endif
  7378. ;
  7379. const float y_pos = parser.linearval('Y')
  7380. #ifdef PAUSE_PARK_Y_POS
  7381. + PAUSE_PARK_Y_POS
  7382. #endif
  7383. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7384. + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0)
  7385. #endif
  7386. ;
  7387. #if DISABLED(SDSUPPORT)
  7388. const bool job_running = print_job_timer.isRunning();
  7389. #endif
  7390. if (pause_print(retract, z_lift, x_pos, y_pos)) {
  7391. #if DISABLED(SDSUPPORT)
  7392. // Wait for lcd click or M108
  7393. wait_for_filament_reload();
  7394. // Return to print position and continue
  7395. resume_print();
  7396. if (job_running) print_job_timer.start();
  7397. #endif
  7398. }
  7399. }
  7400. #endif // PARK_HEAD_ON_PAUSE
  7401. #if HAS_COLOR_LEDS
  7402. /**
  7403. * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
  7404. * and Brightness - Use P (for NEOPIXEL only)
  7405. *
  7406. * Always sets all 3 or 4 components. If a component is left out, set to 0.
  7407. * If brightness is left out, no value changed
  7408. *
  7409. * Examples:
  7410. *
  7411. * M150 R255 ; Turn LED red
  7412. * M150 R255 U127 ; Turn LED orange (PWM only)
  7413. * M150 ; Turn LED off
  7414. * M150 R U B ; Turn LED white
  7415. * M150 W ; Turn LED white using a white LED
  7416. * M150 P127 ; Set LED 50% brightness
  7417. * M150 P ; Set LED full brightness
  7418. */
  7419. inline void gcode_M150() {
  7420. set_led_color(
  7421. parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7422. parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7423. parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7424. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  7425. , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7426. #if ENABLED(NEOPIXEL_LED)
  7427. , parser.seen('P') ? (parser.has_value() ? parser.value_byte() : 255) : pixels.getBrightness()
  7428. #endif
  7429. #endif
  7430. );
  7431. }
  7432. #endif // HAS_COLOR_LEDS
  7433. /**
  7434. * M200: Set filament diameter and set E axis units to cubic units
  7435. *
  7436. * T<extruder> - Optional extruder number. Current extruder if omitted.
  7437. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  7438. */
  7439. inline void gcode_M200() {
  7440. if (get_target_extruder_from_command(200)) return;
  7441. if (parser.seen('D')) {
  7442. // setting any extruder filament size disables volumetric on the assumption that
  7443. // slicers either generate in extruder values as cubic mm or as as filament feeds
  7444. // for all extruders
  7445. if ( (parser.volumetric_enabled = (parser.value_linear_units() != 0.0)) ) {
  7446. planner.filament_size[target_extruder] = parser.value_linear_units();
  7447. // make sure all extruders have some sane value for the filament size
  7448. for (uint8_t i = 0; i < COUNT(planner.filament_size); i++)
  7449. if (!planner.filament_size[i]) planner.filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  7450. }
  7451. }
  7452. planner.calculate_volumetric_multipliers();
  7453. }
  7454. /**
  7455. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  7456. *
  7457. * With multiple extruders use T to specify which one.
  7458. */
  7459. inline void gcode_M201() {
  7460. GET_TARGET_EXTRUDER(201);
  7461. LOOP_XYZE(i) {
  7462. if (parser.seen(axis_codes[i])) {
  7463. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7464. planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
  7465. }
  7466. }
  7467. // 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)
  7468. planner.reset_acceleration_rates();
  7469. }
  7470. #if 0 // Not used for Sprinter/grbl gen6
  7471. inline void gcode_M202() {
  7472. LOOP_XYZE(i) {
  7473. if (parser.seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = parser.value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
  7474. }
  7475. }
  7476. #endif
  7477. /**
  7478. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  7479. *
  7480. * With multiple extruders use T to specify which one.
  7481. */
  7482. inline void gcode_M203() {
  7483. GET_TARGET_EXTRUDER(203);
  7484. LOOP_XYZE(i)
  7485. if (parser.seen(axis_codes[i])) {
  7486. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7487. planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a);
  7488. }
  7489. }
  7490. /**
  7491. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  7492. *
  7493. * P = Printing moves
  7494. * R = Retract only (no X, Y, Z) moves
  7495. * T = Travel (non printing) moves
  7496. *
  7497. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  7498. */
  7499. inline void gcode_M204() {
  7500. if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  7501. planner.travel_acceleration = planner.acceleration = parser.value_linear_units();
  7502. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  7503. }
  7504. if (parser.seen('P')) {
  7505. planner.acceleration = parser.value_linear_units();
  7506. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  7507. }
  7508. if (parser.seen('R')) {
  7509. planner.retract_acceleration = parser.value_linear_units();
  7510. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  7511. }
  7512. if (parser.seen('T')) {
  7513. planner.travel_acceleration = parser.value_linear_units();
  7514. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  7515. }
  7516. }
  7517. /**
  7518. * M205: Set Advanced Settings
  7519. *
  7520. * S = Min Feed Rate (units/s)
  7521. * T = Min Travel Feed Rate (units/s)
  7522. * B = Min Segment Time (µs)
  7523. * X = Max X Jerk (units/sec^2)
  7524. * Y = Max Y Jerk (units/sec^2)
  7525. * Z = Max Z Jerk (units/sec^2)
  7526. * E = Max E Jerk (units/sec^2)
  7527. */
  7528. inline void gcode_M205() {
  7529. if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
  7530. if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
  7531. if (parser.seen('B')) planner.min_segment_time_us = parser.value_ulong();
  7532. if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
  7533. if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
  7534. if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units();
  7535. if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
  7536. }
  7537. #if HAS_M206_COMMAND
  7538. /**
  7539. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  7540. *
  7541. * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
  7542. * *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
  7543. * *** In the next 1.2 release, it will simply be disabled by default.
  7544. */
  7545. inline void gcode_M206() {
  7546. LOOP_XYZ(i)
  7547. if (parser.seen(axis_codes[i]))
  7548. set_home_offset((AxisEnum)i, parser.value_linear_units());
  7549. #if ENABLED(MORGAN_SCARA)
  7550. if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
  7551. if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
  7552. #endif
  7553. report_current_position();
  7554. }
  7555. #endif // HAS_M206_COMMAND
  7556. #if ENABLED(DELTA)
  7557. /**
  7558. * M665: Set delta configurations
  7559. *
  7560. * H = delta height
  7561. * L = diagonal rod
  7562. * R = delta radius
  7563. * S = segments per second
  7564. * B = delta calibration radius
  7565. * X = Alpha (Tower 1) angle trim
  7566. * Y = Beta (Tower 2) angle trim
  7567. * Z = Rotate A and B by this angle
  7568. */
  7569. inline void gcode_M665() {
  7570. if (parser.seen('H')) {
  7571. delta_height = parser.value_linear_units();
  7572. update_software_endstops(Z_AXIS);
  7573. }
  7574. if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
  7575. if (parser.seen('R')) delta_radius = parser.value_linear_units();
  7576. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7577. if (parser.seen('B')) delta_calibration_radius = parser.value_float();
  7578. if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
  7579. if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
  7580. if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
  7581. recalc_delta_settings();
  7582. }
  7583. /**
  7584. * M666: Set delta endstop adjustment
  7585. */
  7586. inline void gcode_M666() {
  7587. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7588. if (DEBUGGING(LEVELING)) {
  7589. SERIAL_ECHOLNPGM(">>> gcode_M666");
  7590. }
  7591. #endif
  7592. LOOP_XYZ(i) {
  7593. if (parser.seen(axis_codes[i])) {
  7594. if (parser.value_linear_units() * Z_HOME_DIR <= 0)
  7595. delta_endstop_adj[i] = parser.value_linear_units();
  7596. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7597. if (DEBUGGING(LEVELING)) {
  7598. SERIAL_ECHOPAIR("delta_endstop_adj[", axis_codes[i]);
  7599. SERIAL_ECHOLNPAIR("] = ", delta_endstop_adj[i]);
  7600. }
  7601. #endif
  7602. }
  7603. }
  7604. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7605. if (DEBUGGING(LEVELING)) {
  7606. SERIAL_ECHOLNPGM("<<< gcode_M666");
  7607. }
  7608. #endif
  7609. }
  7610. #elif IS_SCARA
  7611. /**
  7612. * M665: Set SCARA settings
  7613. *
  7614. * Parameters:
  7615. *
  7616. * S[segments-per-second] - Segments-per-second
  7617. * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
  7618. * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
  7619. *
  7620. * A, P, and X are all aliases for the shoulder angle
  7621. * B, T, and Y are all aliases for the elbow angle
  7622. */
  7623. inline void gcode_M665() {
  7624. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7625. const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
  7626. const uint8_t sumAPX = hasA + hasP + hasX;
  7627. if (sumAPX == 1)
  7628. home_offset[A_AXIS] = parser.value_float();
  7629. else if (sumAPX > 1) {
  7630. SERIAL_ERROR_START();
  7631. SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
  7632. return;
  7633. }
  7634. const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
  7635. const uint8_t sumBTY = hasB + hasT + hasY;
  7636. if (sumBTY == 1)
  7637. home_offset[B_AXIS] = parser.value_float();
  7638. else if (sumBTY > 1) {
  7639. SERIAL_ERROR_START();
  7640. SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
  7641. return;
  7642. }
  7643. }
  7644. #elif ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  7645. /**
  7646. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  7647. */
  7648. inline void gcode_M666() {
  7649. SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): ");
  7650. #if ENABLED(X_DUAL_ENDSTOPS)
  7651. if (parser.seen('X')) x_endstop_adj = parser.value_linear_units();
  7652. SERIAL_ECHOPAIR(" X", x_endstop_adj);
  7653. #endif
  7654. #if ENABLED(Y_DUAL_ENDSTOPS)
  7655. if (parser.seen('Y')) y_endstop_adj = parser.value_linear_units();
  7656. SERIAL_ECHOPAIR(" Y", y_endstop_adj);
  7657. #endif
  7658. #if ENABLED(Z_DUAL_ENDSTOPS)
  7659. if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units();
  7660. SERIAL_ECHOPAIR(" Z", z_endstop_adj);
  7661. #endif
  7662. SERIAL_EOL();
  7663. }
  7664. #endif // !DELTA && Z_DUAL_ENDSTOPS
  7665. #if ENABLED(FWRETRACT)
  7666. /**
  7667. * M207: Set firmware retraction values
  7668. *
  7669. * S[+units] retract_length
  7670. * W[+units] swap_retract_length (multi-extruder)
  7671. * F[units/min] retract_feedrate_mm_s
  7672. * Z[units] retract_zlift
  7673. */
  7674. inline void gcode_M207() {
  7675. if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
  7676. if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7677. if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
  7678. if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
  7679. }
  7680. /**
  7681. * M208: Set firmware un-retraction values
  7682. *
  7683. * S[+units] retract_recover_length (in addition to M207 S*)
  7684. * W[+units] swap_retract_recover_length (multi-extruder)
  7685. * F[units/min] retract_recover_feedrate_mm_s
  7686. * R[units/min] swap_retract_recover_feedrate_mm_s
  7687. */
  7688. inline void gcode_M208() {
  7689. if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
  7690. if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7691. if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7692. if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
  7693. }
  7694. /**
  7695. * M209: Enable automatic retract (M209 S1)
  7696. * For slicers that don't support G10/11, reversed extrude-only
  7697. * moves will be classified as retraction.
  7698. */
  7699. inline void gcode_M209() {
  7700. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  7701. if (parser.seen('S')) {
  7702. autoretract_enabled = parser.value_bool();
  7703. for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  7704. }
  7705. }
  7706. }
  7707. #endif // FWRETRACT
  7708. /**
  7709. * M211: Enable, Disable, and/or Report software endstops
  7710. *
  7711. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  7712. */
  7713. inline void gcode_M211() {
  7714. SERIAL_ECHO_START();
  7715. #if HAS_SOFTWARE_ENDSTOPS
  7716. if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
  7717. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7718. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  7719. #else
  7720. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7721. SERIAL_ECHOPGM(MSG_OFF);
  7722. #endif
  7723. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  7724. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  7725. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  7726. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  7727. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  7728. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  7729. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  7730. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  7731. }
  7732. #if HOTENDS > 1
  7733. /**
  7734. * M218 - set hotend offset (in linear units)
  7735. *
  7736. * T<tool>
  7737. * X<xoffset>
  7738. * Y<yoffset>
  7739. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE
  7740. */
  7741. inline void gcode_M218() {
  7742. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  7743. if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
  7744. if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
  7745. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7746. if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
  7747. #endif
  7748. SERIAL_ECHO_START();
  7749. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  7750. HOTEND_LOOP() {
  7751. SERIAL_CHAR(' ');
  7752. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  7753. SERIAL_CHAR(',');
  7754. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  7755. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7756. SERIAL_CHAR(',');
  7757. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  7758. #endif
  7759. }
  7760. SERIAL_EOL();
  7761. }
  7762. #endif // HOTENDS > 1
  7763. /**
  7764. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  7765. */
  7766. inline void gcode_M220() {
  7767. if (parser.seenval('S')) feedrate_percentage = parser.value_int();
  7768. }
  7769. /**
  7770. * M221: Set extrusion percentage (M221 T0 S95)
  7771. */
  7772. inline void gcode_M221() {
  7773. if (get_target_extruder_from_command(221)) return;
  7774. if (parser.seenval('S')) {
  7775. planner.flow_percentage[target_extruder] = parser.value_int();
  7776. planner.refresh_e_factor(target_extruder);
  7777. }
  7778. }
  7779. /**
  7780. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  7781. */
  7782. inline void gcode_M226() {
  7783. if (parser.seen('P')) {
  7784. const int pin_number = parser.value_int(),
  7785. pin_state = parser.intval('S', -1); // required pin state - default is inverted
  7786. if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) {
  7787. int target = LOW;
  7788. stepper.synchronize();
  7789. pinMode(pin_number, INPUT);
  7790. switch (pin_state) {
  7791. case 1:
  7792. target = HIGH;
  7793. break;
  7794. case 0:
  7795. target = LOW;
  7796. break;
  7797. case -1:
  7798. target = !digitalRead(pin_number);
  7799. break;
  7800. }
  7801. while (digitalRead(pin_number) != target) idle();
  7802. } // pin_state -1 0 1 && pin_number > -1
  7803. } // parser.seen('P')
  7804. }
  7805. #if ENABLED(EXPERIMENTAL_I2CBUS)
  7806. /**
  7807. * M260: Send data to a I2C slave device
  7808. *
  7809. * This is a PoC, the formating and arguments for the GCODE will
  7810. * change to be more compatible, the current proposal is:
  7811. *
  7812. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  7813. *
  7814. * M260 B<byte-1 value in base 10>
  7815. * M260 B<byte-2 value in base 10>
  7816. * M260 B<byte-3 value in base 10>
  7817. *
  7818. * M260 S1 ; Send the buffered data and reset the buffer
  7819. * M260 R1 ; Reset the buffer without sending data
  7820. *
  7821. */
  7822. inline void gcode_M260() {
  7823. // Set the target address
  7824. if (parser.seen('A')) i2c.address(parser.value_byte());
  7825. // Add a new byte to the buffer
  7826. if (parser.seen('B')) i2c.addbyte(parser.value_byte());
  7827. // Flush the buffer to the bus
  7828. if (parser.seen('S')) i2c.send();
  7829. // Reset and rewind the buffer
  7830. else if (parser.seen('R')) i2c.reset();
  7831. }
  7832. /**
  7833. * M261: Request X bytes from I2C slave device
  7834. *
  7835. * Usage: M261 A<slave device address base 10> B<number of bytes>
  7836. */
  7837. inline void gcode_M261() {
  7838. if (parser.seen('A')) i2c.address(parser.value_byte());
  7839. uint8_t bytes = parser.byteval('B', 1);
  7840. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  7841. i2c.relay(bytes);
  7842. }
  7843. else {
  7844. SERIAL_ERROR_START();
  7845. SERIAL_ERRORLN("Bad i2c request");
  7846. }
  7847. }
  7848. #endif // EXPERIMENTAL_I2CBUS
  7849. #if HAS_SERVOS
  7850. /**
  7851. * M280: Get or set servo position. P<index> [S<angle>]
  7852. */
  7853. inline void gcode_M280() {
  7854. if (!parser.seen('P')) return;
  7855. const int servo_index = parser.value_int();
  7856. if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
  7857. if (parser.seen('S'))
  7858. MOVE_SERVO(servo_index, parser.value_int());
  7859. else {
  7860. SERIAL_ECHO_START();
  7861. SERIAL_ECHOPAIR(" Servo ", servo_index);
  7862. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  7863. }
  7864. }
  7865. else {
  7866. SERIAL_ERROR_START();
  7867. SERIAL_ECHOPAIR("Servo ", servo_index);
  7868. SERIAL_ECHOLNPGM(" out of range");
  7869. }
  7870. }
  7871. #endif // HAS_SERVOS
  7872. #if ENABLED(BABYSTEPPING)
  7873. /**
  7874. * M290: Babystepping
  7875. */
  7876. inline void gcode_M290() {
  7877. #if ENABLED(BABYSTEP_XY)
  7878. for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
  7879. if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
  7880. const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
  7881. thermalManager.babystep_axis((AxisEnum)a, offs * planner.axis_steps_per_mm[a]);
  7882. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7883. zprobe_zoffset += offs;
  7884. #endif
  7885. }
  7886. #else
  7887. if (parser.seenval('Z') || parser.seenval('S')) {
  7888. const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
  7889. thermalManager.babystep_axis(Z_AXIS, offs * planner.axis_steps_per_mm[Z_AXIS]);
  7890. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7891. zprobe_zoffset += offs;
  7892. #endif
  7893. }
  7894. #endif
  7895. }
  7896. #endif // BABYSTEPPING
  7897. #if HAS_BUZZER
  7898. /**
  7899. * M300: Play beep sound S<frequency Hz> P<duration ms>
  7900. */
  7901. inline void gcode_M300() {
  7902. uint16_t const frequency = parser.ushortval('S', 260);
  7903. uint16_t duration = parser.ushortval('P', 1000);
  7904. // Limits the tone duration to 0-5 seconds.
  7905. NOMORE(duration, 5000);
  7906. BUZZ(duration, frequency);
  7907. }
  7908. #endif // HAS_BUZZER
  7909. #if ENABLED(PIDTEMP)
  7910. /**
  7911. * M301: Set PID parameters P I D (and optionally C, L)
  7912. *
  7913. * P[float] Kp term
  7914. * I[float] Ki term (unscaled)
  7915. * D[float] Kd term (unscaled)
  7916. *
  7917. * With PID_EXTRUSION_SCALING:
  7918. *
  7919. * C[float] Kc term
  7920. * L[float] LPQ length
  7921. */
  7922. inline void gcode_M301() {
  7923. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  7924. // default behaviour (omitting E parameter) is to update for extruder 0 only
  7925. const uint8_t e = parser.byteval('E'); // extruder being updated
  7926. if (e < HOTENDS) { // catch bad input value
  7927. if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
  7928. if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
  7929. if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
  7930. #if ENABLED(PID_EXTRUSION_SCALING)
  7931. if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
  7932. if (parser.seen('L')) lpq_len = parser.value_float();
  7933. NOMORE(lpq_len, LPQ_MAX_LEN);
  7934. #endif
  7935. thermalManager.updatePID();
  7936. SERIAL_ECHO_START();
  7937. #if ENABLED(PID_PARAMS_PER_HOTEND)
  7938. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  7939. #endif // PID_PARAMS_PER_HOTEND
  7940. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  7941. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  7942. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  7943. #if ENABLED(PID_EXTRUSION_SCALING)
  7944. //Kc does not have scaling applied above, or in resetting defaults
  7945. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  7946. #endif
  7947. SERIAL_EOL();
  7948. }
  7949. else {
  7950. SERIAL_ERROR_START();
  7951. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  7952. }
  7953. }
  7954. #endif // PIDTEMP
  7955. #if ENABLED(PIDTEMPBED)
  7956. inline void gcode_M304() {
  7957. if (parser.seen('P')) thermalManager.bedKp = parser.value_float();
  7958. if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float());
  7959. if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float());
  7960. SERIAL_ECHO_START();
  7961. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  7962. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  7963. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  7964. }
  7965. #endif // PIDTEMPBED
  7966. #if defined(CHDK) || HAS_PHOTOGRAPH
  7967. /**
  7968. * M240: Trigger a camera by emulating a Canon RC-1
  7969. * See http://www.doc-diy.net/photo/rc-1_hacked/
  7970. */
  7971. inline void gcode_M240() {
  7972. #ifdef CHDK
  7973. OUT_WRITE(CHDK, HIGH);
  7974. chdkHigh = millis();
  7975. chdkActive = true;
  7976. #elif HAS_PHOTOGRAPH
  7977. const uint8_t NUM_PULSES = 16;
  7978. const float PULSE_LENGTH = 0.01524;
  7979. for (int i = 0; i < NUM_PULSES; i++) {
  7980. WRITE(PHOTOGRAPH_PIN, HIGH);
  7981. _delay_ms(PULSE_LENGTH);
  7982. WRITE(PHOTOGRAPH_PIN, LOW);
  7983. _delay_ms(PULSE_LENGTH);
  7984. }
  7985. delay(7.33);
  7986. for (int i = 0; i < NUM_PULSES; i++) {
  7987. WRITE(PHOTOGRAPH_PIN, HIGH);
  7988. _delay_ms(PULSE_LENGTH);
  7989. WRITE(PHOTOGRAPH_PIN, LOW);
  7990. _delay_ms(PULSE_LENGTH);
  7991. }
  7992. #endif // !CHDK && HAS_PHOTOGRAPH
  7993. }
  7994. #endif // CHDK || PHOTOGRAPH_PIN
  7995. #if HAS_LCD_CONTRAST
  7996. /**
  7997. * M250: Read and optionally set the LCD contrast
  7998. */
  7999. inline void gcode_M250() {
  8000. if (parser.seen('C')) set_lcd_contrast(parser.value_int());
  8001. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  8002. SERIAL_PROTOCOL(lcd_contrast);
  8003. SERIAL_EOL();
  8004. }
  8005. #endif // HAS_LCD_CONTRAST
  8006. #if ENABLED(PREVENT_COLD_EXTRUSION)
  8007. /**
  8008. * M302: Allow cold extrudes, or set the minimum extrude temperature
  8009. *
  8010. * S<temperature> sets the minimum extrude temperature
  8011. * P<bool> enables (1) or disables (0) cold extrusion
  8012. *
  8013. * Examples:
  8014. *
  8015. * M302 ; report current cold extrusion state
  8016. * M302 P0 ; enable cold extrusion checking
  8017. * M302 P1 ; disables cold extrusion checking
  8018. * M302 S0 ; always allow extrusion (disables checking)
  8019. * M302 S170 ; only allow extrusion above 170
  8020. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  8021. */
  8022. inline void gcode_M302() {
  8023. const bool seen_S = parser.seen('S');
  8024. if (seen_S) {
  8025. thermalManager.extrude_min_temp = parser.value_celsius();
  8026. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  8027. }
  8028. if (parser.seen('P'))
  8029. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool();
  8030. else if (!seen_S) {
  8031. // Report current state
  8032. SERIAL_ECHO_START();
  8033. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  8034. SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
  8035. SERIAL_ECHOLNPGM("C)");
  8036. }
  8037. }
  8038. #endif // PREVENT_COLD_EXTRUSION
  8039. /**
  8040. * M303: PID relay autotune
  8041. *
  8042. * S<temperature> sets the target temperature. (default 150C)
  8043. * E<extruder> (-1 for the bed) (default 0)
  8044. * C<cycles>
  8045. * U<bool> with a non-zero value will apply the result to current settings
  8046. */
  8047. inline void gcode_M303() {
  8048. #if HAS_PID_HEATING
  8049. const int e = parser.intval('E'), c = parser.intval('C', 5);
  8050. const bool u = parser.boolval('U');
  8051. int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
  8052. if (WITHIN(e, 0, HOTENDS - 1))
  8053. target_extruder = e;
  8054. #if DISABLED(BUSY_WHILE_HEATING)
  8055. KEEPALIVE_STATE(NOT_BUSY);
  8056. #endif
  8057. thermalManager.PID_autotune(temp, e, c, u);
  8058. #if DISABLED(BUSY_WHILE_HEATING)
  8059. KEEPALIVE_STATE(IN_HANDLER);
  8060. #endif
  8061. #else
  8062. SERIAL_ERROR_START();
  8063. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  8064. #endif
  8065. }
  8066. #if ENABLED(MORGAN_SCARA)
  8067. bool SCARA_move_to_cal(const uint8_t delta_a, const uint8_t delta_b) {
  8068. if (IsRunning()) {
  8069. forward_kinematics_SCARA(delta_a, delta_b);
  8070. destination[X_AXIS] = cartes[X_AXIS];
  8071. destination[Y_AXIS] = cartes[Y_AXIS];
  8072. destination[Z_AXIS] = current_position[Z_AXIS];
  8073. prepare_move_to_destination();
  8074. return true;
  8075. }
  8076. return false;
  8077. }
  8078. /**
  8079. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  8080. */
  8081. inline bool gcode_M360() {
  8082. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  8083. return SCARA_move_to_cal(0, 120);
  8084. }
  8085. /**
  8086. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  8087. */
  8088. inline bool gcode_M361() {
  8089. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  8090. return SCARA_move_to_cal(90, 130);
  8091. }
  8092. /**
  8093. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  8094. */
  8095. inline bool gcode_M362() {
  8096. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  8097. return SCARA_move_to_cal(60, 180);
  8098. }
  8099. /**
  8100. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  8101. */
  8102. inline bool gcode_M363() {
  8103. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  8104. return SCARA_move_to_cal(50, 90);
  8105. }
  8106. /**
  8107. * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
  8108. */
  8109. inline bool gcode_M364() {
  8110. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  8111. return SCARA_move_to_cal(45, 135);
  8112. }
  8113. #endif // SCARA
  8114. #if ENABLED(EXT_SOLENOID)
  8115. void enable_solenoid(const uint8_t num) {
  8116. switch (num) {
  8117. case 0:
  8118. OUT_WRITE(SOL0_PIN, HIGH);
  8119. break;
  8120. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  8121. case 1:
  8122. OUT_WRITE(SOL1_PIN, HIGH);
  8123. break;
  8124. #endif
  8125. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  8126. case 2:
  8127. OUT_WRITE(SOL2_PIN, HIGH);
  8128. break;
  8129. #endif
  8130. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  8131. case 3:
  8132. OUT_WRITE(SOL3_PIN, HIGH);
  8133. break;
  8134. #endif
  8135. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  8136. case 4:
  8137. OUT_WRITE(SOL4_PIN, HIGH);
  8138. break;
  8139. #endif
  8140. default:
  8141. SERIAL_ECHO_START();
  8142. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  8143. break;
  8144. }
  8145. }
  8146. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  8147. void disable_all_solenoids() {
  8148. OUT_WRITE(SOL0_PIN, LOW);
  8149. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  8150. OUT_WRITE(SOL1_PIN, LOW);
  8151. #endif
  8152. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  8153. OUT_WRITE(SOL2_PIN, LOW);
  8154. #endif
  8155. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  8156. OUT_WRITE(SOL3_PIN, LOW);
  8157. #endif
  8158. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  8159. OUT_WRITE(SOL4_PIN, LOW);
  8160. #endif
  8161. }
  8162. /**
  8163. * M380: Enable solenoid on the active extruder
  8164. */
  8165. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  8166. /**
  8167. * M381: Disable all solenoids
  8168. */
  8169. inline void gcode_M381() { disable_all_solenoids(); }
  8170. #endif // EXT_SOLENOID
  8171. /**
  8172. * M400: Finish all moves
  8173. */
  8174. inline void gcode_M400() { stepper.synchronize(); }
  8175. #if HAS_BED_PROBE
  8176. /**
  8177. * M401: Engage Z Servo endstop if available
  8178. */
  8179. inline void gcode_M401() { DEPLOY_PROBE(); }
  8180. /**
  8181. * M402: Retract Z Servo endstop if enabled
  8182. */
  8183. inline void gcode_M402() { STOW_PROBE(); }
  8184. #endif // HAS_BED_PROBE
  8185. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  8186. /**
  8187. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  8188. */
  8189. inline void gcode_M404() {
  8190. if (parser.seen('W')) {
  8191. filament_width_nominal = parser.value_linear_units();
  8192. planner.volumetric_area_nominal = CIRCLE_AREA(filament_width_nominal * 0.5);
  8193. }
  8194. else {
  8195. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  8196. SERIAL_PROTOCOLLN(filament_width_nominal);
  8197. }
  8198. }
  8199. /**
  8200. * M405: Turn on filament sensor for control
  8201. */
  8202. inline void gcode_M405() {
  8203. // This is technically a linear measurement, but since it's quantized to centimeters and is a different
  8204. // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units().
  8205. if (parser.seen('D')) {
  8206. meas_delay_cm = parser.value_byte();
  8207. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  8208. }
  8209. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  8210. const uint8_t temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
  8211. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  8212. measurement_delay[i] = temp_ratio;
  8213. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  8214. }
  8215. filament_sensor = true;
  8216. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  8217. //SERIAL_PROTOCOL(filament_width_meas);
  8218. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  8219. //SERIAL_PROTOCOL(planner.flow_percentage[active_extruder]);
  8220. }
  8221. /**
  8222. * M406: Turn off filament sensor for control
  8223. */
  8224. inline void gcode_M406() {
  8225. filament_sensor = false;
  8226. planner.calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value
  8227. }
  8228. /**
  8229. * M407: Get measured filament diameter on serial output
  8230. */
  8231. inline void gcode_M407() {
  8232. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  8233. SERIAL_PROTOCOLLN(filament_width_meas);
  8234. }
  8235. #endif // FILAMENT_WIDTH_SENSOR
  8236. void quickstop_stepper() {
  8237. stepper.quick_stop();
  8238. stepper.synchronize();
  8239. set_current_from_steppers_for_axis(ALL_AXES);
  8240. SYNC_PLAN_POSITION_KINEMATIC();
  8241. }
  8242. #if HAS_LEVELING
  8243. /**
  8244. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  8245. *
  8246. * S[bool] Turns leveling on or off
  8247. * Z[height] Sets the Z fade height (0 or none to disable)
  8248. * V[bool] Verbose - Print the leveling grid
  8249. *
  8250. * With AUTO_BED_LEVELING_UBL only:
  8251. *
  8252. * L[index] Load UBL mesh from index (0 is default)
  8253. */
  8254. inline void gcode_M420() {
  8255. #if ENABLED(AUTO_BED_LEVELING_UBL)
  8256. // L to load a mesh from the EEPROM
  8257. if (parser.seen('L')) {
  8258. #if ENABLED(EEPROM_SETTINGS)
  8259. const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
  8260. const int16_t a = settings.calc_num_meshes();
  8261. if (!a) {
  8262. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  8263. return;
  8264. }
  8265. if (!WITHIN(storage_slot, 0, a - 1)) {
  8266. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  8267. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  8268. return;
  8269. }
  8270. settings.load_mesh(storage_slot);
  8271. ubl.storage_slot = storage_slot;
  8272. #else
  8273. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  8274. return;
  8275. #endif
  8276. }
  8277. // L to load a mesh from the EEPROM
  8278. if (parser.seen('L') || parser.seen('V')) {
  8279. ubl.display_map(0); // Currently only supports one map type
  8280. SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
  8281. SERIAL_ECHOLNPAIR("ubl.storage_slot = ", ubl.storage_slot);
  8282. }
  8283. #endif // AUTO_BED_LEVELING_UBL
  8284. // V to print the matrix or mesh
  8285. if (parser.seen('V')) {
  8286. #if ABL_PLANAR
  8287. planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
  8288. #else
  8289. if (leveling_is_valid()) {
  8290. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8291. print_bilinear_leveling_grid();
  8292. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8293. print_bilinear_leveling_grid_virt();
  8294. #endif
  8295. #elif ENABLED(MESH_BED_LEVELING)
  8296. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  8297. mbl_mesh_report();
  8298. #endif
  8299. }
  8300. #endif
  8301. }
  8302. const bool to_enable = parser.boolval('S');
  8303. if (parser.seen('S'))
  8304. set_bed_leveling_enabled(to_enable);
  8305. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  8306. if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units());
  8307. #endif
  8308. const bool new_status = planner.leveling_active;
  8309. if (to_enable && !new_status) {
  8310. SERIAL_ERROR_START();
  8311. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  8312. }
  8313. SERIAL_ECHO_START();
  8314. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  8315. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  8316. SERIAL_ECHO_START();
  8317. SERIAL_ECHOPGM("Fade Height ");
  8318. if (planner.z_fade_height > 0.0)
  8319. SERIAL_ECHOLN(planner.z_fade_height);
  8320. else
  8321. SERIAL_ECHOLNPGM(MSG_OFF);
  8322. #endif
  8323. }
  8324. #endif
  8325. #if ENABLED(MESH_BED_LEVELING)
  8326. /**
  8327. * M421: Set a single Mesh Bed Leveling Z coordinate
  8328. *
  8329. * Usage:
  8330. * M421 X<linear> Y<linear> Z<linear>
  8331. * M421 X<linear> Y<linear> Q<offset>
  8332. * M421 I<xindex> J<yindex> Z<linear>
  8333. * M421 I<xindex> J<yindex> Q<offset>
  8334. */
  8335. inline void gcode_M421() {
  8336. const bool hasX = parser.seen('X'), hasI = parser.seen('I');
  8337. const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(parser.value_linear_units()) : -1;
  8338. const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
  8339. const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(parser.value_linear_units()) : -1;
  8340. const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
  8341. if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
  8342. SERIAL_ERROR_START();
  8343. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8344. }
  8345. else if (ix < 0 || iy < 0) {
  8346. SERIAL_ERROR_START();
  8347. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8348. }
  8349. else
  8350. mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
  8351. }
  8352. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8353. /**
  8354. * M421: Set a single Mesh Bed Leveling Z coordinate
  8355. *
  8356. * Usage:
  8357. * M421 I<xindex> J<yindex> Z<linear>
  8358. * M421 I<xindex> J<yindex> Q<offset>
  8359. */
  8360. inline void gcode_M421() {
  8361. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8362. const bool hasI = ix >= 0,
  8363. hasJ = iy >= 0,
  8364. hasZ = parser.seen('Z'),
  8365. hasQ = !hasZ && parser.seen('Q');
  8366. if (!hasI || !hasJ || !(hasZ || hasQ)) {
  8367. SERIAL_ERROR_START();
  8368. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8369. }
  8370. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8371. SERIAL_ERROR_START();
  8372. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8373. }
  8374. else {
  8375. z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
  8376. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8377. bed_level_virt_interpolate();
  8378. #endif
  8379. }
  8380. }
  8381. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  8382. /**
  8383. * M421: Set a single Mesh Bed Leveling Z coordinate
  8384. *
  8385. * Usage:
  8386. * M421 I<xindex> J<yindex> Z<linear>
  8387. * M421 I<xindex> J<yindex> Q<offset>
  8388. * M421 C Z<linear>
  8389. * M421 C Q<offset>
  8390. */
  8391. inline void gcode_M421() {
  8392. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8393. const bool hasI = ix >= 0,
  8394. hasJ = iy >= 0,
  8395. hasC = parser.seen('C'),
  8396. hasZ = parser.seen('Z'),
  8397. hasQ = !hasZ && parser.seen('Q');
  8398. if (hasC) {
  8399. const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL);
  8400. ix = location.x_index;
  8401. iy = location.y_index;
  8402. }
  8403. if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
  8404. SERIAL_ERROR_START();
  8405. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8406. }
  8407. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8408. SERIAL_ERROR_START();
  8409. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8410. }
  8411. else
  8412. ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
  8413. }
  8414. #endif // AUTO_BED_LEVELING_UBL
  8415. #if HAS_M206_COMMAND
  8416. /**
  8417. * M428: Set home_offset based on the distance between the
  8418. * current_position and the nearest "reference point."
  8419. * If an axis is past center its endstop position
  8420. * is the reference-point. Otherwise it uses 0. This allows
  8421. * the Z offset to be set near the bed when using a max endstop.
  8422. *
  8423. * M428 can't be used more than 2cm away from 0 or an endstop.
  8424. *
  8425. * Use M206 to set these values directly.
  8426. */
  8427. inline void gcode_M428() {
  8428. if (axis_unhomed_error()) return;
  8429. float diff[XYZ];
  8430. LOOP_XYZ(i) {
  8431. diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
  8432. if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
  8433. diff[i] = -current_position[i];
  8434. if (!WITHIN(diff[i], -20, 20)) {
  8435. SERIAL_ERROR_START();
  8436. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  8437. LCD_ALERTMESSAGEPGM("Err: Too far!");
  8438. BUZZ(200, 40);
  8439. return;
  8440. }
  8441. }
  8442. LOOP_XYZ(i) set_home_offset((AxisEnum)i, diff[i]);
  8443. report_current_position();
  8444. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  8445. BUZZ(100, 659);
  8446. BUZZ(100, 698);
  8447. }
  8448. #endif // HAS_M206_COMMAND
  8449. /**
  8450. * M500: Store settings in EEPROM
  8451. */
  8452. inline void gcode_M500() {
  8453. (void)settings.save();
  8454. }
  8455. /**
  8456. * M501: Read settings from EEPROM
  8457. */
  8458. inline void gcode_M501() {
  8459. (void)settings.load();
  8460. }
  8461. /**
  8462. * M502: Revert to default settings
  8463. */
  8464. inline void gcode_M502() {
  8465. (void)settings.reset();
  8466. }
  8467. #if DISABLED(DISABLE_M503)
  8468. /**
  8469. * M503: print settings currently in memory
  8470. */
  8471. inline void gcode_M503() {
  8472. (void)settings.report(parser.boolval('S'));
  8473. }
  8474. #endif
  8475. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  8476. /**
  8477. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  8478. */
  8479. inline void gcode_M540() {
  8480. if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool();
  8481. }
  8482. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  8483. #if HAS_BED_PROBE
  8484. inline void gcode_M851() {
  8485. SERIAL_ECHO_START();
  8486. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
  8487. if (parser.seen('Z')) {
  8488. const float value = parser.value_linear_units();
  8489. if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
  8490. zprobe_zoffset = value;
  8491. SERIAL_ECHO(zprobe_zoffset);
  8492. }
  8493. else
  8494. SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
  8495. }
  8496. else
  8497. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  8498. SERIAL_EOL();
  8499. }
  8500. #endif // HAS_BED_PROBE
  8501. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  8502. /**
  8503. * M600: Pause for filament change
  8504. *
  8505. * E[distance] - Retract the filament this far (negative value)
  8506. * Z[distance] - Move the Z axis by this distance
  8507. * X[position] - Move to this X position, with Y
  8508. * Y[position] - Move to this Y position, with X
  8509. * U[distance] - Retract distance for removal (negative value) (manual reload)
  8510. * L[distance] - Extrude distance for insertion (positive value) (manual reload)
  8511. * B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
  8512. *
  8513. * Default values are used for omitted arguments.
  8514. *
  8515. */
  8516. inline void gcode_M600() {
  8517. #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
  8518. // Don't allow filament change without homing first
  8519. if (axis_unhomed_error()) home_all_axes();
  8520. #endif
  8521. // Initial retract before move to filament change position
  8522. const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
  8523. #ifdef PAUSE_PARK_RETRACT_LENGTH
  8524. - (PAUSE_PARK_RETRACT_LENGTH)
  8525. #endif
  8526. ;
  8527. // Lift Z axis
  8528. const float z_lift = parser.linearval('Z', 0
  8529. #ifdef PAUSE_PARK_Z_ADD
  8530. + PAUSE_PARK_Z_ADD
  8531. #endif
  8532. );
  8533. // Move XY axes to filament exchange position
  8534. const float x_pos = parser.linearval('X', 0
  8535. #ifdef PAUSE_PARK_X_POS
  8536. + PAUSE_PARK_X_POS
  8537. #endif
  8538. );
  8539. const float y_pos = parser.linearval('Y', 0
  8540. #ifdef PAUSE_PARK_Y_POS
  8541. + PAUSE_PARK_Y_POS
  8542. #endif
  8543. );
  8544. // Unload filament
  8545. const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0
  8546. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  8547. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  8548. #endif
  8549. ;
  8550. // Load filament
  8551. const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  8552. #ifdef FILAMENT_CHANGE_LOAD_LENGTH
  8553. + FILAMENT_CHANGE_LOAD_LENGTH
  8554. #endif
  8555. ;
  8556. const int beep_count = parser.intval('B',
  8557. #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8558. FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8559. #else
  8560. -1
  8561. #endif
  8562. );
  8563. const bool job_running = print_job_timer.isRunning();
  8564. if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) {
  8565. wait_for_filament_reload(beep_count);
  8566. resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count);
  8567. }
  8568. // Resume the print job timer if it was running
  8569. if (job_running) print_job_timer.start();
  8570. }
  8571. #endif // ADVANCED_PAUSE_FEATURE
  8572. #if ENABLED(MK2_MULTIPLEXER)
  8573. inline void select_multiplexed_stepper(const uint8_t e) {
  8574. stepper.synchronize();
  8575. disable_e_steppers();
  8576. WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  8577. WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  8578. WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
  8579. safe_delay(100);
  8580. }
  8581. /**
  8582. * M702: Unload all extruders
  8583. */
  8584. inline void gcode_M702() {
  8585. for (uint8_t s = 0; s < E_STEPPERS; s++) {
  8586. select_multiplexed_stepper(e);
  8587. // TODO: standard unload filament function
  8588. // MK2 firmware behavior:
  8589. // - Make sure temperature is high enough
  8590. // - Raise Z to at least 15 to make room
  8591. // - Extrude 1cm of filament in 1 second
  8592. // - Under 230C quickly purge ~12mm, over 230C purge ~10mm
  8593. // - Change E max feedrate to 80, eject the filament from the tube. Sync.
  8594. // - Restore E max feedrate to 50
  8595. }
  8596. // Go back to the last active extruder
  8597. select_multiplexed_stepper(active_extruder);
  8598. disable_e_steppers();
  8599. }
  8600. #endif // MK2_MULTIPLEXER
  8601. #if ENABLED(DUAL_X_CARRIAGE)
  8602. /**
  8603. * M605: Set dual x-carriage movement mode
  8604. *
  8605. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  8606. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  8607. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  8608. * units x-offset and an optional differential hotend temperature of
  8609. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  8610. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  8611. *
  8612. * Note: the X axis should be homed after changing dual x-carriage mode.
  8613. */
  8614. inline void gcode_M605() {
  8615. stepper.synchronize();
  8616. if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
  8617. switch (dual_x_carriage_mode) {
  8618. case DXC_FULL_CONTROL_MODE:
  8619. case DXC_AUTO_PARK_MODE:
  8620. break;
  8621. case DXC_DUPLICATION_MODE:
  8622. if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0));
  8623. if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
  8624. SERIAL_ECHO_START();
  8625. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  8626. SERIAL_CHAR(' ');
  8627. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  8628. SERIAL_CHAR(',');
  8629. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  8630. SERIAL_CHAR(' ');
  8631. SERIAL_ECHO(duplicate_extruder_x_offset);
  8632. SERIAL_CHAR(',');
  8633. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  8634. break;
  8635. default:
  8636. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  8637. break;
  8638. }
  8639. active_extruder_parked = false;
  8640. extruder_duplication_enabled = false;
  8641. delayed_move_time = 0;
  8642. }
  8643. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  8644. inline void gcode_M605() {
  8645. stepper.synchronize();
  8646. extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
  8647. SERIAL_ECHO_START();
  8648. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  8649. }
  8650. #endif // DUAL_NOZZLE_DUPLICATION_MODE
  8651. #if ENABLED(LIN_ADVANCE)
  8652. /**
  8653. * M900: Set and/or Get advance K factor and WH/D ratio
  8654. *
  8655. * K<factor> Set advance K factor
  8656. * R<ratio> Set ratio directly (overrides WH/D)
  8657. * W<width> H<height> D<diam> Set ratio from WH/D
  8658. */
  8659. inline void gcode_M900() {
  8660. stepper.synchronize();
  8661. const float newK = parser.floatval('K', -1);
  8662. if (newK >= 0) planner.extruder_advance_k = newK;
  8663. float newR = parser.floatval('R', -1);
  8664. if (newR < 0) {
  8665. const float newD = parser.floatval('D', -1),
  8666. newW = parser.floatval('W', -1),
  8667. newH = parser.floatval('H', -1);
  8668. if (newD >= 0 && newW >= 0 && newH >= 0)
  8669. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  8670. }
  8671. if (newR >= 0) planner.advance_ed_ratio = newR;
  8672. SERIAL_ECHO_START();
  8673. SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
  8674. SERIAL_ECHOPGM(" E/D=");
  8675. const float ratio = planner.advance_ed_ratio;
  8676. if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
  8677. SERIAL_EOL();
  8678. }
  8679. #endif // LIN_ADVANCE
  8680. #if ENABLED(HAVE_TMC2130)
  8681. static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
  8682. SERIAL_CHAR(name);
  8683. SERIAL_ECHOPGM(" axis driver current: ");
  8684. SERIAL_ECHOLN(st.getCurrent());
  8685. }
  8686. static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
  8687. st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
  8688. tmc2130_get_current(st, name);
  8689. }
  8690. static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
  8691. SERIAL_CHAR(name);
  8692. SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
  8693. serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
  8694. SERIAL_EOL();
  8695. }
  8696. static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
  8697. st.clear_otpw();
  8698. SERIAL_CHAR(name);
  8699. SERIAL_ECHOLNPGM(" prewarn flag cleared");
  8700. }
  8701. #if ENABLED(HYBRID_THRESHOLD)
  8702. static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
  8703. SERIAL_CHAR(name);
  8704. SERIAL_ECHOPGM(" stealthChop max speed set to ");
  8705. SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
  8706. }
  8707. static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
  8708. st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
  8709. tmc2130_get_pwmthrs(st, name, spmm);
  8710. }
  8711. #endif
  8712. #if ENABLED(SENSORLESS_HOMING)
  8713. static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
  8714. SERIAL_CHAR(name);
  8715. SERIAL_ECHOPGM(" driver homing sensitivity set to ");
  8716. SERIAL_ECHOLN(st.sgt());
  8717. }
  8718. static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
  8719. st.sgt(sgt_val);
  8720. tmc2130_get_sgt(st, name);
  8721. }
  8722. #endif
  8723. /**
  8724. * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  8725. * Report driver currents when no axis specified
  8726. *
  8727. * S1: Enable automatic current control
  8728. * S0: Disable
  8729. */
  8730. inline void gcode_M906() {
  8731. uint16_t values[XYZE];
  8732. LOOP_XYZE(i)
  8733. values[i] = parser.intval(axis_codes[i]);
  8734. #if ENABLED(X_IS_TMC2130)
  8735. if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
  8736. else tmc2130_get_current(stepperX, 'X');
  8737. #endif
  8738. #if ENABLED(Y_IS_TMC2130)
  8739. if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
  8740. else tmc2130_get_current(stepperY, 'Y');
  8741. #endif
  8742. #if ENABLED(Z_IS_TMC2130)
  8743. if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
  8744. else tmc2130_get_current(stepperZ, 'Z');
  8745. #endif
  8746. #if ENABLED(E0_IS_TMC2130)
  8747. if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
  8748. else tmc2130_get_current(stepperE0, 'E');
  8749. #endif
  8750. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  8751. if (parser.seen('S')) auto_current_control = parser.value_bool();
  8752. #endif
  8753. }
  8754. /**
  8755. * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
  8756. * The flag is held by the library and persist until manually cleared by M912
  8757. */
  8758. inline void gcode_M911() {
  8759. const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
  8760. reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
  8761. #if ENABLED(X_IS_TMC2130)
  8762. if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
  8763. #endif
  8764. #if ENABLED(Y_IS_TMC2130)
  8765. if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
  8766. #endif
  8767. #if ENABLED(Z_IS_TMC2130)
  8768. if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
  8769. #endif
  8770. #if ENABLED(E0_IS_TMC2130)
  8771. if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
  8772. #endif
  8773. }
  8774. /**
  8775. * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
  8776. */
  8777. inline void gcode_M912() {
  8778. const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
  8779. clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
  8780. #if ENABLED(X_IS_TMC2130)
  8781. if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
  8782. #endif
  8783. #if ENABLED(Y_IS_TMC2130)
  8784. if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
  8785. #endif
  8786. #if ENABLED(Z_IS_TMC2130)
  8787. if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
  8788. #endif
  8789. #if ENABLED(E0_IS_TMC2130)
  8790. if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
  8791. #endif
  8792. }
  8793. /**
  8794. * M913: Set HYBRID_THRESHOLD speed.
  8795. */
  8796. #if ENABLED(HYBRID_THRESHOLD)
  8797. inline void gcode_M913() {
  8798. uint16_t values[XYZE];
  8799. LOOP_XYZE(i)
  8800. values[i] = parser.intval(axis_codes[i]);
  8801. #if ENABLED(X_IS_TMC2130)
  8802. if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
  8803. else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
  8804. #endif
  8805. #if ENABLED(Y_IS_TMC2130)
  8806. if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
  8807. else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
  8808. #endif
  8809. #if ENABLED(Z_IS_TMC2130)
  8810. if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
  8811. else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
  8812. #endif
  8813. #if ENABLED(E0_IS_TMC2130)
  8814. if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
  8815. else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
  8816. #endif
  8817. }
  8818. #endif // HYBRID_THRESHOLD
  8819. /**
  8820. * M914: Set SENSORLESS_HOMING sensitivity.
  8821. */
  8822. #if ENABLED(SENSORLESS_HOMING)
  8823. inline void gcode_M914() {
  8824. #if ENABLED(X_IS_TMC2130)
  8825. if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
  8826. else tmc2130_get_sgt(stepperX, 'X');
  8827. #endif
  8828. #if ENABLED(Y_IS_TMC2130)
  8829. if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
  8830. else tmc2130_get_sgt(stepperY, 'Y');
  8831. #endif
  8832. }
  8833. #endif // SENSORLESS_HOMING
  8834. #endif // HAVE_TMC2130
  8835. /**
  8836. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  8837. */
  8838. inline void gcode_M907() {
  8839. #if HAS_DIGIPOTSS
  8840. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
  8841. if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
  8842. if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
  8843. #elif HAS_MOTOR_CURRENT_PWM
  8844. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  8845. if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
  8846. #endif
  8847. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  8848. if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
  8849. #endif
  8850. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  8851. if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
  8852. #endif
  8853. #endif
  8854. #if ENABLED(DIGIPOT_I2C)
  8855. // this one uses actual amps in floating point
  8856. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
  8857. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  8858. for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
  8859. #endif
  8860. #if ENABLED(DAC_STEPPER_CURRENT)
  8861. if (parser.seen('S')) {
  8862. const float dac_percent = parser.value_float();
  8863. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  8864. }
  8865. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
  8866. #endif
  8867. }
  8868. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  8869. /**
  8870. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  8871. */
  8872. inline void gcode_M908() {
  8873. #if HAS_DIGIPOTSS
  8874. stepper.digitalPotWrite(
  8875. parser.intval('P'),
  8876. parser.intval('S')
  8877. );
  8878. #endif
  8879. #ifdef DAC_STEPPER_CURRENT
  8880. dac_current_raw(
  8881. parser.byteval('P', -1),
  8882. parser.ushortval('S', 0)
  8883. );
  8884. #endif
  8885. }
  8886. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  8887. inline void gcode_M909() { dac_print_values(); }
  8888. inline void gcode_M910() { dac_commit_eeprom(); }
  8889. #endif
  8890. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  8891. #if HAS_MICROSTEPS
  8892. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  8893. inline void gcode_M350() {
  8894. if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte());
  8895. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
  8896. if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
  8897. stepper.microstep_readings();
  8898. }
  8899. /**
  8900. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  8901. * S# determines MS1 or MS2, X# sets the pin high/low.
  8902. */
  8903. inline void gcode_M351() {
  8904. if (parser.seenval('S')) switch (parser.value_byte()) {
  8905. case 1:
  8906. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1);
  8907. if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1);
  8908. break;
  8909. case 2:
  8910. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte());
  8911. if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte());
  8912. break;
  8913. }
  8914. stepper.microstep_readings();
  8915. }
  8916. #endif // HAS_MICROSTEPS
  8917. #if HAS_CASE_LIGHT
  8918. #ifndef INVERT_CASE_LIGHT
  8919. #define INVERT_CASE_LIGHT false
  8920. #endif
  8921. uint8_t case_light_brightness; // LCD routine wants INT
  8922. bool case_light_on;
  8923. void update_case_light() {
  8924. pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
  8925. if (case_light_on) {
  8926. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN))
  8927. analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness);
  8928. else
  8929. WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH);
  8930. }
  8931. else {
  8932. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN))
  8933. analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 : 0);
  8934. else
  8935. WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW);
  8936. }
  8937. }
  8938. #endif // HAS_CASE_LIGHT
  8939. /**
  8940. * M355: Turn case light on/off and set brightness
  8941. *
  8942. * P<byte> Set case light brightness (PWM pin required - ignored otherwise)
  8943. *
  8944. * S<bool> Set case light on/off
  8945. *
  8946. * When S turns on the light on a PWM pin then the current brightness level is used/restored
  8947. *
  8948. * M355 P200 S0 turns off the light & sets the brightness level
  8949. * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
  8950. */
  8951. inline void gcode_M355() {
  8952. #if HAS_CASE_LIGHT
  8953. uint8_t args = 0;
  8954. if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
  8955. if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
  8956. if (args) update_case_light();
  8957. // always report case light status
  8958. SERIAL_ECHO_START();
  8959. if (!case_light_on) {
  8960. SERIAL_ECHOLN("Case light: off");
  8961. }
  8962. else {
  8963. if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on");
  8964. else SERIAL_ECHOLNPAIR("Case light: ", (int)case_light_brightness);
  8965. }
  8966. #else
  8967. SERIAL_ERROR_START();
  8968. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  8969. #endif // HAS_CASE_LIGHT
  8970. }
  8971. #if ENABLED(MIXING_EXTRUDER)
  8972. /**
  8973. * M163: Set a single mix factor for a mixing extruder
  8974. * This is called "weight" by some systems.
  8975. *
  8976. * S[index] The channel index to set
  8977. * P[float] The mix value
  8978. *
  8979. */
  8980. inline void gcode_M163() {
  8981. const int mix_index = parser.intval('S');
  8982. if (mix_index < MIXING_STEPPERS) {
  8983. float mix_value = parser.floatval('P');
  8984. NOLESS(mix_value, 0.0);
  8985. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  8986. }
  8987. }
  8988. #if MIXING_VIRTUAL_TOOLS > 1
  8989. /**
  8990. * M164: Store the current mix factors as a virtual tool.
  8991. *
  8992. * S[index] The virtual tool to store
  8993. *
  8994. */
  8995. inline void gcode_M164() {
  8996. const int tool_index = parser.intval('S');
  8997. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  8998. normalize_mix();
  8999. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  9000. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  9001. }
  9002. }
  9003. #endif
  9004. #if ENABLED(DIRECT_MIXING_IN_G1)
  9005. /**
  9006. * M165: Set multiple mix factors for a mixing extruder.
  9007. * Factors that are left out will be set to 0.
  9008. * All factors together must add up to 1.0.
  9009. *
  9010. * A[factor] Mix factor for extruder stepper 1
  9011. * B[factor] Mix factor for extruder stepper 2
  9012. * C[factor] Mix factor for extruder stepper 3
  9013. * D[factor] Mix factor for extruder stepper 4
  9014. * H[factor] Mix factor for extruder stepper 5
  9015. * I[factor] Mix factor for extruder stepper 6
  9016. *
  9017. */
  9018. inline void gcode_M165() { gcode_get_mix(); }
  9019. #endif
  9020. #endif // MIXING_EXTRUDER
  9021. /**
  9022. * M999: Restart after being stopped
  9023. *
  9024. * Default behaviour is to flush the serial buffer and request
  9025. * a resend to the host starting on the last N line received.
  9026. *
  9027. * Sending "M999 S1" will resume printing without flushing the
  9028. * existing command buffer.
  9029. *
  9030. */
  9031. inline void gcode_M999() {
  9032. Running = true;
  9033. lcd_reset_alert_level();
  9034. if (parser.boolval('S')) return;
  9035. // gcode_LastN = Stopped_gcode_LastN;
  9036. FlushSerialRequestResend();
  9037. }
  9038. #if ENABLED(SWITCHING_EXTRUDER)
  9039. #if EXTRUDERS > 3
  9040. #define REQ_ANGLES 4
  9041. #define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
  9042. #else
  9043. #define REQ_ANGLES 2
  9044. #define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
  9045. #endif
  9046. inline void move_extruder_servo(const uint8_t e) {
  9047. constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  9048. static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
  9049. stepper.synchronize();
  9050. #if EXTRUDERS & 1
  9051. if (e < EXTRUDERS - 1)
  9052. #endif
  9053. {
  9054. MOVE_SERVO(_SERVO_NR, angles[e]);
  9055. safe_delay(500);
  9056. }
  9057. }
  9058. #endif // SWITCHING_EXTRUDER
  9059. #if ENABLED(SWITCHING_NOZZLE)
  9060. inline void move_nozzle_servo(const uint8_t e) {
  9061. const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
  9062. stepper.synchronize();
  9063. MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
  9064. safe_delay(500);
  9065. }
  9066. #endif
  9067. inline void invalid_extruder_error(const uint8_t e) {
  9068. SERIAL_ECHO_START();
  9069. SERIAL_CHAR('T');
  9070. SERIAL_ECHO_F(e, DEC);
  9071. SERIAL_CHAR(' ');
  9072. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  9073. }
  9074. #if ENABLED(PARKING_EXTRUDER)
  9075. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9076. #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  9077. #else
  9078. #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  9079. #endif
  9080. void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
  9081. switch (extruder_num) {
  9082. case 1: OUT_WRITE(SOL1_PIN, state); break;
  9083. default: OUT_WRITE(SOL0_PIN, state); break;
  9084. }
  9085. #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
  9086. dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
  9087. #endif
  9088. }
  9089. inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); }
  9090. inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); }
  9091. #endif // PARKING_EXTRUDER
  9092. #if HAS_FANMUX
  9093. void fanmux_switch(const uint8_t e) {
  9094. WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  9095. #if PIN_EXISTS(FANMUX1)
  9096. WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  9097. #if PIN_EXISTS(FANMUX2)
  9098. WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
  9099. #endif
  9100. #endif
  9101. }
  9102. FORCE_INLINE void fanmux_init(void) {
  9103. SET_OUTPUT(FANMUX0_PIN);
  9104. #if PIN_EXISTS(FANMUX1)
  9105. SET_OUTPUT(FANMUX1_PIN);
  9106. #if PIN_EXISTS(FANMUX2)
  9107. SET_OUTPUT(FANMUX2_PIN);
  9108. #endif
  9109. #endif
  9110. fanmux_switch(0);
  9111. }
  9112. #endif // HAS_FANMUX
  9113. /**
  9114. * Perform a tool-change, which may result in moving the
  9115. * previous tool out of the way and the new tool into place.
  9116. */
  9117. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  9118. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  9119. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  9120. return invalid_extruder_error(tmp_extruder);
  9121. // T0-Tnnn: Switch virtual tool by changing the mix
  9122. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  9123. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  9124. #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  9125. if (tmp_extruder >= EXTRUDERS)
  9126. return invalid_extruder_error(tmp_extruder);
  9127. #if HOTENDS > 1
  9128. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  9129. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  9130. if (tmp_extruder != active_extruder) {
  9131. if (!no_move && axis_unhomed_error()) {
  9132. no_move = true;
  9133. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9134. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
  9135. #endif
  9136. }
  9137. // Save current position to destination, for use later
  9138. set_destination_from_current();
  9139. #if ENABLED(DUAL_X_CARRIAGE)
  9140. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9141. if (DEBUGGING(LEVELING)) {
  9142. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  9143. switch (dual_x_carriage_mode) {
  9144. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  9145. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  9146. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  9147. }
  9148. }
  9149. #endif
  9150. const float xhome = x_home_pos(active_extruder);
  9151. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  9152. && IsRunning()
  9153. && (delayed_move_time || current_position[X_AXIS] != xhome)
  9154. ) {
  9155. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  9156. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  9157. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  9158. #endif
  9159. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9160. if (DEBUGGING(LEVELING)) {
  9161. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  9162. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  9163. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  9164. }
  9165. #endif
  9166. // Park old head: 1) raise 2) move to park position 3) lower
  9167. for (uint8_t i = 0; i < 3; i++)
  9168. planner.buffer_line(
  9169. i == 0 ? current_position[X_AXIS] : xhome,
  9170. current_position[Y_AXIS],
  9171. i == 2 ? current_position[Z_AXIS] : raised_z,
  9172. current_position[E_AXIS],
  9173. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  9174. active_extruder
  9175. );
  9176. stepper.synchronize();
  9177. }
  9178. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  9179. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  9180. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  9181. // Activate the new extruder ahead of calling set_axis_is_at_home!
  9182. active_extruder = tmp_extruder;
  9183. // This function resets the max/min values - the current position may be overwritten below.
  9184. set_axis_is_at_home(X_AXIS);
  9185. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9186. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  9187. #endif
  9188. // Only when auto-parking are carriages safe to move
  9189. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  9190. switch (dual_x_carriage_mode) {
  9191. case DXC_FULL_CONTROL_MODE:
  9192. // New current position is the position of the activated extruder
  9193. current_position[X_AXIS] = inactive_extruder_x_pos;
  9194. // Save the inactive extruder's position (from the old current_position)
  9195. inactive_extruder_x_pos = destination[X_AXIS];
  9196. break;
  9197. case DXC_AUTO_PARK_MODE:
  9198. // record raised toolhead position for use by unpark
  9199. COPY(raised_parked_position, current_position);
  9200. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  9201. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  9202. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  9203. #endif
  9204. active_extruder_parked = true;
  9205. delayed_move_time = 0;
  9206. break;
  9207. case DXC_DUPLICATION_MODE:
  9208. // If the new extruder is the left one, set it "parked"
  9209. // This triggers the second extruder to move into the duplication position
  9210. active_extruder_parked = (active_extruder == 0);
  9211. if (active_extruder_parked)
  9212. current_position[X_AXIS] = inactive_extruder_x_pos;
  9213. else
  9214. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  9215. inactive_extruder_x_pos = destination[X_AXIS];
  9216. extruder_duplication_enabled = false;
  9217. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9218. if (DEBUGGING(LEVELING)) {
  9219. SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
  9220. SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
  9221. }
  9222. #endif
  9223. break;
  9224. }
  9225. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9226. if (DEBUGGING(LEVELING)) {
  9227. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  9228. DEBUG_POS("New extruder (parked)", current_position);
  9229. }
  9230. #endif
  9231. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  9232. #else // !DUAL_X_CARRIAGE
  9233. #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
  9234. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  9235. float z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
  9236. if (!no_move) {
  9237. const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
  9238. midpos = ((parkingposx[1] - parkingposx[0])/2) + parkingposx[0] + hotend_offset[X_AXIS][active_extruder],
  9239. grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
  9240. + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
  9241. /**
  9242. * Steps:
  9243. * 1. Raise Z-Axis to give enough clearance
  9244. * 2. Move to park position of old extruder
  9245. * 3. Disengage magnetic field, wait for delay
  9246. * 4. Move near new extruder
  9247. * 5. Engage magnetic field for new extruder
  9248. * 6. Move to parking incl. offset of new extruder
  9249. * 7. Lower Z-Axis
  9250. */
  9251. // STEP 1
  9252. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9253. SERIAL_ECHOLNPGM("Starting Autopark");
  9254. if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
  9255. #endif
  9256. current_position[Z_AXIS] += z_raise;
  9257. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9258. SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
  9259. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
  9260. #endif
  9261. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  9262. stepper.synchronize();
  9263. // STEP 2
  9264. current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
  9265. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9266. SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
  9267. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
  9268. #endif
  9269. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9270. stepper.synchronize();
  9271. // STEP 3
  9272. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9273. SERIAL_ECHOLNPGM("(3) Disengage magnet ");
  9274. #endif
  9275. pe_deactivate_magnet(active_extruder);
  9276. // STEP 4
  9277. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9278. SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
  9279. #endif
  9280. current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
  9281. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9282. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
  9283. #endif
  9284. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9285. stepper.synchronize();
  9286. // STEP 5
  9287. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9288. SERIAL_ECHOLNPGM("(5) Engage magnetic field");
  9289. #endif
  9290. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9291. pe_activate_magnet(active_extruder); //just save power for inverted magnets
  9292. #endif
  9293. pe_activate_magnet(tmp_extruder);
  9294. // STEP 6
  9295. current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
  9296. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9297. current_position[X_AXIS] = grabpos;
  9298. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9299. SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
  9300. if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
  9301. #endif
  9302. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
  9303. stepper.synchronize();
  9304. // Step 7
  9305. current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
  9306. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9307. SERIAL_ECHOLNPGM("(7) Move midway between hotends");
  9308. if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
  9309. #endif
  9310. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9311. stepper.synchronize();
  9312. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9313. SERIAL_ECHOLNPGM("Autopark done.");
  9314. #endif
  9315. }
  9316. else { // nomove == true
  9317. // Only engage magnetic field for new extruder
  9318. pe_activate_magnet(tmp_extruder);
  9319. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9320. pe_activate_magnet(active_extruder); // Just save power for inverted magnets
  9321. #endif
  9322. }
  9323. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
  9324. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9325. if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
  9326. #endif
  9327. #endif // dualParking extruder
  9328. #if ENABLED(SWITCHING_NOZZLE)
  9329. #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
  9330. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  9331. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  9332. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  9333. // Always raise by some amount (destination copied from current_position earlier)
  9334. current_position[Z_AXIS] += z_raise;
  9335. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  9336. move_nozzle_servo(tmp_extruder);
  9337. #endif
  9338. /**
  9339. * Set current_position to the position of the new nozzle.
  9340. * Offsets are based on linear distance, so we need to get
  9341. * the resulting position in coordinate space.
  9342. *
  9343. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  9344. * - With mesh leveling, update Z for the new position
  9345. * - Otherwise, just use the raw linear distance
  9346. *
  9347. * Software endstops are altered here too. Consider a case where:
  9348. * E0 at X=0 ... E1 at X=10
  9349. * When we switch to E1 now X=10, but E1 can't move left.
  9350. * To express this we apply the change in XY to the software endstops.
  9351. * E1 can move farther right than E0, so the right limit is extended.
  9352. *
  9353. * Note that we don't adjust the Z software endstops. Why not?
  9354. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  9355. * because the bed is 1mm lower at the new position. As long as
  9356. * the first nozzle is out of the way, the carriage should be
  9357. * allowed to move 1mm lower. This technically "breaks" the
  9358. * Z software endstop. But this is technically correct (and
  9359. * there is no viable alternative).
  9360. */
  9361. #if ABL_PLANAR
  9362. // Offset extruder, make sure to apply the bed level rotation matrix
  9363. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  9364. hotend_offset[Y_AXIS][tmp_extruder],
  9365. 0),
  9366. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  9367. hotend_offset[Y_AXIS][active_extruder],
  9368. 0),
  9369. offset_vec = tmp_offset_vec - act_offset_vec;
  9370. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9371. if (DEBUGGING(LEVELING)) {
  9372. tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
  9373. act_offset_vec.debug(PSTR("act_offset_vec"));
  9374. offset_vec.debug(PSTR("offset_vec (BEFORE)"));
  9375. }
  9376. #endif
  9377. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  9378. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9379. if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
  9380. #endif
  9381. // Adjustments to the current position
  9382. const float xydiff[2] = { offset_vec.x, offset_vec.y };
  9383. current_position[Z_AXIS] += offset_vec.z;
  9384. #else // !ABL_PLANAR
  9385. const float xydiff[2] = {
  9386. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  9387. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  9388. };
  9389. #if ENABLED(MESH_BED_LEVELING)
  9390. if (planner.leveling_active) {
  9391. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9392. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  9393. #endif
  9394. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  9395. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  9396. z1 = current_position[Z_AXIS], z2 = z1;
  9397. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  9398. planner.apply_leveling(x2, y2, z2);
  9399. current_position[Z_AXIS] += z2 - z1;
  9400. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9401. if (DEBUGGING(LEVELING))
  9402. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  9403. #endif
  9404. }
  9405. #endif // MESH_BED_LEVELING
  9406. #endif // !HAS_ABL
  9407. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9408. if (DEBUGGING(LEVELING)) {
  9409. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  9410. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  9411. SERIAL_ECHOLNPGM(" }");
  9412. }
  9413. #endif
  9414. // The newly-selected extruder XY is actually at...
  9415. current_position[X_AXIS] += xydiff[X_AXIS];
  9416. current_position[Y_AXIS] += xydiff[Y_AXIS];
  9417. // Set the new active extruder
  9418. active_extruder = tmp_extruder;
  9419. #endif // !DUAL_X_CARRIAGE
  9420. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9421. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  9422. #endif
  9423. // Tell the planner the new "current position"
  9424. SYNC_PLAN_POSITION_KINEMATIC();
  9425. // Move to the "old position" (move the extruder into place)
  9426. #if ENABLED(SWITCHING_NOZZLE)
  9427. destination[Z_AXIS] += z_diff; // Include the Z restore with the "move back"
  9428. #endif
  9429. if (!no_move && IsRunning()) {
  9430. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9431. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  9432. #endif
  9433. // Move back to the original (or tweaked) position
  9434. do_blocking_move_to(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS]);
  9435. }
  9436. #if ENABLED(SWITCHING_NOZZLE)
  9437. else {
  9438. // Move back down. (Including when the new tool is higher.)
  9439. do_blocking_move_to_z(destination[Z_AXIS], planner.max_feedrate_mm_s[Z_AXIS]);
  9440. }
  9441. #endif
  9442. } // (tmp_extruder != active_extruder)
  9443. stepper.synchronize();
  9444. #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
  9445. disable_all_solenoids();
  9446. enable_solenoid_on_active_extruder();
  9447. #endif // EXT_SOLENOID
  9448. feedrate_mm_s = old_feedrate_mm_s;
  9449. #else // HOTENDS <= 1
  9450. UNUSED(fr_mm_s);
  9451. UNUSED(no_move);
  9452. #if ENABLED(MK2_MULTIPLEXER)
  9453. if (tmp_extruder >= E_STEPPERS)
  9454. return invalid_extruder_error(tmp_extruder);
  9455. select_multiplexed_stepper(tmp_extruder);
  9456. #endif
  9457. // Set the new active extruder
  9458. active_extruder = tmp_extruder;
  9459. #endif // HOTENDS <= 1
  9460. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  9461. stepper.synchronize();
  9462. move_extruder_servo(active_extruder);
  9463. #endif
  9464. #if HAS_FANMUX
  9465. fanmux_switch(active_extruder);
  9466. #endif
  9467. SERIAL_ECHO_START();
  9468. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  9469. #endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  9470. }
  9471. /**
  9472. * T0-T3: Switch tool, usually switching extruders
  9473. *
  9474. * F[units/min] Set the movement feedrate
  9475. * S1 Don't move the tool in XY after change
  9476. */
  9477. inline void gcode_T(const uint8_t tmp_extruder) {
  9478. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9479. if (DEBUGGING(LEVELING)) {
  9480. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  9481. SERIAL_CHAR(')');
  9482. SERIAL_EOL();
  9483. DEBUG_POS("BEFORE", current_position);
  9484. }
  9485. #endif
  9486. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  9487. tool_change(tmp_extruder);
  9488. #elif HOTENDS > 1
  9489. tool_change(
  9490. tmp_extruder,
  9491. MMM_TO_MMS(parser.linearval('F')),
  9492. (tmp_extruder == active_extruder) || parser.boolval('S')
  9493. );
  9494. #endif
  9495. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9496. if (DEBUGGING(LEVELING)) {
  9497. DEBUG_POS("AFTER", current_position);
  9498. SERIAL_ECHOLNPGM("<<< gcode_T");
  9499. }
  9500. #endif
  9501. }
  9502. /**
  9503. * Process the parsed command and dispatch it to its handler
  9504. */
  9505. void process_parsed_command() {
  9506. KEEPALIVE_STATE(IN_HANDLER);
  9507. // Handle a known G, M, or T
  9508. switch (parser.command_letter) {
  9509. case 'G': switch (parser.codenum) {
  9510. // G0, G1
  9511. case 0:
  9512. case 1:
  9513. #if IS_SCARA
  9514. gcode_G0_G1(parser.codenum == 0);
  9515. #else
  9516. gcode_G0_G1();
  9517. #endif
  9518. break;
  9519. // G2, G3
  9520. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  9521. case 2: // G2: CW ARC
  9522. case 3: // G3: CCW ARC
  9523. gcode_G2_G3(parser.codenum == 2);
  9524. break;
  9525. #endif
  9526. // G4 Dwell
  9527. case 4:
  9528. gcode_G4();
  9529. break;
  9530. #if ENABLED(BEZIER_CURVE_SUPPORT)
  9531. case 5: // G5: Cubic B_spline
  9532. gcode_G5();
  9533. break;
  9534. #endif // BEZIER_CURVE_SUPPORT
  9535. #if ENABLED(FWRETRACT)
  9536. case 10: // G10: retract
  9537. gcode_G10();
  9538. break;
  9539. case 11: // G11: retract_recover
  9540. gcode_G11();
  9541. break;
  9542. #endif // FWRETRACT
  9543. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  9544. case 12:
  9545. gcode_G12(); // G12: Nozzle Clean
  9546. break;
  9547. #endif // NOZZLE_CLEAN_FEATURE
  9548. #if ENABLED(CNC_WORKSPACE_PLANES)
  9549. case 17: // G17: Select Plane XY
  9550. gcode_G17();
  9551. break;
  9552. case 18: // G18: Select Plane ZX
  9553. gcode_G18();
  9554. break;
  9555. case 19: // G19: Select Plane YZ
  9556. gcode_G19();
  9557. break;
  9558. #endif // CNC_WORKSPACE_PLANES
  9559. #if ENABLED(INCH_MODE_SUPPORT)
  9560. case 20: // G20: Inch Mode
  9561. gcode_G20();
  9562. break;
  9563. case 21: // G21: MM Mode
  9564. gcode_G21();
  9565. break;
  9566. #endif // INCH_MODE_SUPPORT
  9567. #if ENABLED(G26_MESH_VALIDATION)
  9568. case 26: // G26: Mesh Validation Pattern generation
  9569. gcode_G26();
  9570. break;
  9571. #endif // G26_MESH_VALIDATION
  9572. #if ENABLED(NOZZLE_PARK_FEATURE)
  9573. case 27: // G27: Nozzle Park
  9574. gcode_G27();
  9575. break;
  9576. #endif // NOZZLE_PARK_FEATURE
  9577. case 28: // G28: Home all axes, one at a time
  9578. gcode_G28(false);
  9579. break;
  9580. #if HAS_LEVELING
  9581. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
  9582. // or provides access to the UBL System if enabled.
  9583. gcode_G29();
  9584. break;
  9585. #endif // HAS_LEVELING
  9586. #if HAS_BED_PROBE
  9587. case 30: // G30 Single Z probe
  9588. gcode_G30();
  9589. break;
  9590. #if ENABLED(Z_PROBE_SLED)
  9591. case 31: // G31: dock the sled
  9592. gcode_G31();
  9593. break;
  9594. case 32: // G32: undock the sled
  9595. gcode_G32();
  9596. break;
  9597. #endif // Z_PROBE_SLED
  9598. #endif // HAS_BED_PROBE
  9599. #if ENABLED(DELTA_AUTO_CALIBRATION)
  9600. case 33: // G33: Delta Auto-Calibration
  9601. gcode_G33();
  9602. break;
  9603. #endif // DELTA_AUTO_CALIBRATION
  9604. #if ENABLED(G38_PROBE_TARGET)
  9605. case 38: // G38.2 & G38.3
  9606. if (parser.subcode == 2 || parser.subcode == 3)
  9607. gcode_G38(parser.subcode == 2);
  9608. break;
  9609. #endif
  9610. case 90: // G90
  9611. relative_mode = false;
  9612. break;
  9613. case 91: // G91
  9614. relative_mode = true;
  9615. break;
  9616. case 92: // G92
  9617. gcode_G92();
  9618. break;
  9619. #if HAS_MESH
  9620. case 42:
  9621. gcode_G42();
  9622. break;
  9623. #endif
  9624. #if ENABLED(DEBUG_GCODE_PARSER)
  9625. case 800:
  9626. parser.debug(); // GCode Parser Test for G
  9627. break;
  9628. #endif
  9629. }
  9630. break;
  9631. case 'M': switch (parser.codenum) {
  9632. #if HAS_RESUME_CONTINUE
  9633. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  9634. case 1: // M1: Conditional stop - Wait for user button press on LCD
  9635. gcode_M0_M1();
  9636. break;
  9637. #endif // ULTIPANEL
  9638. #if ENABLED(SPINDLE_LASER_ENABLE)
  9639. case 3:
  9640. gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
  9641. break; // synchronizes with movement commands
  9642. case 4:
  9643. gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
  9644. break; // synchronizes with movement commands
  9645. case 5:
  9646. gcode_M5(); // M5 - turn spindle/laser off
  9647. break; // synchronizes with movement commands
  9648. #endif
  9649. case 17: // M17: Enable all stepper motors
  9650. gcode_M17();
  9651. break;
  9652. #if ENABLED(SDSUPPORT)
  9653. case 20: // M20: list SD card
  9654. gcode_M20(); break;
  9655. case 21: // M21: init SD card
  9656. gcode_M21(); break;
  9657. case 22: // M22: release SD card
  9658. gcode_M22(); break;
  9659. case 23: // M23: Select file
  9660. gcode_M23(); break;
  9661. case 24: // M24: Start SD print
  9662. gcode_M24(); break;
  9663. case 25: // M25: Pause SD print
  9664. gcode_M25(); break;
  9665. case 26: // M26: Set SD index
  9666. gcode_M26(); break;
  9667. case 27: // M27: Get SD status
  9668. gcode_M27(); break;
  9669. case 28: // M28: Start SD write
  9670. gcode_M28(); break;
  9671. case 29: // M29: Stop SD write
  9672. gcode_M29(); break;
  9673. case 30: // M30 <filename> Delete File
  9674. gcode_M30(); break;
  9675. case 32: // M32: Select file and start SD print
  9676. gcode_M32(); break;
  9677. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  9678. case 33: // M33: Get the long full path to a file or folder
  9679. gcode_M33(); break;
  9680. #endif
  9681. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  9682. case 34: // M34: Set SD card sorting options
  9683. gcode_M34(); break;
  9684. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  9685. case 928: // M928: Start SD write
  9686. gcode_M928(); break;
  9687. #endif // SDSUPPORT
  9688. case 31: // M31: Report time since the start of SD print or last M109
  9689. gcode_M31(); break;
  9690. case 42: // M42: Change pin state
  9691. gcode_M42(); break;
  9692. #if ENABLED(PINS_DEBUGGING)
  9693. case 43: // M43: Read pin state
  9694. gcode_M43(); break;
  9695. #endif
  9696. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  9697. case 48: // M48: Z probe repeatability test
  9698. gcode_M48();
  9699. break;
  9700. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  9701. #if ENABLED(G26_MESH_VALIDATION)
  9702. case 49: // M49: Turn on or off G26 debug flag for verbose output
  9703. gcode_M49();
  9704. break;
  9705. #endif // G26_MESH_VALIDATION
  9706. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  9707. case 73: // M73: Set print progress percentage
  9708. gcode_M73(); break;
  9709. #endif
  9710. case 75: // M75: Start print timer
  9711. gcode_M75(); break;
  9712. case 76: // M76: Pause print timer
  9713. gcode_M76(); break;
  9714. case 77: // M77: Stop print timer
  9715. gcode_M77(); break;
  9716. #if ENABLED(PRINTCOUNTER)
  9717. case 78: // M78: Show print statistics
  9718. gcode_M78(); break;
  9719. #endif
  9720. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  9721. case 100: // M100: Free Memory Report
  9722. gcode_M100();
  9723. break;
  9724. #endif
  9725. case 104: // M104: Set hot end temperature
  9726. gcode_M104();
  9727. break;
  9728. case 110: // M110: Set Current Line Number
  9729. gcode_M110();
  9730. break;
  9731. case 111: // M111: Set debug level
  9732. gcode_M111();
  9733. break;
  9734. #if DISABLED(EMERGENCY_PARSER)
  9735. case 108: // M108: Cancel Waiting
  9736. gcode_M108();
  9737. break;
  9738. case 112: // M112: Emergency Stop
  9739. gcode_M112();
  9740. break;
  9741. case 410: // M410 quickstop - Abort all the planned moves.
  9742. gcode_M410();
  9743. break;
  9744. #endif
  9745. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  9746. case 113: // M113: Set Host Keepalive interval
  9747. gcode_M113();
  9748. break;
  9749. #endif
  9750. case 140: // M140: Set bed temperature
  9751. gcode_M140();
  9752. break;
  9753. case 105: // M105: Report current temperature
  9754. gcode_M105();
  9755. KEEPALIVE_STATE(NOT_BUSY);
  9756. return; // "ok" already printed
  9757. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  9758. case 155: // M155: Set temperature auto-report interval
  9759. gcode_M155();
  9760. break;
  9761. #endif
  9762. case 109: // M109: Wait for hotend temperature to reach target
  9763. gcode_M109();
  9764. break;
  9765. #if HAS_TEMP_BED
  9766. case 190: // M190: Wait for bed temperature to reach target
  9767. gcode_M190();
  9768. break;
  9769. #endif // HAS_TEMP_BED
  9770. #if FAN_COUNT > 0
  9771. case 106: // M106: Fan On
  9772. gcode_M106();
  9773. break;
  9774. case 107: // M107: Fan Off
  9775. gcode_M107();
  9776. break;
  9777. #endif // FAN_COUNT > 0
  9778. #if ENABLED(PARK_HEAD_ON_PAUSE)
  9779. case 125: // M125: Store current position and move to filament change position
  9780. gcode_M125(); break;
  9781. #endif
  9782. #if ENABLED(BARICUDA)
  9783. // PWM for HEATER_1_PIN
  9784. #if HAS_HEATER_1
  9785. case 126: // M126: valve open
  9786. gcode_M126();
  9787. break;
  9788. case 127: // M127: valve closed
  9789. gcode_M127();
  9790. break;
  9791. #endif // HAS_HEATER_1
  9792. // PWM for HEATER_2_PIN
  9793. #if HAS_HEATER_2
  9794. case 128: // M128: valve open
  9795. gcode_M128();
  9796. break;
  9797. case 129: // M129: valve closed
  9798. gcode_M129();
  9799. break;
  9800. #endif // HAS_HEATER_2
  9801. #endif // BARICUDA
  9802. #if HAS_POWER_SWITCH
  9803. case 80: // M80: Turn on Power Supply
  9804. gcode_M80();
  9805. break;
  9806. #endif // HAS_POWER_SWITCH
  9807. case 81: // M81: Turn off Power, including Power Supply, if possible
  9808. gcode_M81();
  9809. break;
  9810. case 82: // M82: Set E axis normal mode (same as other axes)
  9811. gcode_M82();
  9812. break;
  9813. case 83: // M83: Set E axis relative mode
  9814. gcode_M83();
  9815. break;
  9816. case 18: // M18 => M84
  9817. case 84: // M84: Disable all steppers or set timeout
  9818. gcode_M18_M84();
  9819. break;
  9820. case 85: // M85: Set inactivity stepper shutdown timeout
  9821. gcode_M85();
  9822. break;
  9823. case 92: // M92: Set the steps-per-unit for one or more axes
  9824. gcode_M92();
  9825. break;
  9826. case 114: // M114: Report current position
  9827. gcode_M114();
  9828. break;
  9829. case 115: // M115: Report capabilities
  9830. gcode_M115();
  9831. break;
  9832. case 117: // M117: Set LCD message text, if possible
  9833. gcode_M117();
  9834. break;
  9835. case 118: // M118: Display a message in the host console
  9836. gcode_M118();
  9837. break;
  9838. case 119: // M119: Report endstop states
  9839. gcode_M119();
  9840. break;
  9841. case 120: // M120: Enable endstops
  9842. gcode_M120();
  9843. break;
  9844. case 121: // M121: Disable endstops
  9845. gcode_M121();
  9846. break;
  9847. #if ENABLED(ULTIPANEL)
  9848. case 145: // M145: Set material heatup parameters
  9849. gcode_M145();
  9850. break;
  9851. #endif
  9852. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  9853. case 149: // M149: Set temperature units
  9854. gcode_M149();
  9855. break;
  9856. #endif
  9857. #if HAS_COLOR_LEDS
  9858. case 150: // M150: Set Status LED Color
  9859. gcode_M150();
  9860. break;
  9861. #endif // HAS_COLOR_LEDS
  9862. #if ENABLED(MIXING_EXTRUDER)
  9863. case 163: // M163: Set a component weight for mixing extruder
  9864. gcode_M163();
  9865. break;
  9866. #if MIXING_VIRTUAL_TOOLS > 1
  9867. case 164: // M164: Save current mix as a virtual extruder
  9868. gcode_M164();
  9869. break;
  9870. #endif
  9871. #if ENABLED(DIRECT_MIXING_IN_G1)
  9872. case 165: // M165: Set multiple mix weights
  9873. gcode_M165();
  9874. break;
  9875. #endif
  9876. #endif
  9877. case 200: // M200: Set filament diameter, E to cubic units
  9878. gcode_M200();
  9879. break;
  9880. case 201: // M201: Set max acceleration for print moves (units/s^2)
  9881. gcode_M201();
  9882. break;
  9883. #if 0 // Not used for Sprinter/grbl gen6
  9884. case 202: // M202
  9885. gcode_M202();
  9886. break;
  9887. #endif
  9888. case 203: // M203: Set max feedrate (units/sec)
  9889. gcode_M203();
  9890. break;
  9891. case 204: // M204: Set acceleration
  9892. gcode_M204();
  9893. break;
  9894. case 205: // M205: Set advanced settings
  9895. gcode_M205();
  9896. break;
  9897. #if HAS_M206_COMMAND
  9898. case 206: // M206: Set home offsets
  9899. gcode_M206();
  9900. break;
  9901. #endif
  9902. #if ENABLED(DELTA)
  9903. case 665: // M665: Set delta configurations
  9904. gcode_M665();
  9905. break;
  9906. #endif
  9907. #if ENABLED(DELTA) || ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
  9908. case 666: // M666: Set delta or dual endstop adjustment
  9909. gcode_M666();
  9910. break;
  9911. #endif
  9912. #if ENABLED(FWRETRACT)
  9913. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  9914. gcode_M207();
  9915. break;
  9916. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  9917. gcode_M208();
  9918. break;
  9919. case 209: // M209: Turn Automatic Retract Detection on/off
  9920. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209();
  9921. break;
  9922. #endif // FWRETRACT
  9923. case 211: // M211: Enable, Disable, and/or Report software endstops
  9924. gcode_M211();
  9925. break;
  9926. #if HOTENDS > 1
  9927. case 218: // M218: Set a tool offset
  9928. gcode_M218();
  9929. break;
  9930. #endif // HOTENDS > 1
  9931. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  9932. gcode_M220();
  9933. break;
  9934. case 221: // M221: Set Flow Percentage
  9935. gcode_M221();
  9936. break;
  9937. case 226: // M226: Wait until a pin reaches a state
  9938. gcode_M226();
  9939. break;
  9940. #if HAS_SERVOS
  9941. case 280: // M280: Set servo position absolute
  9942. gcode_M280();
  9943. break;
  9944. #endif // HAS_SERVOS
  9945. #if ENABLED(BABYSTEPPING)
  9946. case 290: // M290: Babystepping
  9947. gcode_M290();
  9948. break;
  9949. #endif // BABYSTEPPING
  9950. #if HAS_BUZZER
  9951. case 300: // M300: Play beep tone
  9952. gcode_M300();
  9953. break;
  9954. #endif // HAS_BUZZER
  9955. #if ENABLED(PIDTEMP)
  9956. case 301: // M301: Set hotend PID parameters
  9957. gcode_M301();
  9958. break;
  9959. #endif // PIDTEMP
  9960. #if ENABLED(PIDTEMPBED)
  9961. case 304: // M304: Set bed PID parameters
  9962. gcode_M304();
  9963. break;
  9964. #endif // PIDTEMPBED
  9965. #if defined(CHDK) || HAS_PHOTOGRAPH
  9966. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  9967. gcode_M240();
  9968. break;
  9969. #endif // CHDK || PHOTOGRAPH_PIN
  9970. #if HAS_LCD_CONTRAST
  9971. case 250: // M250: Set LCD contrast
  9972. gcode_M250();
  9973. break;
  9974. #endif // HAS_LCD_CONTRAST
  9975. #if ENABLED(EXPERIMENTAL_I2CBUS)
  9976. case 260: // M260: Send data to an i2c slave
  9977. gcode_M260();
  9978. break;
  9979. case 261: // M261: Request data from an i2c slave
  9980. gcode_M261();
  9981. break;
  9982. #endif // EXPERIMENTAL_I2CBUS
  9983. #if ENABLED(PREVENT_COLD_EXTRUSION)
  9984. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  9985. gcode_M302();
  9986. break;
  9987. #endif // PREVENT_COLD_EXTRUSION
  9988. case 303: // M303: PID autotune
  9989. gcode_M303();
  9990. break;
  9991. #if ENABLED(MORGAN_SCARA)
  9992. case 360: // M360: SCARA Theta pos1
  9993. if (gcode_M360()) return;
  9994. break;
  9995. case 361: // M361: SCARA Theta pos2
  9996. if (gcode_M361()) return;
  9997. break;
  9998. case 362: // M362: SCARA Psi pos1
  9999. if (gcode_M362()) return;
  10000. break;
  10001. case 363: // M363: SCARA Psi pos2
  10002. if (gcode_M363()) return;
  10003. break;
  10004. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  10005. if (gcode_M364()) return;
  10006. break;
  10007. #endif // SCARA
  10008. case 400: // M400: Finish all moves
  10009. gcode_M400();
  10010. break;
  10011. #if HAS_BED_PROBE
  10012. case 401: // M401: Deploy probe
  10013. gcode_M401();
  10014. break;
  10015. case 402: // M402: Stow probe
  10016. gcode_M402();
  10017. break;
  10018. #endif // HAS_BED_PROBE
  10019. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  10020. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  10021. gcode_M404();
  10022. break;
  10023. case 405: // M405: Turn on filament sensor for control
  10024. gcode_M405();
  10025. break;
  10026. case 406: // M406: Turn off filament sensor for control
  10027. gcode_M406();
  10028. break;
  10029. case 407: // M407: Display measured filament diameter
  10030. gcode_M407();
  10031. break;
  10032. #endif // FILAMENT_WIDTH_SENSOR
  10033. #if HAS_LEVELING
  10034. case 420: // M420: Enable/Disable Bed Leveling
  10035. gcode_M420();
  10036. break;
  10037. #endif
  10038. #if HAS_MESH
  10039. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  10040. gcode_M421();
  10041. break;
  10042. #endif
  10043. #if HAS_M206_COMMAND
  10044. case 428: // M428: Apply current_position to home_offset
  10045. gcode_M428();
  10046. break;
  10047. #endif
  10048. case 500: // M500: Store settings in EEPROM
  10049. gcode_M500();
  10050. break;
  10051. case 501: // M501: Read settings from EEPROM
  10052. gcode_M501();
  10053. break;
  10054. case 502: // M502: Revert to default settings
  10055. gcode_M502();
  10056. break;
  10057. #if DISABLED(DISABLE_M503)
  10058. case 503: // M503: print settings currently in memory
  10059. gcode_M503();
  10060. break;
  10061. #endif
  10062. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  10063. case 540: // M540: Set abort on endstop hit for SD printing
  10064. gcode_M540();
  10065. break;
  10066. #endif
  10067. #if HAS_BED_PROBE
  10068. case 851: // M851: Set Z Probe Z Offset
  10069. gcode_M851();
  10070. break;
  10071. #endif // HAS_BED_PROBE
  10072. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  10073. case 600: // M600: Pause for filament change
  10074. gcode_M600();
  10075. break;
  10076. #endif // ADVANCED_PAUSE_FEATURE
  10077. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  10078. case 605: // M605: Set Dual X Carriage movement mode
  10079. gcode_M605();
  10080. break;
  10081. #endif // DUAL_X_CARRIAGE
  10082. #if ENABLED(MK2_MULTIPLEXER)
  10083. case 702: // M702: Unload all extruders
  10084. gcode_M702();
  10085. break;
  10086. #endif
  10087. #if ENABLED(LIN_ADVANCE)
  10088. case 900: // M900: Set advance K factor.
  10089. gcode_M900();
  10090. break;
  10091. #endif
  10092. #if ENABLED(HAVE_TMC2130)
  10093. case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
  10094. gcode_M906();
  10095. break;
  10096. #endif
  10097. case 907: // M907: Set digital trimpot motor current using axis codes.
  10098. gcode_M907();
  10099. break;
  10100. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  10101. case 908: // M908: Control digital trimpot directly.
  10102. gcode_M908();
  10103. break;
  10104. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  10105. case 909: // M909: Print digipot/DAC current value
  10106. gcode_M909();
  10107. break;
  10108. case 910: // M910: Commit digipot/DAC value to external EEPROM
  10109. gcode_M910();
  10110. break;
  10111. #endif
  10112. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  10113. #if ENABLED(HAVE_TMC2130)
  10114. case 911: // M911: Report TMC2130 prewarn triggered flags
  10115. gcode_M911();
  10116. break;
  10117. case 912: // M911: Clear TMC2130 prewarn triggered flags
  10118. gcode_M912();
  10119. break;
  10120. #if ENABLED(HYBRID_THRESHOLD)
  10121. case 913: // M913: Set HYBRID_THRESHOLD speed.
  10122. gcode_M913();
  10123. break;
  10124. #endif
  10125. #if ENABLED(SENSORLESS_HOMING)
  10126. case 914: // M914: Set SENSORLESS_HOMING sensitivity.
  10127. gcode_M914();
  10128. break;
  10129. #endif
  10130. #endif
  10131. #if HAS_MICROSTEPS
  10132. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  10133. gcode_M350();
  10134. break;
  10135. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  10136. gcode_M351();
  10137. break;
  10138. #endif // HAS_MICROSTEPS
  10139. case 355: // M355 set case light brightness
  10140. gcode_M355();
  10141. break;
  10142. #if ENABLED(DEBUG_GCODE_PARSER)
  10143. case 800:
  10144. parser.debug(); // GCode Parser Test for M
  10145. break;
  10146. #endif
  10147. #if ENABLED(I2C_POSITION_ENCODERS)
  10148. case 860: // M860 Report encoder module position
  10149. gcode_M860();
  10150. break;
  10151. case 861: // M861 Report encoder module status
  10152. gcode_M861();
  10153. break;
  10154. case 862: // M862 Perform axis test
  10155. gcode_M862();
  10156. break;
  10157. case 863: // M863 Calibrate steps/mm
  10158. gcode_M863();
  10159. break;
  10160. case 864: // M864 Change module address
  10161. gcode_M864();
  10162. break;
  10163. case 865: // M865 Check module firmware version
  10164. gcode_M865();
  10165. break;
  10166. case 866: // M866 Report axis error count
  10167. gcode_M866();
  10168. break;
  10169. case 867: // M867 Toggle error correction
  10170. gcode_M867();
  10171. break;
  10172. case 868: // M868 Set error correction threshold
  10173. gcode_M868();
  10174. break;
  10175. case 869: // M869 Report axis error
  10176. gcode_M869();
  10177. break;
  10178. #endif // I2C_POSITION_ENCODERS
  10179. case 999: // M999: Restart after being Stopped
  10180. gcode_M999();
  10181. break;
  10182. }
  10183. break;
  10184. case 'T':
  10185. gcode_T(parser.codenum);
  10186. break;
  10187. default: parser.unknown_command_error();
  10188. }
  10189. KEEPALIVE_STATE(NOT_BUSY);
  10190. ok_to_send();
  10191. }
  10192. void process_next_command() {
  10193. char * const current_command = command_queue[cmd_queue_index_r];
  10194. if (DEBUGGING(ECHO)) {
  10195. SERIAL_ECHO_START();
  10196. SERIAL_ECHOLN(current_command);
  10197. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  10198. SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
  10199. M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
  10200. #endif
  10201. }
  10202. // Parse the next command in the queue
  10203. parser.parse(current_command);
  10204. process_parsed_command();
  10205. }
  10206. /**
  10207. * Send a "Resend: nnn" message to the host to
  10208. * indicate that a command needs to be re-sent.
  10209. */
  10210. void FlushSerialRequestResend() {
  10211. //char command_queue[cmd_queue_index_r][100]="Resend:";
  10212. MYSERIAL.flush();
  10213. SERIAL_PROTOCOLPGM(MSG_RESEND);
  10214. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  10215. ok_to_send();
  10216. }
  10217. /**
  10218. * Send an "ok" message to the host, indicating
  10219. * that a command was successfully processed.
  10220. *
  10221. * If ADVANCED_OK is enabled also include:
  10222. * N<int> Line number of the command, if any
  10223. * P<int> Planner space remaining
  10224. * B<int> Block queue space remaining
  10225. */
  10226. void ok_to_send() {
  10227. refresh_cmd_timeout();
  10228. if (!send_ok[cmd_queue_index_r]) return;
  10229. SERIAL_PROTOCOLPGM(MSG_OK);
  10230. #if ENABLED(ADVANCED_OK)
  10231. char* p = command_queue[cmd_queue_index_r];
  10232. if (*p == 'N') {
  10233. SERIAL_PROTOCOL(' ');
  10234. SERIAL_ECHO(*p++);
  10235. while (NUMERIC_SIGNED(*p))
  10236. SERIAL_ECHO(*p++);
  10237. }
  10238. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  10239. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  10240. #endif
  10241. SERIAL_EOL();
  10242. }
  10243. #if HAS_SOFTWARE_ENDSTOPS
  10244. /**
  10245. * Constrain the given coordinates to the software endstops.
  10246. *
  10247. * For DELTA/SCARA the XY constraint is based on the smallest
  10248. * radius within the set software endstops.
  10249. */
  10250. void clamp_to_software_endstops(float target[XYZ]) {
  10251. if (!soft_endstops_enabled) return;
  10252. #if IS_KINEMATIC
  10253. const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
  10254. if (dist_2 > soft_endstop_radius_2) {
  10255. const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
  10256. target[X_AXIS] *= ratio;
  10257. target[Y_AXIS] *= ratio;
  10258. }
  10259. #else
  10260. #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
  10261. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  10262. #endif
  10263. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
  10264. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  10265. #endif
  10266. #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
  10267. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  10268. #endif
  10269. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
  10270. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  10271. #endif
  10272. #endif
  10273. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
  10274. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  10275. #endif
  10276. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
  10277. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  10278. #endif
  10279. }
  10280. #endif
  10281. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10282. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  10283. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  10284. #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
  10285. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  10286. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  10287. #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
  10288. #else
  10289. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  10290. #define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
  10291. #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
  10292. #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
  10293. #define ABL_BG_GRID(X,Y) z_values[X][Y]
  10294. #endif
  10295. // Get the Z adjustment for non-linear bed leveling
  10296. float bilinear_z_offset(const float raw[XYZ]) {
  10297. static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
  10298. last_x = -999.999, last_y = -999.999;
  10299. // Whole units for the grid line indices. Constrained within bounds.
  10300. static int8_t gridx, gridy, nextx, nexty,
  10301. last_gridx = -99, last_gridy = -99;
  10302. // XY relative to the probed area
  10303. const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
  10304. ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
  10305. #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
  10306. // Keep using the last grid box
  10307. #define FAR_EDGE_OR_BOX 2
  10308. #else
  10309. // Just use the grid far edge
  10310. #define FAR_EDGE_OR_BOX 1
  10311. #endif
  10312. if (last_x != rx) {
  10313. last_x = rx;
  10314. ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
  10315. const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
  10316. ratio_x -= gx; // Subtract whole to get the ratio within the grid box
  10317. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10318. // Beyond the grid maintain height at grid edges
  10319. NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
  10320. #endif
  10321. gridx = gx;
  10322. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
  10323. }
  10324. if (last_y != ry || last_gridx != gridx) {
  10325. if (last_y != ry) {
  10326. last_y = ry;
  10327. ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
  10328. const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
  10329. ratio_y -= gy;
  10330. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10331. // Beyond the grid maintain height at grid edges
  10332. NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
  10333. #endif
  10334. gridy = gy;
  10335. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  10336. }
  10337. if (last_gridx != gridx || last_gridy != gridy) {
  10338. last_gridx = gridx;
  10339. last_gridy = gridy;
  10340. // Z at the box corners
  10341. z1 = ABL_BG_GRID(gridx, gridy); // left-front
  10342. d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
  10343. z3 = ABL_BG_GRID(nextx, gridy); // right-front
  10344. d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
  10345. }
  10346. // Bilinear interpolate. Needed since ry or gridx has changed.
  10347. L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
  10348. const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
  10349. D = R - L;
  10350. }
  10351. const float offset = L + ratio_x * D; // the offset almost always changes
  10352. /*
  10353. static float last_offset = 0;
  10354. if (FABS(last_offset - offset) > 0.2) {
  10355. SERIAL_ECHOPGM("Sudden Shift at ");
  10356. SERIAL_ECHOPAIR("x=", rx);
  10357. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  10358. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  10359. SERIAL_ECHOPAIR(" y=", ry);
  10360. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  10361. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  10362. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  10363. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  10364. SERIAL_ECHOPAIR(" z1=", z1);
  10365. SERIAL_ECHOPAIR(" z2=", z2);
  10366. SERIAL_ECHOPAIR(" z3=", z3);
  10367. SERIAL_ECHOLNPAIR(" z4=", z4);
  10368. SERIAL_ECHOPAIR(" L=", L);
  10369. SERIAL_ECHOPAIR(" R=", R);
  10370. SERIAL_ECHOLNPAIR(" offset=", offset);
  10371. }
  10372. last_offset = offset;
  10373. //*/
  10374. return offset;
  10375. }
  10376. #endif // AUTO_BED_LEVELING_BILINEAR
  10377. #if ENABLED(DELTA)
  10378. /**
  10379. * Recalculate factors used for delta kinematics whenever
  10380. * settings have been changed (e.g., by M665).
  10381. */
  10382. void recalc_delta_settings() {
  10383. const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
  10384. drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
  10385. delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]); // front left tower
  10386. delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (delta_radius + trt[A_AXIS]);
  10387. delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]); // front right tower
  10388. delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + trt[B_AXIS]);
  10389. delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]); // back middle tower
  10390. delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + delta_tower_angle_trim[C_AXIS])) * (delta_radius + trt[C_AXIS]);
  10391. delta_diagonal_rod_2_tower[A_AXIS] = sq(delta_diagonal_rod + drt[A_AXIS]);
  10392. delta_diagonal_rod_2_tower[B_AXIS] = sq(delta_diagonal_rod + drt[B_AXIS]);
  10393. delta_diagonal_rod_2_tower[C_AXIS] = sq(delta_diagonal_rod + drt[C_AXIS]);
  10394. update_software_endstops(Z_AXIS);
  10395. axis_homed[X_AXIS] = axis_homed[Y_AXIS] = axis_homed[Z_AXIS] = false;
  10396. }
  10397. #if ENABLED(DELTA_FAST_SQRT)
  10398. /**
  10399. * Fast inverse sqrt from Quake III Arena
  10400. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  10401. */
  10402. float Q_rsqrt(float number) {
  10403. long i;
  10404. float x2, y;
  10405. const float threehalfs = 1.5f;
  10406. x2 = number * 0.5f;
  10407. y = number;
  10408. i = * ( long * ) &y; // evil floating point bit level hacking
  10409. i = 0x5F3759DF - ( i >> 1 ); // what the f***?
  10410. y = * ( float * ) &i;
  10411. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  10412. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  10413. return y;
  10414. }
  10415. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  10416. #else
  10417. #define _SQRT(n) SQRT(n)
  10418. #endif
  10419. /**
  10420. * Delta Inverse Kinematics
  10421. *
  10422. * Calculate the tower positions for a given machine
  10423. * position, storing the result in the delta[] array.
  10424. *
  10425. * This is an expensive calculation, requiring 3 square
  10426. * roots per segmented linear move, and strains the limits
  10427. * of a Mega2560 with a Graphical Display.
  10428. *
  10429. * Suggested optimizations include:
  10430. *
  10431. * - Disable the home_offset (M206) and/or position_shift (G92)
  10432. * features to remove up to 12 float additions.
  10433. *
  10434. * - Use a fast-inverse-sqrt function and add the reciprocal.
  10435. * (see above)
  10436. */
  10437. // Macro to obtain the Z position of an individual tower
  10438. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  10439. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  10440. delta_tower[T][X_AXIS] - raw[X_AXIS], \
  10441. delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
  10442. ) \
  10443. )
  10444. #define DELTA_RAW_IK() do { \
  10445. delta[A_AXIS] = DELTA_Z(A_AXIS); \
  10446. delta[B_AXIS] = DELTA_Z(B_AXIS); \
  10447. delta[C_AXIS] = DELTA_Z(C_AXIS); \
  10448. }while(0)
  10449. #define DELTA_DEBUG() do { \
  10450. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  10451. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  10452. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  10453. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  10454. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  10455. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  10456. }while(0)
  10457. void inverse_kinematics(const float raw[XYZ]) {
  10458. DELTA_RAW_IK();
  10459. // DELTA_DEBUG();
  10460. }
  10461. /**
  10462. * Calculate the highest Z position where the
  10463. * effector has the full range of XY motion.
  10464. */
  10465. float delta_safe_distance_from_top() {
  10466. float cartesian[XYZ] = { 0, 0, 0 };
  10467. inverse_kinematics(cartesian);
  10468. float distance = delta[A_AXIS];
  10469. cartesian[Y_AXIS] = DELTA_PRINTABLE_RADIUS;
  10470. inverse_kinematics(cartesian);
  10471. return FABS(distance - delta[A_AXIS]);
  10472. }
  10473. /**
  10474. * Delta Forward Kinematics
  10475. *
  10476. * See the Wikipedia article "Trilateration"
  10477. * https://en.wikipedia.org/wiki/Trilateration
  10478. *
  10479. * Establish a new coordinate system in the plane of the
  10480. * three carriage points. This system has its origin at
  10481. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  10482. * plane with a Z component of zero.
  10483. * We will define unit vectors in this coordinate system
  10484. * in our original coordinate system. Then when we calculate
  10485. * the Xnew, Ynew and Znew values, we can translate back into
  10486. * the original system by moving along those unit vectors
  10487. * by the corresponding values.
  10488. *
  10489. * Variable names matched to Marlin, c-version, and avoid the
  10490. * use of any vector library.
  10491. *
  10492. * by Andreas Hardtung 2016-06-07
  10493. * based on a Java function from "Delta Robot Kinematics V3"
  10494. * by Steve Graves
  10495. *
  10496. * The result is stored in the cartes[] array.
  10497. */
  10498. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  10499. // Create a vector in old coordinates along x axis of new coordinate
  10500. float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
  10501. // Get the Magnitude of vector.
  10502. float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  10503. // Create unit vector by dividing by magnitude.
  10504. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  10505. // Get the vector from the origin of the new system to the third point.
  10506. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
  10507. // Use the dot product to find the component of this vector on the X axis.
  10508. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  10509. // Create a vector along the x axis that represents the x component of p13.
  10510. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  10511. // Subtract the X component from the original vector leaving only Y. We use the
  10512. // variable that will be the unit vector after we scale it.
  10513. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  10514. // The magnitude of Y component
  10515. float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  10516. // Convert to a unit vector
  10517. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  10518. // The cross product of the unit x and y is the unit z
  10519. // float[] ez = vectorCrossProd(ex, ey);
  10520. float ez[3] = {
  10521. ex[1] * ey[2] - ex[2] * ey[1],
  10522. ex[2] * ey[0] - ex[0] * ey[2],
  10523. ex[0] * ey[1] - ex[1] * ey[0]
  10524. };
  10525. // We now have the d, i and j values defined in Wikipedia.
  10526. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  10527. float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
  10528. Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  10529. Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
  10530. // Start from the origin of the old coordinates and add vectors in the
  10531. // old coords that represent the Xnew, Ynew and Znew to find the point
  10532. // in the old system.
  10533. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  10534. cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  10535. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  10536. }
  10537. void forward_kinematics_DELTA(float point[ABC]) {
  10538. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  10539. }
  10540. #endif // DELTA
  10541. /**
  10542. * Get the stepper positions in the cartes[] array.
  10543. * Forward kinematics are applied for DELTA and SCARA.
  10544. *
  10545. * The result is in the current coordinate space with
  10546. * leveling applied. The coordinates need to be run through
  10547. * unapply_leveling to obtain machine coordinates suitable
  10548. * for current_position, etc.
  10549. */
  10550. void get_cartesian_from_steppers() {
  10551. #if ENABLED(DELTA)
  10552. forward_kinematics_DELTA(
  10553. stepper.get_axis_position_mm(A_AXIS),
  10554. stepper.get_axis_position_mm(B_AXIS),
  10555. stepper.get_axis_position_mm(C_AXIS)
  10556. );
  10557. #else
  10558. #if IS_SCARA
  10559. forward_kinematics_SCARA(
  10560. stepper.get_axis_position_degrees(A_AXIS),
  10561. stepper.get_axis_position_degrees(B_AXIS)
  10562. );
  10563. #else
  10564. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  10565. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  10566. #endif
  10567. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  10568. #endif
  10569. }
  10570. /**
  10571. * Set the current_position for an axis based on
  10572. * the stepper positions, removing any leveling that
  10573. * may have been applied.
  10574. */
  10575. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  10576. get_cartesian_from_steppers();
  10577. #if PLANNER_LEVELING
  10578. planner.unapply_leveling(cartes);
  10579. #endif
  10580. if (axis == ALL_AXES)
  10581. COPY(current_position, cartes);
  10582. else
  10583. current_position[axis] = cartes[axis];
  10584. }
  10585. #if ENABLED(MESH_BED_LEVELING)
  10586. /**
  10587. * Prepare a mesh-leveled linear move in a Cartesian setup,
  10588. * splitting the move where it crosses mesh borders.
  10589. */
  10590. void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
  10591. int cx1 = mbl.cell_index_x(current_position[X_AXIS]),
  10592. cy1 = mbl.cell_index_y(current_position[Y_AXIS]),
  10593. cx2 = mbl.cell_index_x(destination[X_AXIS]),
  10594. cy2 = mbl.cell_index_y(destination[Y_AXIS]);
  10595. NOMORE(cx1, GRID_MAX_POINTS_X - 2);
  10596. NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
  10597. NOMORE(cx2, GRID_MAX_POINTS_X - 2);
  10598. NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
  10599. if (cx1 == cx2 && cy1 == cy2) {
  10600. // Start and end on same mesh square
  10601. buffer_line_to_destination(fr_mm_s);
  10602. set_current_from_destination();
  10603. return;
  10604. }
  10605. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10606. float normalized_dist, end[XYZE];
  10607. // Split at the left/front border of the right/top square
  10608. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10609. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10610. COPY(end, destination);
  10611. destination[X_AXIS] = mbl.index_to_xpos[gcx];
  10612. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10613. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  10614. CBI(x_splits, gcx);
  10615. }
  10616. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10617. COPY(end, destination);
  10618. destination[Y_AXIS] = mbl.index_to_ypos[gcy];
  10619. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10620. destination[X_AXIS] = MBL_SEGMENT_END(X);
  10621. CBI(y_splits, gcy);
  10622. }
  10623. else {
  10624. // Already split on a border
  10625. buffer_line_to_destination(fr_mm_s);
  10626. set_current_from_destination();
  10627. return;
  10628. }
  10629. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  10630. destination[E_AXIS] = MBL_SEGMENT_END(E);
  10631. // Do the split and look for more borders
  10632. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10633. // Restore destination from stack
  10634. COPY(destination, end);
  10635. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10636. }
  10637. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  10638. #define CELL_INDEX(A,V) ((V - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
  10639. /**
  10640. * Prepare a bilinear-leveled linear move on Cartesian,
  10641. * splitting the move where it crosses grid borders.
  10642. */
  10643. void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  10644. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  10645. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  10646. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  10647. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  10648. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  10649. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  10650. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  10651. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  10652. if (cx1 == cx2 && cy1 == cy2) {
  10653. // Start and end on same mesh square
  10654. buffer_line_to_destination(fr_mm_s);
  10655. set_current_from_destination();
  10656. return;
  10657. }
  10658. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10659. float normalized_dist, end[XYZE];
  10660. // Split at the left/front border of the right/top square
  10661. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10662. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10663. COPY(end, destination);
  10664. destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
  10665. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10666. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  10667. CBI(x_splits, gcx);
  10668. }
  10669. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10670. COPY(end, destination);
  10671. destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
  10672. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10673. destination[X_AXIS] = LINE_SEGMENT_END(X);
  10674. CBI(y_splits, gcy);
  10675. }
  10676. else {
  10677. // Already split on a border
  10678. buffer_line_to_destination(fr_mm_s);
  10679. set_current_from_destination();
  10680. return;
  10681. }
  10682. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  10683. destination[E_AXIS] = LINE_SEGMENT_END(E);
  10684. // Do the split and look for more borders
  10685. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10686. // Restore destination from stack
  10687. COPY(destination, end);
  10688. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10689. }
  10690. #endif // AUTO_BED_LEVELING_BILINEAR
  10691. #if !UBL_DELTA
  10692. #if IS_KINEMATIC
  10693. /**
  10694. * Prepare a linear move in a DELTA or SCARA setup.
  10695. *
  10696. * This calls planner.buffer_line several times, adding
  10697. * small incremental moves for DELTA or SCARA.
  10698. *
  10699. * For Unified Bed Leveling (Delta or Segmented Cartesian)
  10700. * the ubl.prepare_segmented_line_to method replaces this.
  10701. */
  10702. inline bool prepare_kinematic_move_to(float rtarget[XYZE]) {
  10703. // Get the top feedrate of the move in the XY plane
  10704. const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  10705. // If the move is only in Z/E don't split up the move
  10706. if (rtarget[X_AXIS] == current_position[X_AXIS] && rtarget[Y_AXIS] == current_position[Y_AXIS]) {
  10707. planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
  10708. return false;
  10709. }
  10710. // Fail if attempting move outside printable radius
  10711. if (!position_is_reachable(rtarget[X_AXIS], rtarget[Y_AXIS])) return true;
  10712. // Get the cartesian distances moved in XYZE
  10713. const float difference[XYZE] = {
  10714. rtarget[X_AXIS] - current_position[X_AXIS],
  10715. rtarget[Y_AXIS] - current_position[Y_AXIS],
  10716. rtarget[Z_AXIS] - current_position[Z_AXIS],
  10717. rtarget[E_AXIS] - current_position[E_AXIS]
  10718. };
  10719. // Get the linear distance in XYZ
  10720. float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  10721. // If the move is very short, check the E move distance
  10722. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
  10723. // No E move either? Game over.
  10724. if (UNEAR_ZERO(cartesian_mm)) return true;
  10725. // Minimum number of seconds to move the given distance
  10726. const float seconds = cartesian_mm / _feedrate_mm_s;
  10727. // The number of segments-per-second times the duration
  10728. // gives the number of segments
  10729. uint16_t segments = delta_segments_per_second * seconds;
  10730. // For SCARA minimum segment size is 0.25mm
  10731. #if IS_SCARA
  10732. NOMORE(segments, cartesian_mm * 4);
  10733. #endif
  10734. // At least one segment is required
  10735. NOLESS(segments, 1);
  10736. // The approximate length of each segment
  10737. const float inv_segments = 1.0 / float(segments),
  10738. segment_distance[XYZE] = {
  10739. difference[X_AXIS] * inv_segments,
  10740. difference[Y_AXIS] * inv_segments,
  10741. difference[Z_AXIS] * inv_segments,
  10742. difference[E_AXIS] * inv_segments
  10743. };
  10744. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  10745. // SERIAL_ECHOPAIR(" seconds=", seconds);
  10746. // SERIAL_ECHOLNPAIR(" segments=", segments);
  10747. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10748. // SCARA needs to scale the feed rate from mm/s to degrees/s
  10749. const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
  10750. feed_factor = inv_segment_length * _feedrate_mm_s;
  10751. float oldA = stepper.get_axis_position_degrees(A_AXIS),
  10752. oldB = stepper.get_axis_position_degrees(B_AXIS);
  10753. #endif
  10754. // Get the raw current position as starting point
  10755. float raw[XYZE];
  10756. COPY(raw, current_position);
  10757. // Drop one segment so the last move is to the exact target.
  10758. // If there's only 1 segment, loops will be skipped entirely.
  10759. --segments;
  10760. // Calculate and execute the segments
  10761. for (uint16_t s = segments + 1; --s;) {
  10762. LOOP_XYZE(i) raw[i] += segment_distance[i];
  10763. #if ENABLED(DELTA)
  10764. DELTA_RAW_IK(); // Delta can inline its kinematics
  10765. #else
  10766. inverse_kinematics(raw);
  10767. #endif
  10768. ADJUST_DELTA(raw); // Adjust Z if bed leveling is enabled
  10769. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10770. // For SCARA scale the feed rate from mm/s to degrees/s
  10771. // Use ratio between the length of the move and the larger angle change
  10772. const float adiff = abs(delta[A_AXIS] - oldA),
  10773. bdiff = abs(delta[B_AXIS] - oldB);
  10774. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10775. oldA = delta[A_AXIS];
  10776. oldB = delta[B_AXIS];
  10777. #else
  10778. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder);
  10779. #endif
  10780. }
  10781. // Since segment_distance is only approximate,
  10782. // the final move must be to the exact destination.
  10783. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10784. // For SCARA scale the feed rate from mm/s to degrees/s
  10785. // With segments > 1 length is 1 segment, otherwise total length
  10786. inverse_kinematics(rtarget);
  10787. ADJUST_DELTA(rtarget);
  10788. const float adiff = abs(delta[A_AXIS] - oldA),
  10789. bdiff = abs(delta[B_AXIS] - oldB);
  10790. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10791. #else
  10792. planner.buffer_line_kinematic(rtarget, _feedrate_mm_s, active_extruder);
  10793. #endif
  10794. return false;
  10795. }
  10796. #else // !IS_KINEMATIC
  10797. /**
  10798. * Prepare a linear move in a Cartesian setup.
  10799. *
  10800. * When a mesh-based leveling system is active, moves are segmented
  10801. * according to the configuration of the leveling system.
  10802. *
  10803. * Returns true if current_position[] was set to destination[]
  10804. */
  10805. inline bool prepare_move_to_destination_cartesian() {
  10806. #if HAS_MESH
  10807. if (planner.leveling_active) {
  10808. #if ENABLED(AUTO_BED_LEVELING_UBL)
  10809. ubl.line_to_destination_cartesian(MMS_SCALED(feedrate_mm_s), active_extruder); // UBL's motion routine needs to know about
  10810. return true; // all moves, including Z-only moves.
  10811. #else
  10812. /**
  10813. * For MBL and ABL-BILINEAR only segment moves when X or Y are involved.
  10814. * Otherwise fall through to do a direct single move.
  10815. */
  10816. if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
  10817. #if ENABLED(MESH_BED_LEVELING)
  10818. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10819. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10820. bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10821. #endif
  10822. return true;
  10823. }
  10824. #endif
  10825. }
  10826. #endif // HAS_MESH
  10827. buffer_line_to_destination(MMS_SCALED(feedrate_mm_s));
  10828. return false;
  10829. }
  10830. #endif // !IS_KINEMATIC
  10831. #endif // !UBL_DELTA
  10832. #if ENABLED(DUAL_X_CARRIAGE)
  10833. /**
  10834. * Prepare a linear move in a dual X axis setup
  10835. */
  10836. inline bool prepare_move_to_destination_dualx() {
  10837. if (active_extruder_parked) {
  10838. switch (dual_x_carriage_mode) {
  10839. case DXC_FULL_CONTROL_MODE:
  10840. break;
  10841. case DXC_AUTO_PARK_MODE:
  10842. if (current_position[E_AXIS] == destination[E_AXIS]) {
  10843. // This is a travel move (with no extrusion)
  10844. // Skip it, but keep track of the current position
  10845. // (so it can be used as the start of the next non-travel move)
  10846. if (delayed_move_time != 0xFFFFFFFFUL) {
  10847. set_current_from_destination();
  10848. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  10849. delayed_move_time = millis();
  10850. return true;
  10851. }
  10852. }
  10853. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  10854. for (uint8_t i = 0; i < 3; i++)
  10855. planner.buffer_line(
  10856. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  10857. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  10858. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  10859. current_position[E_AXIS],
  10860. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  10861. active_extruder
  10862. );
  10863. delayed_move_time = 0;
  10864. active_extruder_parked = false;
  10865. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10866. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
  10867. #endif
  10868. break;
  10869. case DXC_DUPLICATION_MODE:
  10870. if (active_extruder == 0) {
  10871. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10872. if (DEBUGGING(LEVELING)) {
  10873. SERIAL_ECHOPAIR("Set planner X", inactive_extruder_x_pos);
  10874. SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
  10875. }
  10876. #endif
  10877. // move duplicate extruder into correct duplication position.
  10878. planner.set_position_mm(
  10879. inactive_extruder_x_pos,
  10880. current_position[Y_AXIS],
  10881. current_position[Z_AXIS],
  10882. current_position[E_AXIS]
  10883. );
  10884. planner.buffer_line(
  10885. current_position[X_AXIS] + duplicate_extruder_x_offset,
  10886. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  10887. planner.max_feedrate_mm_s[X_AXIS], 1
  10888. );
  10889. SYNC_PLAN_POSITION_KINEMATIC();
  10890. stepper.synchronize();
  10891. extruder_duplication_enabled = true;
  10892. active_extruder_parked = false;
  10893. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10894. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
  10895. #endif
  10896. }
  10897. else {
  10898. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10899. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
  10900. #endif
  10901. }
  10902. break;
  10903. }
  10904. }
  10905. return prepare_move_to_destination_cartesian();
  10906. }
  10907. #endif // DUAL_X_CARRIAGE
  10908. /**
  10909. * Prepare a single move and get ready for the next one
  10910. *
  10911. * This may result in several calls to planner.buffer_line to
  10912. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  10913. *
  10914. * Make sure current_position[E] and destination[E] are good
  10915. * before calling or cold/lengthy extrusion may get missed.
  10916. */
  10917. void prepare_move_to_destination() {
  10918. clamp_to_software_endstops(destination);
  10919. refresh_cmd_timeout();
  10920. #if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
  10921. if (!DEBUGGING(DRYRUN)) {
  10922. if (destination[E_AXIS] != current_position[E_AXIS]) {
  10923. #if ENABLED(PREVENT_COLD_EXTRUSION)
  10924. if (thermalManager.tooColdToExtrude(active_extruder)) {
  10925. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10926. SERIAL_ECHO_START();
  10927. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  10928. }
  10929. #endif // PREVENT_COLD_EXTRUSION
  10930. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  10931. if (FABS(destination[E_AXIS] - current_position[E_AXIS]) * planner.e_factor[active_extruder] > (EXTRUDE_MAXLENGTH)) {
  10932. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10933. SERIAL_ECHO_START();
  10934. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  10935. }
  10936. #endif // PREVENT_LENGTHY_EXTRUDE
  10937. }
  10938. }
  10939. #endif
  10940. if (
  10941. #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
  10942. ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
  10943. #elif IS_KINEMATIC
  10944. prepare_kinematic_move_to(destination)
  10945. #elif ENABLED(DUAL_X_CARRIAGE)
  10946. prepare_move_to_destination_dualx()
  10947. #else
  10948. prepare_move_to_destination_cartesian()
  10949. #endif
  10950. ) return;
  10951. set_current_from_destination();
  10952. }
  10953. #if ENABLED(ARC_SUPPORT)
  10954. #if N_ARC_CORRECTION < 1
  10955. #undef N_ARC_CORRECTION
  10956. #define N_ARC_CORRECTION 1
  10957. #endif
  10958. /**
  10959. * Plan an arc in 2 dimensions
  10960. *
  10961. * The arc is approximated by generating many small linear segments.
  10962. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  10963. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  10964. * larger segments will tend to be more efficient. Your slicer should have
  10965. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  10966. */
  10967. void plan_arc(
  10968. float raw[XYZE], // Destination position
  10969. float *offset, // Center of rotation relative to current_position
  10970. uint8_t clockwise // Clockwise?
  10971. ) {
  10972. #if ENABLED(CNC_WORKSPACE_PLANES)
  10973. AxisEnum p_axis, q_axis, l_axis;
  10974. switch (workspace_plane) {
  10975. default:
  10976. case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
  10977. case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
  10978. case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
  10979. }
  10980. #else
  10981. constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
  10982. #endif
  10983. // Radius vector from center to current location
  10984. float r_P = -offset[0], r_Q = -offset[1];
  10985. const float radius = HYPOT(r_P, r_Q),
  10986. center_P = current_position[p_axis] - r_P,
  10987. center_Q = current_position[q_axis] - r_Q,
  10988. rt_X = raw[p_axis] - center_P,
  10989. rt_Y = raw[q_axis] - center_Q,
  10990. linear_travel = raw[l_axis] - current_position[l_axis],
  10991. extruder_travel = raw[E_AXIS] - current_position[E_AXIS];
  10992. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  10993. float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
  10994. if (angular_travel < 0) angular_travel += RADIANS(360);
  10995. if (clockwise) angular_travel -= RADIANS(360);
  10996. // Make a circle if the angular rotation is 0 and the target is current position
  10997. if (angular_travel == 0 && current_position[p_axis] == raw[p_axis] && current_position[q_axis] == raw[q_axis])
  10998. angular_travel = RADIANS(360);
  10999. const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
  11000. if (mm_of_travel < 0.001) return;
  11001. uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
  11002. if (segments == 0) segments = 1;
  11003. /**
  11004. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  11005. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  11006. * r_T = [cos(phi) -sin(phi);
  11007. * sin(phi) cos(phi)] * r ;
  11008. *
  11009. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  11010. * defined from the circle center to the initial position. Each line segment is formed by successive
  11011. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  11012. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  11013. * all double numbers are single precision on the Arduino. (True double precision will not have
  11014. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  11015. * tool precision in some cases. Therefore, arc path correction is implemented.
  11016. *
  11017. * Small angle approximation may be used to reduce computation overhead further. This approximation
  11018. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  11019. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  11020. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  11021. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  11022. * issue for CNC machines with the single precision Arduino calculations.
  11023. *
  11024. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  11025. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  11026. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  11027. * This is important when there are successive arc motions.
  11028. */
  11029. // Vector rotation matrix values
  11030. float arc_target[XYZE];
  11031. const float theta_per_segment = angular_travel / segments,
  11032. linear_per_segment = linear_travel / segments,
  11033. extruder_per_segment = extruder_travel / segments,
  11034. sin_T = theta_per_segment,
  11035. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  11036. // Initialize the linear axis
  11037. arc_target[l_axis] = current_position[l_axis];
  11038. // Initialize the extruder axis
  11039. arc_target[E_AXIS] = current_position[E_AXIS];
  11040. const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  11041. millis_t next_idle_ms = millis() + 200UL;
  11042. #if N_ARC_CORRECTION > 1
  11043. int8_t arc_recalc_count = N_ARC_CORRECTION;
  11044. #endif
  11045. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  11046. thermalManager.manage_heater();
  11047. if (ELAPSED(millis(), next_idle_ms)) {
  11048. next_idle_ms = millis() + 200UL;
  11049. idle();
  11050. }
  11051. #if N_ARC_CORRECTION > 1
  11052. if (--arc_recalc_count) {
  11053. // Apply vector rotation matrix to previous r_P / 1
  11054. const float r_new_Y = r_P * sin_T + r_Q * cos_T;
  11055. r_P = r_P * cos_T - r_Q * sin_T;
  11056. r_Q = r_new_Y;
  11057. }
  11058. else
  11059. #endif
  11060. {
  11061. #if N_ARC_CORRECTION > 1
  11062. arc_recalc_count = N_ARC_CORRECTION;
  11063. #endif
  11064. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  11065. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  11066. // To reduce stuttering, the sin and cos could be computed at different times.
  11067. // For now, compute both at the same time.
  11068. const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
  11069. r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
  11070. r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
  11071. }
  11072. // Update arc_target location
  11073. arc_target[p_axis] = center_P + r_P;
  11074. arc_target[q_axis] = center_Q + r_Q;
  11075. arc_target[l_axis] += linear_per_segment;
  11076. arc_target[E_AXIS] += extruder_per_segment;
  11077. clamp_to_software_endstops(arc_target);
  11078. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  11079. }
  11080. // Ensure last segment arrives at target location.
  11081. planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
  11082. // As far as the parser is concerned, the position is now == target. In reality the
  11083. // motion control system might still be processing the action and the real tool position
  11084. // in any intermediate location.
  11085. set_current_from_destination();
  11086. } // plan_arc
  11087. #endif // ARC_SUPPORT
  11088. #if ENABLED(BEZIER_CURVE_SUPPORT)
  11089. void plan_cubic_move(const float offset[4]) {
  11090. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  11091. // As far as the parser is concerned, the position is now == destination. In reality the
  11092. // motion control system might still be processing the action and the real tool position
  11093. // in any intermediate location.
  11094. set_current_from_destination();
  11095. }
  11096. #endif // BEZIER_CURVE_SUPPORT
  11097. #if ENABLED(USE_CONTROLLER_FAN)
  11098. void controllerFan() {
  11099. static millis_t lastMotorOn = 0, // Last time a motor was turned on
  11100. nextMotorCheck = 0; // Last time the state was checked
  11101. const millis_t ms = millis();
  11102. if (ELAPSED(ms, nextMotorCheck)) {
  11103. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  11104. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0
  11105. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  11106. #if E_STEPPERS > 1
  11107. || E1_ENABLE_READ == E_ENABLE_ON
  11108. #if HAS_X2_ENABLE
  11109. || X2_ENABLE_READ == X_ENABLE_ON
  11110. #endif
  11111. #if E_STEPPERS > 2
  11112. || E2_ENABLE_READ == E_ENABLE_ON
  11113. #if E_STEPPERS > 3
  11114. || E3_ENABLE_READ == E_ENABLE_ON
  11115. #if E_STEPPERS > 4
  11116. || E4_ENABLE_READ == E_ENABLE_ON
  11117. #endif // E_STEPPERS > 4
  11118. #endif // E_STEPPERS > 3
  11119. #endif // E_STEPPERS > 2
  11120. #endif // E_STEPPERS > 1
  11121. ) {
  11122. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  11123. }
  11124. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  11125. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  11126. // allows digital or PWM fan output to be used (see M42 handling)
  11127. WRITE(CONTROLLER_FAN_PIN, speed);
  11128. analogWrite(CONTROLLER_FAN_PIN, speed);
  11129. }
  11130. }
  11131. #endif // USE_CONTROLLER_FAN
  11132. #if ENABLED(MORGAN_SCARA)
  11133. /**
  11134. * Morgan SCARA Forward Kinematics. Results in cartes[].
  11135. * Maths and first version by QHARLEY.
  11136. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  11137. */
  11138. void forward_kinematics_SCARA(const float &a, const float &b) {
  11139. float a_sin = sin(RADIANS(a)) * L1,
  11140. a_cos = cos(RADIANS(a)) * L1,
  11141. b_sin = sin(RADIANS(b)) * L2,
  11142. b_cos = cos(RADIANS(b)) * L2;
  11143. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  11144. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  11145. /*
  11146. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  11147. SERIAL_ECHOPAIR(" b=", b);
  11148. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  11149. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  11150. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  11151. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  11152. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  11153. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  11154. //*/
  11155. }
  11156. /**
  11157. * Morgan SCARA Inverse Kinematics. Results in delta[].
  11158. *
  11159. * See http://forums.reprap.org/read.php?185,283327
  11160. *
  11161. * Maths and first version by QHARLEY.
  11162. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  11163. */
  11164. void inverse_kinematics(const float raw[XYZ]) {
  11165. static float C2, S2, SK1, SK2, THETA, PSI;
  11166. float sx = raw[X_AXIS] - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  11167. sy = raw[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
  11168. if (L1 == L2)
  11169. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  11170. else
  11171. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  11172. S2 = SQRT(1 - sq(C2));
  11173. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  11174. SK1 = L1 + L2 * C2;
  11175. // Rotated Arm2 gives the distance from Arm1 to Arm2
  11176. SK2 = L2 * S2;
  11177. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  11178. THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
  11179. // Angle of Arm2
  11180. PSI = ATAN2(S2, C2);
  11181. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  11182. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  11183. delta[C_AXIS] = raw[Z_AXIS];
  11184. /*
  11185. DEBUG_POS("SCARA IK", raw);
  11186. DEBUG_POS("SCARA IK", delta);
  11187. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  11188. SERIAL_ECHOPAIR(",", sy);
  11189. SERIAL_ECHOPAIR(" C2=", C2);
  11190. SERIAL_ECHOPAIR(" S2=", S2);
  11191. SERIAL_ECHOPAIR(" Theta=", THETA);
  11192. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  11193. //*/
  11194. }
  11195. #endif // MORGAN_SCARA
  11196. #if ENABLED(TEMP_STAT_LEDS)
  11197. static bool red_led = false;
  11198. static millis_t next_status_led_update_ms = 0;
  11199. void handle_status_leds(void) {
  11200. if (ELAPSED(millis(), next_status_led_update_ms)) {
  11201. next_status_led_update_ms += 500; // Update every 0.5s
  11202. float max_temp = 0.0;
  11203. #if HAS_TEMP_BED
  11204. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  11205. #endif
  11206. HOTEND_LOOP()
  11207. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  11208. const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  11209. if (new_led != red_led) {
  11210. red_led = new_led;
  11211. #if PIN_EXISTS(STAT_LED_RED)
  11212. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  11213. #if PIN_EXISTS(STAT_LED_BLUE)
  11214. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  11215. #endif
  11216. #else
  11217. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  11218. #endif
  11219. }
  11220. }
  11221. }
  11222. #endif
  11223. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11224. void handle_filament_runout() {
  11225. if (!filament_ran_out) {
  11226. filament_ran_out = true;
  11227. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  11228. stepper.synchronize();
  11229. }
  11230. }
  11231. #endif // FILAMENT_RUNOUT_SENSOR
  11232. #if ENABLED(FAST_PWM_FAN)
  11233. void setPwmFrequency(uint8_t pin, int val) {
  11234. val &= 0x07;
  11235. switch (digitalPinToTimer(pin)) {
  11236. #ifdef TCCR0A
  11237. #if !AVR_AT90USB1286_FAMILY
  11238. case TIMER0A:
  11239. #endif
  11240. case TIMER0B: //_SET_CS(0, val);
  11241. break;
  11242. #endif
  11243. #ifdef TCCR1A
  11244. case TIMER1A: case TIMER1B: //_SET_CS(1, val);
  11245. break;
  11246. #endif
  11247. #ifdef TCCR2
  11248. case TIMER2: case TIMER2: _SET_CS(2, val); break;
  11249. #endif
  11250. #ifdef TCCR2A
  11251. case TIMER2A: case TIMER2B: _SET_CS(2, val); break;
  11252. #endif
  11253. #ifdef TCCR3A
  11254. case TIMER3A: case TIMER3B: case TIMER3C: _SET_CS(3, val); break;
  11255. #endif
  11256. #ifdef TCCR4A
  11257. case TIMER4A: case TIMER4B: case TIMER4C: _SET_CS(4, val); break;
  11258. #endif
  11259. #ifdef TCCR5A
  11260. case TIMER5A: case TIMER5B: case TIMER5C: _SET_CS(5, val); break;
  11261. #endif
  11262. }
  11263. }
  11264. #endif // FAST_PWM_FAN
  11265. void enable_all_steppers() {
  11266. enable_X();
  11267. enable_Y();
  11268. enable_Z();
  11269. enable_E0();
  11270. enable_E1();
  11271. enable_E2();
  11272. enable_E3();
  11273. enable_E4();
  11274. }
  11275. void disable_e_steppers() {
  11276. disable_E0();
  11277. disable_E1();
  11278. disable_E2();
  11279. disable_E3();
  11280. disable_E4();
  11281. }
  11282. void disable_all_steppers() {
  11283. disable_X();
  11284. disable_Y();
  11285. disable_Z();
  11286. disable_e_steppers();
  11287. }
  11288. #if ENABLED(HAVE_TMC2130)
  11289. void automatic_current_control(TMC2130Stepper &st, String axisID) {
  11290. // Check otpw even if we don't use automatic control. Allows for flag inspection.
  11291. const bool is_otpw = st.checkOT();
  11292. // Report if a warning was triggered
  11293. static bool previous_otpw = false;
  11294. if (is_otpw && !previous_otpw) {
  11295. char timestamp[10];
  11296. duration_t elapsed = print_job_timer.duration();
  11297. const bool has_days = (elapsed.value > 60*60*24L);
  11298. (void)elapsed.toDigital(timestamp, has_days);
  11299. SERIAL_ECHO(timestamp);
  11300. SERIAL_ECHOPGM(": ");
  11301. SERIAL_ECHO(axisID);
  11302. SERIAL_ECHOLNPGM(" driver overtemperature warning!");
  11303. }
  11304. previous_otpw = is_otpw;
  11305. #if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
  11306. // Return if user has not enabled current control start with M906 S1.
  11307. if (!auto_current_control) return;
  11308. /**
  11309. * Decrease current if is_otpw is true.
  11310. * Bail out if driver is disabled.
  11311. * Increase current if OTPW has not been triggered yet.
  11312. */
  11313. uint16_t current = st.getCurrent();
  11314. if (is_otpw) {
  11315. st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
  11316. #if ENABLED(REPORT_CURRENT_CHANGE)
  11317. SERIAL_ECHO(axisID);
  11318. SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
  11319. #endif
  11320. }
  11321. else if (!st.isEnabled())
  11322. return;
  11323. else if (!is_otpw && !st.getOTPW()) {
  11324. current += CURRENT_STEP;
  11325. if (current <= AUTO_ADJUST_MAX) {
  11326. st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
  11327. #if ENABLED(REPORT_CURRENT_CHANGE)
  11328. SERIAL_ECHO(axisID);
  11329. SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
  11330. #endif
  11331. }
  11332. }
  11333. SERIAL_EOL();
  11334. #endif
  11335. }
  11336. void checkOverTemp() {
  11337. static millis_t next_cOT = 0;
  11338. if (ELAPSED(millis(), next_cOT)) {
  11339. next_cOT = millis() + 5000;
  11340. #if ENABLED(X_IS_TMC2130)
  11341. automatic_current_control(stepperX, "X");
  11342. #endif
  11343. #if ENABLED(Y_IS_TMC2130)
  11344. automatic_current_control(stepperY, "Y");
  11345. #endif
  11346. #if ENABLED(Z_IS_TMC2130)
  11347. automatic_current_control(stepperZ, "Z");
  11348. #endif
  11349. #if ENABLED(X2_IS_TMC2130)
  11350. automatic_current_control(stepperX2, "X2");
  11351. #endif
  11352. #if ENABLED(Y2_IS_TMC2130)
  11353. automatic_current_control(stepperY2, "Y2");
  11354. #endif
  11355. #if ENABLED(Z2_IS_TMC2130)
  11356. automatic_current_control(stepperZ2, "Z2");
  11357. #endif
  11358. #if ENABLED(E0_IS_TMC2130)
  11359. automatic_current_control(stepperE0, "E0");
  11360. #endif
  11361. #if ENABLED(E1_IS_TMC2130)
  11362. automatic_current_control(stepperE1, "E1");
  11363. #endif
  11364. #if ENABLED(E2_IS_TMC2130)
  11365. automatic_current_control(stepperE2, "E2");
  11366. #endif
  11367. #if ENABLED(E3_IS_TMC2130)
  11368. automatic_current_control(stepperE3, "E3");
  11369. #endif
  11370. #if ENABLED(E4_IS_TMC2130)
  11371. automatic_current_control(stepperE4, "E4");
  11372. #endif
  11373. }
  11374. }
  11375. #endif // HAVE_TMC2130
  11376. /**
  11377. * Manage several activities:
  11378. * - Check for Filament Runout
  11379. * - Keep the command buffer full
  11380. * - Check for maximum inactive time between commands
  11381. * - Check for maximum inactive time between stepper commands
  11382. * - Check if pin CHDK needs to go LOW
  11383. * - Check for KILL button held down
  11384. * - Check for HOME button held down
  11385. * - Check if cooling fan needs to be switched on
  11386. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  11387. */
  11388. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  11389. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11390. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  11391. handle_filament_runout();
  11392. #endif
  11393. if (commands_in_queue < BUFSIZE) get_available_commands();
  11394. const millis_t ms = millis();
  11395. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
  11396. SERIAL_ERROR_START();
  11397. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
  11398. kill(PSTR(MSG_KILLED));
  11399. }
  11400. // Prevent steppers timing-out in the middle of M600
  11401. #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
  11402. #define MOVE_AWAY_TEST !move_away_flag
  11403. #else
  11404. #define MOVE_AWAY_TEST true
  11405. #endif
  11406. if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  11407. && !ignore_stepper_queue && !planner.blocks_queued()) {
  11408. #if ENABLED(DISABLE_INACTIVE_X)
  11409. disable_X();
  11410. #endif
  11411. #if ENABLED(DISABLE_INACTIVE_Y)
  11412. disable_Y();
  11413. #endif
  11414. #if ENABLED(DISABLE_INACTIVE_Z)
  11415. disable_Z();
  11416. #endif
  11417. #if ENABLED(DISABLE_INACTIVE_E)
  11418. disable_e_steppers();
  11419. #endif
  11420. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  11421. ubl.lcd_map_control = defer_return_to_status = false;
  11422. #endif
  11423. }
  11424. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  11425. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  11426. chdkActive = false;
  11427. WRITE(CHDK, LOW);
  11428. }
  11429. #endif
  11430. #if HAS_KILL
  11431. // Check if the kill button was pressed and wait just in case it was an accidental
  11432. // key kill key press
  11433. // -------------------------------------------------------------------------------
  11434. static int killCount = 0; // make the inactivity button a bit less responsive
  11435. const int KILL_DELAY = 750;
  11436. if (!READ(KILL_PIN))
  11437. killCount++;
  11438. else if (killCount > 0)
  11439. killCount--;
  11440. // Exceeded threshold and we can confirm that it was not accidental
  11441. // KILL the machine
  11442. // ----------------------------------------------------------------
  11443. if (killCount >= KILL_DELAY) {
  11444. SERIAL_ERROR_START();
  11445. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  11446. kill(PSTR(MSG_KILLED));
  11447. }
  11448. #endif
  11449. #if HAS_HOME
  11450. // Check to see if we have to home, use poor man's debouncer
  11451. // ---------------------------------------------------------
  11452. static int homeDebounceCount = 0; // poor man's debouncing count
  11453. const int HOME_DEBOUNCE_DELAY = 2500;
  11454. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  11455. if (!homeDebounceCount) {
  11456. enqueue_and_echo_commands_P(PSTR("G28"));
  11457. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  11458. }
  11459. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  11460. homeDebounceCount++;
  11461. else
  11462. homeDebounceCount = 0;
  11463. }
  11464. #endif
  11465. #if ENABLED(USE_CONTROLLER_FAN)
  11466. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  11467. #endif
  11468. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  11469. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  11470. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  11471. #if ENABLED(SWITCHING_EXTRUDER)
  11472. const bool oldstatus = E0_ENABLE_READ;
  11473. enable_E0();
  11474. #else // !SWITCHING_EXTRUDER
  11475. bool oldstatus;
  11476. switch (active_extruder) {
  11477. default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  11478. #if E_STEPPERS > 1
  11479. case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  11480. #if E_STEPPERS > 2
  11481. case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  11482. #if E_STEPPERS > 3
  11483. case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
  11484. #if E_STEPPERS > 4
  11485. case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
  11486. #endif // E_STEPPERS > 4
  11487. #endif // E_STEPPERS > 3
  11488. #endif // E_STEPPERS > 2
  11489. #endif // E_STEPPERS > 1
  11490. }
  11491. #endif // !SWITCHING_EXTRUDER
  11492. previous_cmd_ms = ms; // refresh_cmd_timeout()
  11493. const float olde = current_position[E_AXIS];
  11494. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  11495. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  11496. current_position[E_AXIS] = olde;
  11497. planner.set_e_position_mm(olde);
  11498. stepper.synchronize();
  11499. #if ENABLED(SWITCHING_EXTRUDER)
  11500. E0_ENABLE_WRITE(oldstatus);
  11501. #else
  11502. switch (active_extruder) {
  11503. case 0: E0_ENABLE_WRITE(oldstatus); break;
  11504. #if E_STEPPERS > 1
  11505. case 1: E1_ENABLE_WRITE(oldstatus); break;
  11506. #if E_STEPPERS > 2
  11507. case 2: E2_ENABLE_WRITE(oldstatus); break;
  11508. #if E_STEPPERS > 3
  11509. case 3: E3_ENABLE_WRITE(oldstatus); break;
  11510. #if E_STEPPERS > 4
  11511. case 4: E4_ENABLE_WRITE(oldstatus); break;
  11512. #endif // E_STEPPERS > 4
  11513. #endif // E_STEPPERS > 3
  11514. #endif // E_STEPPERS > 2
  11515. #endif // E_STEPPERS > 1
  11516. }
  11517. #endif // !SWITCHING_EXTRUDER
  11518. }
  11519. #endif // EXTRUDER_RUNOUT_PREVENT
  11520. #if ENABLED(DUAL_X_CARRIAGE)
  11521. // handle delayed move timeout
  11522. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  11523. // travel moves have been received so enact them
  11524. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  11525. set_destination_from_current();
  11526. prepare_move_to_destination();
  11527. }
  11528. #endif
  11529. #if ENABLED(TEMP_STAT_LEDS)
  11530. handle_status_leds();
  11531. #endif
  11532. #if ENABLED(HAVE_TMC2130)
  11533. checkOverTemp();
  11534. #endif
  11535. planner.check_axes_activity();
  11536. }
  11537. /**
  11538. * Standard idle routine keeps the machine alive
  11539. */
  11540. void idle(
  11541. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11542. bool no_stepper_sleep/*=false*/
  11543. #endif
  11544. ) {
  11545. #if ENABLED(MAX7219_DEBUG)
  11546. Max7219_idle_tasks();
  11547. #endif // MAX7219_DEBUG
  11548. lcd_update();
  11549. host_keepalive();
  11550. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  11551. auto_report_temperatures();
  11552. #endif
  11553. manage_inactivity(
  11554. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11555. no_stepper_sleep
  11556. #endif
  11557. );
  11558. thermalManager.manage_heater();
  11559. #if ENABLED(PRINTCOUNTER)
  11560. print_job_timer.tick();
  11561. #endif
  11562. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  11563. buzzer.tick();
  11564. #endif
  11565. #if ENABLED(I2C_POSITION_ENCODERS)
  11566. if (planner.blocks_queued() &&
  11567. ( (blockBufferIndexRef != planner.block_buffer_head) ||
  11568. ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
  11569. blockBufferIndexRef = planner.block_buffer_head;
  11570. I2CPEM.update();
  11571. lastUpdateMillis = millis();
  11572. }
  11573. #endif
  11574. }
  11575. /**
  11576. * Kill all activity and lock the machine.
  11577. * After this the machine will need to be reset.
  11578. */
  11579. void kill(const char* lcd_msg) {
  11580. SERIAL_ERROR_START();
  11581. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  11582. thermalManager.disable_all_heaters();
  11583. disable_all_steppers();
  11584. #if ENABLED(ULTRA_LCD)
  11585. kill_screen(lcd_msg);
  11586. #else
  11587. UNUSED(lcd_msg);
  11588. #endif
  11589. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  11590. cli(); // Stop interrupts
  11591. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  11592. thermalManager.disable_all_heaters(); //turn off heaters again
  11593. #ifdef ACTION_ON_KILL
  11594. SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
  11595. #endif
  11596. #if HAS_POWER_SWITCH
  11597. SET_INPUT(PS_ON_PIN);
  11598. #endif
  11599. suicide();
  11600. while (1) {
  11601. #if ENABLED(USE_WATCHDOG)
  11602. watchdog_reset();
  11603. #endif
  11604. } // Wait for reset
  11605. }
  11606. /**
  11607. * Turn off heaters and stop the print in progress
  11608. * After a stop the machine may be resumed with M999
  11609. */
  11610. void stop() {
  11611. thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
  11612. #if ENABLED(PROBING_FANS_OFF)
  11613. if (fans_paused) fans_pause(false); // put things back the way they were
  11614. #endif
  11615. if (IsRunning()) {
  11616. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  11617. SERIAL_ERROR_START();
  11618. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  11619. LCD_MESSAGEPGM(MSG_STOPPED);
  11620. safe_delay(350); // allow enough time for messages to get out before stopping
  11621. Running = false;
  11622. }
  11623. }
  11624. /**
  11625. * Marlin entry-point: Set up before the program loop
  11626. * - Set up the kill pin, filament runout, power hold
  11627. * - Start the serial port
  11628. * - Print startup messages and diagnostics
  11629. * - Get EEPROM or default settings
  11630. * - Initialize managers for:
  11631. * • temperature
  11632. * • planner
  11633. * • watchdog
  11634. * • stepper
  11635. * • photo pin
  11636. * • servos
  11637. * • LCD controller
  11638. * • Digipot I2C
  11639. * • Z probe sled
  11640. * • status LEDs
  11641. */
  11642. void setup() {
  11643. #if ENABLED(MAX7219_DEBUG)
  11644. Max7219_init();
  11645. #endif
  11646. #if ENABLED(DISABLE_JTAG)
  11647. // Disable JTAG on AT90USB chips to free up pins for IO
  11648. MCUCR = 0x80;
  11649. MCUCR = 0x80;
  11650. #endif
  11651. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11652. setup_filrunoutpin();
  11653. #endif
  11654. setup_killpin();
  11655. setup_powerhold();
  11656. #if HAS_STEPPER_RESET
  11657. disableStepperDrivers();
  11658. #endif
  11659. MYSERIAL.begin(BAUDRATE);
  11660. SERIAL_PROTOCOLLNPGM("start");
  11661. SERIAL_ECHO_START();
  11662. // Check startup - does nothing if bootloader sets MCUSR to 0
  11663. byte mcu = MCUSR;
  11664. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  11665. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  11666. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  11667. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  11668. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  11669. MCUSR = 0;
  11670. SERIAL_ECHOPGM(MSG_MARLIN);
  11671. SERIAL_CHAR(' ');
  11672. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  11673. SERIAL_EOL();
  11674. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  11675. SERIAL_ECHO_START();
  11676. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  11677. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  11678. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  11679. SERIAL_ECHO_START();
  11680. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  11681. #endif
  11682. SERIAL_ECHO_START();
  11683. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  11684. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  11685. // Send "ok" after commands by default
  11686. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  11687. // Load data from EEPROM if available (or use defaults)
  11688. // This also updates variables in the planner, elsewhere
  11689. (void)settings.load();
  11690. #if HAS_M206_COMMAND
  11691. // Initialize current position based on home_offset
  11692. COPY(current_position, home_offset);
  11693. #else
  11694. ZERO(current_position);
  11695. #endif
  11696. // Vital to init stepper/planner equivalent for current_position
  11697. SYNC_PLAN_POSITION_KINEMATIC();
  11698. thermalManager.init(); // Initialize temperature loop
  11699. #if ENABLED(USE_WATCHDOG)
  11700. watchdog_init();
  11701. #endif
  11702. stepper.init(); // Initialize stepper, this enables interrupts!
  11703. servo_init();
  11704. #if HAS_PHOTOGRAPH
  11705. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  11706. #endif
  11707. #if HAS_CASE_LIGHT
  11708. case_light_on = CASE_LIGHT_DEFAULT_ON;
  11709. case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS;
  11710. update_case_light();
  11711. #endif
  11712. #if ENABLED(SPINDLE_LASER_ENABLE)
  11713. OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
  11714. #if SPINDLE_DIR_CHANGE
  11715. OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
  11716. #endif
  11717. #if ENABLED(SPINDLE_LASER_PWM)
  11718. SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
  11719. analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
  11720. #endif
  11721. #endif
  11722. #if HAS_BED_PROBE
  11723. endstops.enable_z_probe(false);
  11724. #endif
  11725. #if ENABLED(USE_CONTROLLER_FAN)
  11726. SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
  11727. #endif
  11728. #if HAS_STEPPER_RESET
  11729. enableStepperDrivers();
  11730. #endif
  11731. #if ENABLED(DIGIPOT_I2C)
  11732. digipot_i2c_init();
  11733. #endif
  11734. #if ENABLED(DAC_STEPPER_CURRENT)
  11735. dac_init();
  11736. #endif
  11737. #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
  11738. OUT_WRITE(SOL1_PIN, LOW); // turn it off
  11739. #endif
  11740. #if HAS_HOME
  11741. SET_INPUT_PULLUP(HOME_PIN);
  11742. #endif
  11743. #if PIN_EXISTS(STAT_LED_RED)
  11744. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  11745. #endif
  11746. #if PIN_EXISTS(STAT_LED_BLUE)
  11747. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  11748. #endif
  11749. #if ENABLED(NEOPIXEL_LED)
  11750. SET_OUTPUT(NEOPIXEL_PIN);
  11751. setup_neopixel();
  11752. #endif
  11753. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  11754. SET_OUTPUT(RGB_LED_R_PIN);
  11755. SET_OUTPUT(RGB_LED_G_PIN);
  11756. SET_OUTPUT(RGB_LED_B_PIN);
  11757. #if ENABLED(RGBW_LED)
  11758. SET_OUTPUT(RGB_LED_W_PIN);
  11759. #endif
  11760. #endif
  11761. #if ENABLED(MK2_MULTIPLEXER)
  11762. SET_OUTPUT(E_MUX0_PIN);
  11763. SET_OUTPUT(E_MUX1_PIN);
  11764. SET_OUTPUT(E_MUX2_PIN);
  11765. #endif
  11766. #if HAS_FANMUX
  11767. fanmux_init();
  11768. #endif
  11769. lcd_init();
  11770. #if ENABLED(SHOW_BOOTSCREEN)
  11771. lcd_bootscreen();
  11772. #endif
  11773. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  11774. // Initialize mixing to 100% color 1
  11775. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11776. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  11777. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  11778. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11779. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  11780. #endif
  11781. #if ENABLED(BLTOUCH)
  11782. // Make sure any BLTouch error condition is cleared
  11783. bltouch_command(BLTOUCH_RESET);
  11784. set_bltouch_deployed(true);
  11785. set_bltouch_deployed(false);
  11786. #endif
  11787. #if ENABLED(I2C_POSITION_ENCODERS)
  11788. I2CPEM.init();
  11789. #endif
  11790. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  11791. i2c.onReceive(i2c_on_receive);
  11792. i2c.onRequest(i2c_on_request);
  11793. #endif
  11794. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  11795. setup_endstop_interrupts();
  11796. #endif
  11797. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  11798. move_extruder_servo(0); // Initialize extruder servo
  11799. #endif
  11800. #if ENABLED(SWITCHING_NOZZLE)
  11801. move_nozzle_servo(0); // Initialize nozzle servo
  11802. #endif
  11803. #if ENABLED(PARKING_EXTRUDER)
  11804. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  11805. pe_activate_magnet(0);
  11806. pe_activate_magnet(1);
  11807. #else
  11808. pe_deactivate_magnet(0);
  11809. pe_deactivate_magnet(1);
  11810. #endif
  11811. #endif
  11812. #if ENABLED(MKS_12864OLED)
  11813. SET_OUTPUT(LCD_PINS_DC);
  11814. OUT_WRITE(LCD_PINS_RS, LOW);
  11815. delay(1000);
  11816. WRITE(LCD_PINS_RS, HIGH);
  11817. #endif
  11818. }
  11819. /**
  11820. * The main Marlin program loop
  11821. *
  11822. * - Save or log commands to SD
  11823. * - Process available commands (if not saving)
  11824. * - Call heater manager
  11825. * - Call inactivity manager
  11826. * - Call endstop manager
  11827. * - Call LCD update
  11828. */
  11829. void loop() {
  11830. if (commands_in_queue < BUFSIZE) get_available_commands();
  11831. #if ENABLED(SDSUPPORT)
  11832. card.checkautostart(false);
  11833. #endif
  11834. if (commands_in_queue) {
  11835. #if ENABLED(SDSUPPORT)
  11836. if (card.saving) {
  11837. char* command = command_queue[cmd_queue_index_r];
  11838. if (strstr_P(command, PSTR("M29"))) {
  11839. // M29 closes the file
  11840. card.closefile();
  11841. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  11842. #if ENABLED(SERIAL_STATS_DROPPED_RX)
  11843. SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
  11844. #endif
  11845. #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
  11846. SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
  11847. #endif
  11848. ok_to_send();
  11849. }
  11850. else {
  11851. // Write the string from the read buffer to SD
  11852. card.write_command(command);
  11853. if (card.logging)
  11854. process_next_command(); // The card is saving because it's logging
  11855. else
  11856. ok_to_send();
  11857. }
  11858. }
  11859. else
  11860. process_next_command();
  11861. #else
  11862. process_next_command();
  11863. #endif // SDSUPPORT
  11864. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  11865. if (commands_in_queue) {
  11866. --commands_in_queue;
  11867. if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
  11868. }
  11869. }
  11870. endstops.report_state();
  11871. idle();
  11872. }