My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 279KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. *
  24. * About Marlin
  25. *
  26. * This firmware is a mashup between Sprinter and grbl.
  27. * - https://github.com/kliment/Sprinter
  28. * - https://github.com/simen/grbl/tree
  29. *
  30. * It has preliminary support for Matthew Roberts advance algorithm
  31. * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  32. */
  33. #include "Marlin.h"
  34. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  35. #include "vector_3.h"
  36. #if ENABLED(AUTO_BED_LEVELING_GRID)
  37. #include "qr_solve.h"
  38. #endif
  39. #endif // AUTO_BED_LEVELING_FEATURE
  40. #if ENABLED(MESH_BED_LEVELING)
  41. #include "mesh_bed_leveling.h"
  42. #endif
  43. #if ENABLED(BEZIER_CURVE_SUPPORT)
  44. #include "planner_bezier.h"
  45. #endif
  46. #include "ultralcd.h"
  47. #include "planner.h"
  48. #include "stepper.h"
  49. #include "endstops.h"
  50. #include "temperature.h"
  51. #include "cardreader.h"
  52. #include "configuration_store.h"
  53. #include "language.h"
  54. #include "pins_arduino.h"
  55. #include "math.h"
  56. #include "nozzle.h"
  57. #include "duration_t.h"
  58. #include "types.h"
  59. #if ENABLED(USE_WATCHDOG)
  60. #include "watchdog.h"
  61. #endif
  62. #if ENABLED(BLINKM)
  63. #include "blinkm.h"
  64. #include "Wire.h"
  65. #endif
  66. #if HAS_SERVOS
  67. #include "servo.h"
  68. #endif
  69. #if HAS_DIGIPOTSS
  70. #include <SPI.h>
  71. #endif
  72. #if ENABLED(DAC_STEPPER_CURRENT)
  73. #include "stepper_dac.h"
  74. #endif
  75. #if ENABLED(EXPERIMENTAL_I2CBUS)
  76. #include "twibus.h"
  77. #endif
  78. /**
  79. * Look here for descriptions of G-codes:
  80. * - http://linuxcnc.org/handbook/gcode/g-code.html
  81. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  82. *
  83. * Help us document these G-codes online:
  84. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  85. * - http://reprap.org/wiki/G-code
  86. *
  87. * -----------------
  88. * Implemented Codes
  89. * -----------------
  90. *
  91. * "G" Codes
  92. *
  93. * G0 -> G1
  94. * G1 - Coordinated Movement X Y Z E
  95. * G2 - CW ARC
  96. * G3 - CCW ARC
  97. * G4 - Dwell S<seconds> or P<milliseconds>
  98. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  99. * G10 - Retract filament according to settings of M207
  100. * G11 - Retract recover filament according to settings of M208
  101. * G12 - Clean tool
  102. * G20 - Set input units to inches
  103. * G21 - Set input units to millimeters
  104. * G28 - Home one or more axes
  105. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  106. * G30 - Single Z probe, probes bed at current XY location.
  107. * G31 - Dock sled (Z_PROBE_SLED only)
  108. * G32 - Undock sled (Z_PROBE_SLED only)
  109. * G90 - Use Absolute Coordinates
  110. * G91 - Use Relative Coordinates
  111. * G92 - Set current position to coordinates given
  112. *
  113. * "M" Codes
  114. *
  115. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  116. * M1 - Same as M0
  117. * M17 - Enable/Power all stepper motors
  118. * M18 - Disable all stepper motors; same as M84
  119. * M20 - List SD card
  120. * M21 - Init SD card
  121. * M22 - Release SD card
  122. * M23 - Select SD file (M23 filename.g)
  123. * M24 - Start/resume SD print
  124. * M25 - Pause SD print
  125. * M26 - Set SD position in bytes (M26 S12345)
  126. * M27 - Report SD print status
  127. * M28 - Start SD write (M28 filename.g)
  128. * M29 - Stop SD write
  129. * M30 - Delete file from SD (M30 filename.g)
  130. * M31 - Output time since last M109 or SD card start to serial
  131. * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  132. * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  133. * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  134. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  135. * M33 - Get the longname version of a path
  136. * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  137. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  138. * M75 - Start the print job timer
  139. * M76 - Pause the print job timer
  140. * M77 - Stop the print job timer
  141. * M78 - Show statistical information about the print jobs
  142. * M80 - Turn on Power Supply
  143. * M81 - Turn off Power Supply
  144. * M82 - Set E codes absolute (default)
  145. * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  146. * M84 - Disable steppers until next move,
  147. * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  148. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  149. * M92 - Set planner.axis_steps_per_mm - same syntax as G92
  150. * M104 - Set extruder target temp
  151. * M105 - Read current temp
  152. * M106 - Fan on
  153. * M107 - Fan off
  154. * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  155. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  156. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  157. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  158. * M110 - Set the current line number
  159. * M111 - Set debug flags with S<mask>. See flag bits defined in enum.h.
  160. * M112 - Emergency stop
  161. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  162. * M114 - Output current position to serial port
  163. * M115 - Capabilities string
  164. * M117 - Display a message on the controller screen
  165. * M119 - Output Endstop status to serial port
  166. * M120 - Enable endstop detection
  167. * M121 - Disable endstop detection
  168. * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  169. * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  170. * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  171. * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  172. * M140 - Set bed target temp
  173. * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  174. * M149 - Set temperature units
  175. * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  176. * M163 - Set a single proportion for a mixing extruder. Requires MIXING_EXTRUDER.
  177. * M164 - Save the mix as a virtual extruder. Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
  178. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires MIXING_EXTRUDER.
  179. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  180. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  181. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  182. * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  183. * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  184. * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  185. * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in units/sec^2
  186. * M205 - Set advanced settings. Current units apply:
  187. S<print> T<travel> minimum speeds
  188. B<minimum segment time>
  189. X<max xy jerk>, Z<max Z jerk>, E<max E jerk>
  190. * M206 - Set additional homing offset
  191. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  192. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  193. * M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
  194. Every normal extrude-only move will be classified as retract depending on the direction.
  195. * M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
  196. * M218 - Set a tool offset: T<index> X<offset> Y<offset>
  197. * M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  198. * M221 - Set Flow Percentage: S<percent>
  199. * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
  200. * M240 - Trigger a camera to take a photograph
  201. * M250 - Set LCD contrast C<contrast value> (value 0..63)
  202. * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  203. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  204. * M301 - Set PID parameters P I and D
  205. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  206. * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  207. * M304 - Set bed PID parameters P I and D
  208. * M380 - Activate solenoid on active extruder
  209. * M381 - Disable all solenoids
  210. * M400 - Finish all moves
  211. * M401 - Lower Z probe if present
  212. * M402 - Raise Z probe if present
  213. * M404 - Display or set the Nominal Filament Width: [ N<diameter> ]
  214. * M405 - Enable Filament Sensor extrusion control. Optional delay between sensor and extruder: D<cm>
  215. * M406 - Disable Filament Sensor extrusion control
  216. * M407 - Display measured filament diameter in millimeters
  217. * M410 - Quickstop. Abort all the planned moves
  218. * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
  219. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units>
  220. * M428 - Set the home_offset logically based on the current_position
  221. * M500 - Store parameters in EEPROM
  222. * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  223. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  224. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  225. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  226. * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  227. * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
  228. * M666 - Set delta endstop adjustment
  229. * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  230. * M851 - Set Z probe's Z offset in current units. (Negative values apply to probes that extend below the nozzle.)
  231. * M907 - Set digital trimpot motor current using axis codes.
  232. * M908 - Control digital trimpot directly.
  233. * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
  234. * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
  235. * M350 - Set microstepping mode.
  236. * M351 - Toggle MS1 MS2 pins directly.
  237. *
  238. * ************ SCARA Specific - This can change to suit future G-code regulations
  239. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  240. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  241. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  242. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  243. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  244. * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
  245. * ************* SCARA End ***************
  246. *
  247. * ************ Custom codes - This can change to suit future G-code regulations
  248. * M100 - Watch Free Memory (For Debugging Only)
  249. * M928 - Start SD logging (M928 filename.g) - ended by M29
  250. * M999 - Restart after being stopped by error
  251. *
  252. * "T" Codes
  253. *
  254. * T0-T3 - Select a tool by index (usually an extruder) [ F<units/min> ]
  255. *
  256. */
  257. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  258. void gcode_M100();
  259. #endif
  260. #if ENABLED(SDSUPPORT)
  261. CardReader card;
  262. #endif
  263. #if ENABLED(EXPERIMENTAL_I2CBUS)
  264. TWIBus i2c;
  265. #endif
  266. bool Running = true;
  267. uint8_t marlin_debug_flags = DEBUG_NONE;
  268. float current_position[NUM_AXIS] = { 0.0 };
  269. static float destination[NUM_AXIS] = { 0.0 };
  270. bool axis_known_position[XYZ] = { false };
  271. bool axis_homed[XYZ] = { false };
  272. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  273. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  274. static char* current_command, *current_command_args;
  275. static uint8_t cmd_queue_index_r = 0,
  276. cmd_queue_index_w = 0,
  277. commands_in_queue = 0;
  278. #if ENABLED(INCH_MODE_SUPPORT)
  279. float linear_unit_factor = 1.0;
  280. float volumetric_unit_factor = 1.0;
  281. #endif
  282. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  283. TempUnit input_temp_units = TEMPUNIT_C;
  284. #endif
  285. /**
  286. * Feed rates are often configured with mm/m
  287. * but the planner and stepper like mm/s units.
  288. */
  289. const float homing_feedrate_mm_s[] = {
  290. #if ENABLED(DELTA)
  291. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  292. #else
  293. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  294. #endif
  295. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  296. };
  297. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  298. int feedrate_percentage = 100, saved_feedrate_percentage;
  299. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  300. int flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  301. bool volumetric_enabled = false;
  302. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
  303. float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  304. // The distance that XYZ has been offset by G92. Reset by G28.
  305. float position_shift[XYZ] = { 0 };
  306. // This offset is added to the configured home position.
  307. // Set by M206, M428, or menu item. Saved to EEPROM.
  308. float home_offset[XYZ] = { 0 };
  309. // Software Endstops are based on the configured limits.
  310. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  311. bool soft_endstops_enabled = true;
  312. #endif
  313. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  314. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  315. #if FAN_COUNT > 0
  316. int fanSpeeds[FAN_COUNT] = { 0 };
  317. #endif
  318. // The active extruder (tool). Set with T<extruder> command.
  319. uint8_t active_extruder = 0;
  320. // Relative Mode. Enable with G91, disable with G90.
  321. static bool relative_mode = false;
  322. volatile bool wait_for_heatup = true;
  323. const char errormagic[] PROGMEM = "Error:";
  324. const char echomagic[] PROGMEM = "echo:";
  325. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  326. static int serial_count = 0;
  327. // GCode parameter pointer used by code_seen(), code_value_float(), etc.
  328. static char* seen_pointer;
  329. // Next Immediate GCode Command pointer. NULL if none.
  330. const char* queued_commands_P = NULL;
  331. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  332. // Inactivity shutdown
  333. millis_t previous_cmd_ms = 0;
  334. static millis_t max_inactive_time = 0;
  335. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  336. // Print Job Timer
  337. #if ENABLED(PRINTCOUNTER)
  338. PrintCounter print_job_timer = PrintCounter();
  339. #else
  340. Stopwatch print_job_timer = Stopwatch();
  341. #endif
  342. // Buzzer - I2C on the LCD or a BEEPER_PIN
  343. #if ENABLED(LCD_USE_I2C_BUZZER)
  344. #define BUZZ(d,f) lcd_buzz(d, f)
  345. #elif HAS_BUZZER
  346. Buzzer buzzer;
  347. #define BUZZ(d,f) buzzer.tone(d, f)
  348. #else
  349. #define BUZZ(d,f) NOOP
  350. #endif
  351. static uint8_t target_extruder;
  352. #if HAS_BED_PROBE
  353. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  354. #endif
  355. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  356. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  357. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  358. bool bed_leveling_in_progress = false;
  359. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  360. #elif defined(XY_PROBE_SPEED)
  361. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  362. #else
  363. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  364. #endif
  365. #if ENABLED(Z_DUAL_ENDSTOPS)
  366. float z_endstop_adj = 0;
  367. #endif
  368. // Extruder offsets
  369. #if HOTENDS > 1
  370. float hotend_offset[][HOTENDS] = {
  371. HOTEND_OFFSET_X,
  372. HOTEND_OFFSET_Y
  373. #ifdef HOTEND_OFFSET_Z
  374. , HOTEND_OFFSET_Z
  375. #endif
  376. };
  377. #endif
  378. #if HAS_Z_SERVO_ENDSTOP
  379. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  380. #endif
  381. #if ENABLED(BARICUDA)
  382. int baricuda_valve_pressure = 0;
  383. int baricuda_e_to_p_pressure = 0;
  384. #endif
  385. #if ENABLED(FWRETRACT)
  386. bool autoretract_enabled = false;
  387. bool retracted[EXTRUDERS] = { false };
  388. bool retracted_swap[EXTRUDERS] = { false };
  389. float retract_length = RETRACT_LENGTH;
  390. float retract_length_swap = RETRACT_LENGTH_SWAP;
  391. float retract_feedrate_mm_s = RETRACT_FEEDRATE;
  392. float retract_zlift = RETRACT_ZLIFT;
  393. float retract_recover_length = RETRACT_RECOVER_LENGTH;
  394. float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  395. float retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
  396. #endif // FWRETRACT
  397. #if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  398. bool powersupply =
  399. #if ENABLED(PS_DEFAULT_OFF)
  400. false
  401. #else
  402. true
  403. #endif
  404. ;
  405. #endif
  406. #if ENABLED(DELTA)
  407. #define SIN_60 0.8660254037844386
  408. #define COS_60 0.5
  409. float delta[ABC],
  410. cartesian_position[XYZ] = { 0 },
  411. endstop_adj[ABC] = { 0 };
  412. // these are the default values, can be overriden with M665
  413. float delta_radius = DELTA_RADIUS,
  414. delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
  415. delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
  416. delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
  417. delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
  418. delta_tower3_x = 0, // back middle tower
  419. delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
  420. delta_diagonal_rod = DELTA_DIAGONAL_ROD,
  421. delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
  422. delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
  423. delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
  424. delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
  425. delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
  426. delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
  427. delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
  428. delta_clip_start_height = Z_MAX_POS;
  429. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  430. int delta_grid_spacing[2] = { 0, 0 };
  431. float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  432. #endif
  433. float delta_safe_distance_from_top();
  434. void set_cartesian_from_steppers();
  435. #else
  436. static bool home_all_axis = true;
  437. #endif
  438. #if ENABLED(SCARA)
  439. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  440. delta[ABC],
  441. axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1
  442. cartesian_position[XYZ] = { 0 };
  443. void set_cartesian_from_steppers() { } // to be written later
  444. #endif
  445. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  446. bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
  447. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
  448. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  449. int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  450. int filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  451. int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
  452. #endif
  453. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  454. static bool filament_ran_out = false;
  455. #endif
  456. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  457. FilamentChangeMenuResponse filament_change_menu_response;
  458. #endif
  459. #if ENABLED(MIXING_EXTRUDER)
  460. float mixing_factor[MIXING_STEPPERS];
  461. #if MIXING_VIRTUAL_TOOLS > 1
  462. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  463. #endif
  464. #endif
  465. static bool send_ok[BUFSIZE];
  466. #if HAS_SERVOS
  467. Servo servo[NUM_SERVOS];
  468. #define MOVE_SERVO(I, P) servo[I].move(P)
  469. #if HAS_Z_SERVO_ENDSTOP
  470. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  471. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  472. #endif
  473. #endif
  474. #ifdef CHDK
  475. millis_t chdkHigh = 0;
  476. boolean chdkActive = false;
  477. #endif
  478. #if ENABLED(PID_EXTRUSION_SCALING)
  479. int lpq_len = 20;
  480. #endif
  481. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  482. static MarlinBusyState busy_state = NOT_BUSY;
  483. static millis_t next_busy_signal_ms = 0;
  484. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  485. #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  486. #else
  487. #define host_keepalive() ;
  488. #define KEEPALIVE_STATE(n) ;
  489. #endif // HOST_KEEPALIVE_FEATURE
  490. #define DEFINE_PGM_READ_ANY(type, reader) \
  491. static inline type pgm_read_any(const type *p) \
  492. { return pgm_read_##reader##_near(p); }
  493. DEFINE_PGM_READ_ANY(float, float);
  494. DEFINE_PGM_READ_ANY(signed char, byte);
  495. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  496. static const PROGMEM type array##_P[XYZ] = \
  497. { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  498. static inline type array(int axis) \
  499. { return pgm_read_any(&array##_P[axis]); }
  500. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  501. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  502. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  503. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  504. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  505. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  506. /**
  507. * ***************************************************************************
  508. * ******************************** FUNCTIONS ********************************
  509. * ***************************************************************************
  510. */
  511. void stop();
  512. void get_available_commands();
  513. void process_next_command();
  514. void prepare_move_to_destination();
  515. void set_current_from_steppers_for_axis(AxisEnum axis);
  516. #if ENABLED(ARC_SUPPORT)
  517. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  518. #endif
  519. #if ENABLED(BEZIER_CURVE_SUPPORT)
  520. void plan_cubic_move(const float offset[4]);
  521. #endif
  522. void serial_echopair_P(const char* s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  523. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  524. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  525. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  526. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  527. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  528. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  529. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  530. static void report_current_position();
  531. #if ENABLED(DEBUG_LEVELING_FEATURE)
  532. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  533. serialprintPGM(prefix);
  534. SERIAL_ECHOPAIR("(", x);
  535. SERIAL_ECHOPAIR(", ", y);
  536. SERIAL_ECHOPAIR(", ", z);
  537. SERIAL_ECHOPGM(")");
  538. if (suffix) serialprintPGM(suffix);
  539. else SERIAL_EOL;
  540. }
  541. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  542. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  543. }
  544. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  545. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  546. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  547. }
  548. #endif
  549. #define DEBUG_POS(SUFFIX,VAR) do { \
  550. print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  551. #endif
  552. /**
  553. * sync_plan_position
  554. * Set planner / stepper positions to the cartesian current_position.
  555. * The stepper code translates these coordinates into step units.
  556. * Allows translation between steps and millimeters for cartesian & core robots
  557. */
  558. inline void sync_plan_position() {
  559. #if ENABLED(DEBUG_LEVELING_FEATURE)
  560. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  561. #endif
  562. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  563. }
  564. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  565. #if ENABLED(DELTA) || ENABLED(SCARA)
  566. inline void sync_plan_position_delta() {
  567. #if ENABLED(DEBUG_LEVELING_FEATURE)
  568. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
  569. #endif
  570. inverse_kinematics(current_position);
  571. planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  572. }
  573. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
  574. #else
  575. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  576. #endif
  577. #if ENABLED(SDSUPPORT)
  578. #include "SdFatUtil.h"
  579. int freeMemory() { return SdFatUtil::FreeRam(); }
  580. #else
  581. extern "C" {
  582. extern unsigned int __bss_end;
  583. extern unsigned int __heap_start;
  584. extern void* __brkval;
  585. int freeMemory() {
  586. int free_memory;
  587. if ((int)__brkval == 0)
  588. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  589. else
  590. free_memory = ((int)&free_memory) - ((int)__brkval);
  591. return free_memory;
  592. }
  593. }
  594. #endif //!SDSUPPORT
  595. #if ENABLED(DIGIPOT_I2C)
  596. extern void digipot_i2c_set_current(int channel, float current);
  597. extern void digipot_i2c_init();
  598. #endif
  599. /**
  600. * Inject the next "immediate" command, when possible.
  601. * Return true if any immediate commands remain to inject.
  602. */
  603. static bool drain_queued_commands_P() {
  604. if (queued_commands_P != NULL) {
  605. size_t i = 0;
  606. char c, cmd[30];
  607. strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  608. cmd[sizeof(cmd) - 1] = '\0';
  609. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  610. cmd[i] = '\0';
  611. if (enqueue_and_echo_command(cmd)) { // success?
  612. if (c) // newline char?
  613. queued_commands_P += i + 1; // advance to the next command
  614. else
  615. queued_commands_P = NULL; // nul char? no more commands
  616. }
  617. }
  618. return (queued_commands_P != NULL); // return whether any more remain
  619. }
  620. /**
  621. * Record one or many commands to run from program memory.
  622. * Aborts the current queue, if any.
  623. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  624. */
  625. void enqueue_and_echo_commands_P(const char* pgcode) {
  626. queued_commands_P = pgcode;
  627. drain_queued_commands_P(); // first command executed asap (when possible)
  628. }
  629. void clear_command_queue() {
  630. cmd_queue_index_r = cmd_queue_index_w;
  631. commands_in_queue = 0;
  632. }
  633. /**
  634. * Once a new command is in the ring buffer, call this to commit it
  635. */
  636. inline void _commit_command(bool say_ok) {
  637. send_ok[cmd_queue_index_w] = say_ok;
  638. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  639. commands_in_queue++;
  640. }
  641. /**
  642. * Copy a command directly into the main command buffer, from RAM.
  643. * Returns true if successfully adds the command
  644. */
  645. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  646. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  647. strcpy(command_queue[cmd_queue_index_w], cmd);
  648. _commit_command(say_ok);
  649. return true;
  650. }
  651. void enqueue_and_echo_command_now(const char* cmd) {
  652. while (!enqueue_and_echo_command(cmd)) idle();
  653. }
  654. /**
  655. * Enqueue with Serial Echo
  656. */
  657. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  658. if (_enqueuecommand(cmd, say_ok)) {
  659. SERIAL_ECHO_START;
  660. SERIAL_ECHOPGM(MSG_Enqueueing);
  661. SERIAL_ECHO(cmd);
  662. SERIAL_ECHOLNPGM("\"");
  663. return true;
  664. }
  665. return false;
  666. }
  667. void setup_killpin() {
  668. #if HAS_KILL
  669. SET_INPUT(KILL_PIN);
  670. WRITE(KILL_PIN, HIGH);
  671. #endif
  672. }
  673. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  674. void setup_filrunoutpin() {
  675. pinMode(FIL_RUNOUT_PIN, INPUT);
  676. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  677. WRITE(FIL_RUNOUT_PIN, HIGH);
  678. #endif
  679. }
  680. #endif
  681. // Set home pin
  682. void setup_homepin(void) {
  683. #if HAS_HOME
  684. SET_INPUT(HOME_PIN);
  685. WRITE(HOME_PIN, HIGH);
  686. #endif
  687. }
  688. void setup_photpin() {
  689. #if HAS_PHOTOGRAPH
  690. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  691. #endif
  692. }
  693. void setup_powerhold() {
  694. #if HAS_SUICIDE
  695. OUT_WRITE(SUICIDE_PIN, HIGH);
  696. #endif
  697. #if HAS_POWER_SWITCH
  698. #if ENABLED(PS_DEFAULT_OFF)
  699. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  700. #else
  701. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  702. #endif
  703. #endif
  704. }
  705. void suicide() {
  706. #if HAS_SUICIDE
  707. OUT_WRITE(SUICIDE_PIN, LOW);
  708. #endif
  709. }
  710. void servo_init() {
  711. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  712. servo[0].attach(SERVO0_PIN);
  713. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  714. #endif
  715. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  716. servo[1].attach(SERVO1_PIN);
  717. servo[1].detach();
  718. #endif
  719. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  720. servo[2].attach(SERVO2_PIN);
  721. servo[2].detach();
  722. #endif
  723. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  724. servo[3].attach(SERVO3_PIN);
  725. servo[3].detach();
  726. #endif
  727. #if HAS_Z_SERVO_ENDSTOP
  728. /**
  729. * Set position of Z Servo Endstop
  730. *
  731. * The servo might be deployed and positioned too low to stow
  732. * when starting up the machine or rebooting the board.
  733. * There's no way to know where the nozzle is positioned until
  734. * homing has been done - no homing with z-probe without init!
  735. *
  736. */
  737. STOW_Z_SERVO();
  738. #endif
  739. #if HAS_BED_PROBE
  740. endstops.enable_z_probe(false);
  741. #endif
  742. }
  743. /**
  744. * Stepper Reset (RigidBoard, et.al.)
  745. */
  746. #if HAS_STEPPER_RESET
  747. void disableStepperDrivers() {
  748. pinMode(STEPPER_RESET_PIN, OUTPUT);
  749. digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  750. }
  751. void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
  752. #endif
  753. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  754. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  755. i2c.receive(bytes);
  756. }
  757. void i2c_on_request() { // just send dummy data for now
  758. i2c.reply("Hello World!\n");
  759. }
  760. #endif
  761. /**
  762. * Marlin entry-point: Set up before the program loop
  763. * - Set up the kill pin, filament runout, power hold
  764. * - Start the serial port
  765. * - Print startup messages and diagnostics
  766. * - Get EEPROM or default settings
  767. * - Initialize managers for:
  768. * • temperature
  769. * • planner
  770. * • watchdog
  771. * • stepper
  772. * • photo pin
  773. * • servos
  774. * • LCD controller
  775. * • Digipot I2C
  776. * • Z probe sled
  777. * • status LEDs
  778. */
  779. void setup() {
  780. #ifdef DISABLE_JTAG
  781. // Disable JTAG on AT90USB chips to free up pins for IO
  782. MCUCR = 0x80;
  783. MCUCR = 0x80;
  784. #endif
  785. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  786. setup_filrunoutpin();
  787. #endif
  788. setup_killpin();
  789. setup_powerhold();
  790. #if HAS_STEPPER_RESET
  791. disableStepperDrivers();
  792. #endif
  793. MYSERIAL.begin(BAUDRATE);
  794. SERIAL_PROTOCOLLNPGM("start");
  795. SERIAL_ECHO_START;
  796. // Check startup - does nothing if bootloader sets MCUSR to 0
  797. byte mcu = MCUSR;
  798. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  799. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  800. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  801. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  802. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  803. MCUSR = 0;
  804. SERIAL_ECHOPGM(MSG_MARLIN);
  805. SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
  806. #ifdef STRING_DISTRIBUTION_DATE
  807. #ifdef STRING_CONFIG_H_AUTHOR
  808. SERIAL_ECHO_START;
  809. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  810. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  811. SERIAL_ECHOPGM(MSG_AUTHOR);
  812. SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
  813. SERIAL_ECHOPGM("Compiled: ");
  814. SERIAL_ECHOLNPGM(__DATE__);
  815. #endif // STRING_CONFIG_H_AUTHOR
  816. #endif // STRING_DISTRIBUTION_DATE
  817. SERIAL_ECHO_START;
  818. SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  819. SERIAL_ECHO(freeMemory());
  820. SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  821. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  822. // Send "ok" after commands by default
  823. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  824. // Load data from EEPROM if available (or use defaults)
  825. // This also updates variables in the planner, elsewhere
  826. Config_RetrieveSettings();
  827. // Initialize current position based on home_offset
  828. memcpy(current_position, home_offset, sizeof(home_offset));
  829. // Vital to init stepper/planner equivalent for current_position
  830. SYNC_PLAN_POSITION_KINEMATIC();
  831. thermalManager.init(); // Initialize temperature loop
  832. #if ENABLED(USE_WATCHDOG)
  833. watchdog_init();
  834. #endif
  835. stepper.init(); // Initialize stepper, this enables interrupts!
  836. setup_photpin();
  837. servo_init();
  838. #if HAS_CONTROLLERFAN
  839. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  840. #endif
  841. #if HAS_STEPPER_RESET
  842. enableStepperDrivers();
  843. #endif
  844. #if ENABLED(DIGIPOT_I2C)
  845. digipot_i2c_init();
  846. #endif
  847. #if ENABLED(DAC_STEPPER_CURRENT)
  848. dac_init();
  849. #endif
  850. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  851. pinMode(SLED_PIN, OUTPUT);
  852. digitalWrite(SLED_PIN, LOW); // turn it off
  853. #endif // Z_PROBE_SLED
  854. setup_homepin();
  855. #ifdef STAT_LED_RED
  856. pinMode(STAT_LED_RED, OUTPUT);
  857. digitalWrite(STAT_LED_RED, LOW); // turn it off
  858. #endif
  859. #ifdef STAT_LED_BLUE
  860. pinMode(STAT_LED_BLUE, OUTPUT);
  861. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  862. #endif
  863. lcd_init();
  864. #if ENABLED(SHOW_BOOTSCREEN)
  865. #if ENABLED(DOGLCD)
  866. safe_delay(BOOTSCREEN_TIMEOUT);
  867. #elif ENABLED(ULTRA_LCD)
  868. bootscreen();
  869. lcd_init();
  870. #endif
  871. #endif
  872. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  873. // Initialize mixing to 100% color 1
  874. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  875. mixing_factor[i] = (i == 0) ? 1 : 0;
  876. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  877. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  878. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  879. #endif
  880. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  881. i2c.onReceive(i2c_on_receive);
  882. i2c.onRequest(i2c_on_request);
  883. #endif
  884. }
  885. /**
  886. * The main Marlin program loop
  887. *
  888. * - Save or log commands to SD
  889. * - Process available commands (if not saving)
  890. * - Call heater manager
  891. * - Call inactivity manager
  892. * - Call endstop manager
  893. * - Call LCD update
  894. */
  895. void loop() {
  896. if (commands_in_queue < BUFSIZE) get_available_commands();
  897. #if ENABLED(SDSUPPORT)
  898. card.checkautostart(false);
  899. #endif
  900. if (commands_in_queue) {
  901. #if ENABLED(SDSUPPORT)
  902. if (card.saving) {
  903. char* command = command_queue[cmd_queue_index_r];
  904. if (strstr_P(command, PSTR("M29"))) {
  905. // M29 closes the file
  906. card.closefile();
  907. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  908. ok_to_send();
  909. }
  910. else {
  911. // Write the string from the read buffer to SD
  912. card.write_command(command);
  913. if (card.logging)
  914. process_next_command(); // The card is saving because it's logging
  915. else
  916. ok_to_send();
  917. }
  918. }
  919. else
  920. process_next_command();
  921. #else
  922. process_next_command();
  923. #endif // SDSUPPORT
  924. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  925. if (commands_in_queue) {
  926. --commands_in_queue;
  927. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  928. }
  929. }
  930. endstops.report_state();
  931. idle();
  932. }
  933. void gcode_line_error(const char* err, bool doFlush = true) {
  934. SERIAL_ERROR_START;
  935. serialprintPGM(err);
  936. SERIAL_ERRORLN(gcode_LastN);
  937. //Serial.println(gcode_N);
  938. if (doFlush) FlushSerialRequestResend();
  939. serial_count = 0;
  940. }
  941. inline void get_serial_commands() {
  942. static char serial_line_buffer[MAX_CMD_SIZE];
  943. static boolean serial_comment_mode = false;
  944. // If the command buffer is empty for too long,
  945. // send "wait" to indicate Marlin is still waiting.
  946. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  947. static millis_t last_command_time = 0;
  948. millis_t ms = millis();
  949. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  950. SERIAL_ECHOLNPGM(MSG_WAIT);
  951. last_command_time = ms;
  952. }
  953. #endif
  954. /**
  955. * Loop while serial characters are incoming and the queue is not full
  956. */
  957. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  958. char serial_char = MYSERIAL.read();
  959. /**
  960. * If the character ends the line
  961. */
  962. if (serial_char == '\n' || serial_char == '\r') {
  963. serial_comment_mode = false; // end of line == end of comment
  964. if (!serial_count) continue; // skip empty lines
  965. serial_line_buffer[serial_count] = 0; // terminate string
  966. serial_count = 0; //reset buffer
  967. char* command = serial_line_buffer;
  968. while (*command == ' ') command++; // skip any leading spaces
  969. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  970. char* apos = strchr(command, '*');
  971. if (npos) {
  972. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  973. if (M110) {
  974. char* n2pos = strchr(command + 4, 'N');
  975. if (n2pos) npos = n2pos;
  976. }
  977. gcode_N = strtol(npos + 1, NULL, 10);
  978. if (gcode_N != gcode_LastN + 1 && !M110) {
  979. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  980. return;
  981. }
  982. if (apos) {
  983. byte checksum = 0, count = 0;
  984. while (command[count] != '*') checksum ^= command[count++];
  985. if (strtol(apos + 1, NULL, 10) != checksum) {
  986. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  987. return;
  988. }
  989. // if no errors, continue parsing
  990. }
  991. else {
  992. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  993. return;
  994. }
  995. gcode_LastN = gcode_N;
  996. // if no errors, continue parsing
  997. }
  998. else if (apos) { // No '*' without 'N'
  999. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  1000. return;
  1001. }
  1002. // Movement commands alert when stopped
  1003. if (IsStopped()) {
  1004. char* gpos = strchr(command, 'G');
  1005. if (gpos) {
  1006. int codenum = strtol(gpos + 1, NULL, 10);
  1007. switch (codenum) {
  1008. case 0:
  1009. case 1:
  1010. case 2:
  1011. case 3:
  1012. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  1013. LCD_MESSAGEPGM(MSG_STOPPED);
  1014. break;
  1015. }
  1016. }
  1017. }
  1018. #if DISABLED(EMERGENCY_PARSER)
  1019. // If command was e-stop process now
  1020. if (strcmp(command, "M108") == 0) wait_for_heatup = false;
  1021. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  1022. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  1023. #endif
  1024. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  1025. last_command_time = ms;
  1026. #endif
  1027. // Add the command to the queue
  1028. _enqueuecommand(serial_line_buffer, true);
  1029. }
  1030. else if (serial_count >= MAX_CMD_SIZE - 1) {
  1031. // Keep fetching, but ignore normal characters beyond the max length
  1032. // The command will be injected when EOL is reached
  1033. }
  1034. else if (serial_char == '\\') { // Handle escapes
  1035. if (MYSERIAL.available() > 0) {
  1036. // if we have one more character, copy it over
  1037. serial_char = MYSERIAL.read();
  1038. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1039. }
  1040. // otherwise do nothing
  1041. }
  1042. else { // it's not a newline, carriage return or escape char
  1043. if (serial_char == ';') serial_comment_mode = true;
  1044. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1045. }
  1046. } // queue has space, serial has data
  1047. }
  1048. #if ENABLED(SDSUPPORT)
  1049. inline void get_sdcard_commands() {
  1050. static bool stop_buffering = false,
  1051. sd_comment_mode = false;
  1052. if (!card.sdprinting) return;
  1053. /**
  1054. * '#' stops reading from SD to the buffer prematurely, so procedural
  1055. * macro calls are possible. If it occurs, stop_buffering is triggered
  1056. * and the buffer is run dry; this character _can_ occur in serial com
  1057. * due to checksums, however, no checksums are used in SD printing.
  1058. */
  1059. if (commands_in_queue == 0) stop_buffering = false;
  1060. uint16_t sd_count = 0;
  1061. bool card_eof = card.eof();
  1062. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1063. int16_t n = card.get();
  1064. char sd_char = (char)n;
  1065. card_eof = card.eof();
  1066. if (card_eof || n == -1
  1067. || sd_char == '\n' || sd_char == '\r'
  1068. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1069. ) {
  1070. if (card_eof) {
  1071. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1072. card.printingHasFinished();
  1073. card.checkautostart(true);
  1074. }
  1075. else if (n == -1) {
  1076. SERIAL_ERROR_START;
  1077. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1078. }
  1079. if (sd_char == '#') stop_buffering = true;
  1080. sd_comment_mode = false; //for new command
  1081. if (!sd_count) continue; //skip empty lines
  1082. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  1083. sd_count = 0; //clear buffer
  1084. _commit_command(false);
  1085. }
  1086. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1087. /**
  1088. * Keep fetching, but ignore normal characters beyond the max length
  1089. * The command will be injected when EOL is reached
  1090. */
  1091. }
  1092. else {
  1093. if (sd_char == ';') sd_comment_mode = true;
  1094. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1095. }
  1096. }
  1097. }
  1098. #endif // SDSUPPORT
  1099. /**
  1100. * Add to the circular command queue the next command from:
  1101. * - The command-injection queue (queued_commands_P)
  1102. * - The active serial input (usually USB)
  1103. * - The SD card file being actively printed
  1104. */
  1105. void get_available_commands() {
  1106. // if any immediate commands remain, don't get other commands yet
  1107. if (drain_queued_commands_P()) return;
  1108. get_serial_commands();
  1109. #if ENABLED(SDSUPPORT)
  1110. get_sdcard_commands();
  1111. #endif
  1112. }
  1113. inline bool code_has_value() {
  1114. int i = 1;
  1115. char c = seen_pointer[i];
  1116. while (c == ' ') c = seen_pointer[++i];
  1117. if (c == '-' || c == '+') c = seen_pointer[++i];
  1118. if (c == '.') c = seen_pointer[++i];
  1119. return NUMERIC(c);
  1120. }
  1121. inline float code_value_float() {
  1122. float ret;
  1123. char* e = strchr(seen_pointer, 'E');
  1124. if (e) {
  1125. *e = 0;
  1126. ret = strtod(seen_pointer + 1, NULL);
  1127. *e = 'E';
  1128. }
  1129. else
  1130. ret = strtod(seen_pointer + 1, NULL);
  1131. return ret;
  1132. }
  1133. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  1134. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  1135. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  1136. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  1137. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  1138. inline bool code_value_bool() { return code_value_byte() > 0; }
  1139. #if ENABLED(INCH_MODE_SUPPORT)
  1140. inline void set_input_linear_units(LinearUnit units) {
  1141. switch (units) {
  1142. case LINEARUNIT_INCH:
  1143. linear_unit_factor = 25.4;
  1144. break;
  1145. case LINEARUNIT_MM:
  1146. default:
  1147. linear_unit_factor = 1.0;
  1148. break;
  1149. }
  1150. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  1151. }
  1152. inline float axis_unit_factor(int axis) {
  1153. return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  1154. }
  1155. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  1156. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  1157. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  1158. #else
  1159. inline float code_value_linear_units() { return code_value_float(); }
  1160. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  1161. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  1162. #endif
  1163. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  1164. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  1165. float code_value_temp_abs() {
  1166. switch (input_temp_units) {
  1167. case TEMPUNIT_C:
  1168. return code_value_float();
  1169. case TEMPUNIT_F:
  1170. return (code_value_float() - 32) * 0.5555555556;
  1171. case TEMPUNIT_K:
  1172. return code_value_float() - 272.15;
  1173. default:
  1174. return code_value_float();
  1175. }
  1176. }
  1177. float code_value_temp_diff() {
  1178. switch (input_temp_units) {
  1179. case TEMPUNIT_C:
  1180. case TEMPUNIT_K:
  1181. return code_value_float();
  1182. case TEMPUNIT_F:
  1183. return code_value_float() * 0.5555555556;
  1184. default:
  1185. return code_value_float();
  1186. }
  1187. }
  1188. #else
  1189. float code_value_temp_abs() { return code_value_float(); }
  1190. float code_value_temp_diff() { return code_value_float(); }
  1191. #endif
  1192. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1193. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1194. bool code_seen(char code) {
  1195. seen_pointer = strchr(current_command_args, code);
  1196. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1197. }
  1198. /**
  1199. * Set target_extruder from the T parameter or the active_extruder
  1200. *
  1201. * Returns TRUE if the target is invalid
  1202. */
  1203. bool get_target_extruder_from_command(int code) {
  1204. if (code_seen('T')) {
  1205. if (code_value_byte() >= EXTRUDERS) {
  1206. SERIAL_ECHO_START;
  1207. SERIAL_CHAR('M');
  1208. SERIAL_ECHO(code);
  1209. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1210. return true;
  1211. }
  1212. target_extruder = code_value_byte();
  1213. }
  1214. else
  1215. target_extruder = active_extruder;
  1216. return false;
  1217. }
  1218. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1219. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1220. #endif
  1221. #if ENABLED(DUAL_X_CARRIAGE)
  1222. #define DXC_FULL_CONTROL_MODE 0
  1223. #define DXC_AUTO_PARK_MODE 1
  1224. #define DXC_DUPLICATION_MODE 2
  1225. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1226. static float x_home_pos(int extruder) {
  1227. if (extruder == 0)
  1228. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1229. else
  1230. /**
  1231. * In dual carriage mode the extruder offset provides an override of the
  1232. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1233. * This allow soft recalibration of the second extruder offset position
  1234. * without firmware reflash (through the M218 command).
  1235. */
  1236. return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1237. }
  1238. static int x_home_dir(int extruder) {
  1239. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1240. }
  1241. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1242. static bool active_extruder_parked = false; // used in mode 1 & 2
  1243. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1244. static millis_t delayed_move_time = 0; // used in mode 1
  1245. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1246. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1247. #endif //DUAL_X_CARRIAGE
  1248. /**
  1249. * Software endstops can be used to monitor the open end of
  1250. * an axis that has a hardware endstop on the other end. Or
  1251. * they can prevent axes from moving past endstops and grinding.
  1252. *
  1253. * To keep doing their job as the coordinate system changes,
  1254. * the software endstop positions must be refreshed to remain
  1255. * at the same positions relative to the machine.
  1256. */
  1257. void update_software_endstops(AxisEnum axis) {
  1258. float offs = LOGICAL_POSITION(0, axis);
  1259. #if ENABLED(DUAL_X_CARRIAGE)
  1260. if (axis == X_AXIS) {
  1261. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1262. if (active_extruder != 0) {
  1263. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1264. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1265. return;
  1266. }
  1267. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1268. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1269. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1270. return;
  1271. }
  1272. }
  1273. else
  1274. #endif
  1275. {
  1276. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1277. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1278. }
  1279. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1280. if (DEBUGGING(LEVELING)) {
  1281. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1282. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1283. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1284. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1285. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1286. }
  1287. #endif
  1288. #if ENABLED(DELTA)
  1289. if (axis == Z_AXIS)
  1290. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1291. #endif
  1292. }
  1293. /**
  1294. * Change the home offset for an axis, update the current
  1295. * position and the software endstops to retain the same
  1296. * relative distance to the new home.
  1297. *
  1298. * Since this changes the current_position, code should
  1299. * call sync_plan_position soon after this.
  1300. */
  1301. static void set_home_offset(AxisEnum axis, float v) {
  1302. current_position[axis] += v - home_offset[axis];
  1303. home_offset[axis] = v;
  1304. update_software_endstops(axis);
  1305. }
  1306. static void set_axis_is_at_home(AxisEnum axis) {
  1307. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1308. if (DEBUGGING(LEVELING)) {
  1309. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1310. SERIAL_ECHOLNPGM(")");
  1311. }
  1312. #endif
  1313. position_shift[axis] = 0;
  1314. #if ENABLED(DUAL_X_CARRIAGE)
  1315. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1316. if (active_extruder != 0)
  1317. current_position[X_AXIS] = x_home_pos(active_extruder);
  1318. else
  1319. current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1320. update_software_endstops(X_AXIS);
  1321. return;
  1322. }
  1323. #endif
  1324. #if ENABLED(SCARA)
  1325. if (axis == X_AXIS || axis == Y_AXIS) {
  1326. float homeposition[XYZ];
  1327. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
  1328. // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
  1329. // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
  1330. /**
  1331. * Works out real Homeposition angles using inverse kinematics,
  1332. * and calculates homing offset using forward kinematics
  1333. */
  1334. inverse_kinematics(homeposition);
  1335. forward_kinematics_SCARA(delta);
  1336. // SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
  1337. // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
  1338. current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
  1339. /**
  1340. * SCARA home positions are based on configuration since the actual
  1341. * limits are determined by the inverse kinematic transform.
  1342. */
  1343. soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1344. soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
  1345. }
  1346. else
  1347. #endif
  1348. {
  1349. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1350. update_software_endstops(axis);
  1351. if (axis == Z_AXIS) {
  1352. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1353. #if HOMING_Z_WITH_PROBE
  1354. current_position[Z_AXIS] -= zprobe_zoffset;
  1355. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1356. if (DEBUGGING(LEVELING)) {
  1357. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1358. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1359. }
  1360. #endif
  1361. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1362. if (DEBUGGING(LEVELING))
  1363. SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1364. #endif
  1365. #endif
  1366. }
  1367. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1368. if (DEBUGGING(LEVELING)) {
  1369. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1370. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1371. DEBUG_POS("", current_position);
  1372. }
  1373. #endif
  1374. }
  1375. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1376. if (DEBUGGING(LEVELING)) {
  1377. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1378. SERIAL_ECHOLNPGM(")");
  1379. }
  1380. #endif
  1381. axis_known_position[axis] = axis_homed[axis] = true;
  1382. }
  1383. /**
  1384. * Some planner shorthand inline functions
  1385. */
  1386. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1387. const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1388. int hbd = homing_bump_divisor[axis];
  1389. if (hbd < 1) {
  1390. hbd = 10;
  1391. SERIAL_ECHO_START;
  1392. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1393. }
  1394. return homing_feedrate_mm_s[axis] / hbd;
  1395. }
  1396. //
  1397. // line_to_current_position
  1398. // Move the planner to the current position from wherever it last moved
  1399. // (or from wherever it has been told it is located).
  1400. //
  1401. inline void line_to_current_position() {
  1402. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1403. }
  1404. inline void line_to_z(float zPosition) {
  1405. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1406. }
  1407. //
  1408. // line_to_destination
  1409. // Move the planner, not necessarily synced with current_position
  1410. //
  1411. inline void line_to_destination(float fr_mm_s) {
  1412. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1413. }
  1414. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1415. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1416. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1417. #if ENABLED(DELTA)
  1418. /**
  1419. * Calculate delta, start a line, and set current_position to destination
  1420. */
  1421. void prepare_move_to_destination_raw() {
  1422. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1423. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_move_to_destination_raw", destination);
  1424. #endif
  1425. refresh_cmd_timeout();
  1426. inverse_kinematics(destination);
  1427. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], MMS_SCALED(feedrate_mm_s), active_extruder);
  1428. set_current_to_destination();
  1429. }
  1430. #endif
  1431. /**
  1432. * Plan a move to (X, Y, Z) and set the current_position
  1433. * The final current_position may not be the one that was requested
  1434. */
  1435. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1436. float old_feedrate_mm_s = feedrate_mm_s;
  1437. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1438. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1439. #endif
  1440. #if ENABLED(DELTA)
  1441. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1442. set_destination_to_current(); // sync destination at the start
  1443. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1444. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1445. #endif
  1446. // when in the danger zone
  1447. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1448. if (z > delta_clip_start_height) { // staying in the danger zone
  1449. destination[X_AXIS] = x; // move directly (uninterpolated)
  1450. destination[Y_AXIS] = y;
  1451. destination[Z_AXIS] = z;
  1452. prepare_move_to_destination_raw(); // set_current_to_destination
  1453. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1454. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1455. #endif
  1456. return;
  1457. }
  1458. else {
  1459. destination[Z_AXIS] = delta_clip_start_height;
  1460. prepare_move_to_destination_raw(); // set_current_to_destination
  1461. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1462. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1463. #endif
  1464. }
  1465. }
  1466. if (z > current_position[Z_AXIS]) { // raising?
  1467. destination[Z_AXIS] = z;
  1468. prepare_move_to_destination_raw(); // set_current_to_destination
  1469. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1470. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1471. #endif
  1472. }
  1473. destination[X_AXIS] = x;
  1474. destination[Y_AXIS] = y;
  1475. prepare_move_to_destination(); // set_current_to_destination
  1476. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1477. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1478. #endif
  1479. if (z < current_position[Z_AXIS]) { // lowering?
  1480. destination[Z_AXIS] = z;
  1481. prepare_move_to_destination_raw(); // set_current_to_destination
  1482. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1483. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1484. #endif
  1485. }
  1486. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1487. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1488. #endif
  1489. #else
  1490. // If Z needs to raise, do it before moving XY
  1491. if (current_position[Z_AXIS] < z) {
  1492. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1493. current_position[Z_AXIS] = z;
  1494. line_to_current_position();
  1495. }
  1496. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1497. current_position[X_AXIS] = x;
  1498. current_position[Y_AXIS] = y;
  1499. line_to_current_position();
  1500. // If Z needs to lower, do it after moving XY
  1501. if (current_position[Z_AXIS] > z) {
  1502. feedrate_mm_s = (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1503. current_position[Z_AXIS] = z;
  1504. line_to_current_position();
  1505. }
  1506. #endif
  1507. stepper.synchronize();
  1508. feedrate_mm_s = old_feedrate_mm_s;
  1509. }
  1510. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1511. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1512. }
  1513. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1514. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1515. }
  1516. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1517. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1518. }
  1519. //
  1520. // Prepare to do endstop or probe moves
  1521. // with custom feedrates.
  1522. //
  1523. // - Save current feedrates
  1524. // - Reset the rate multiplier
  1525. // - Reset the command timeout
  1526. // - Enable the endstops (for endstop moves)
  1527. //
  1528. static void setup_for_endstop_or_probe_move() {
  1529. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1530. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1531. #endif
  1532. saved_feedrate_mm_s = feedrate_mm_s;
  1533. saved_feedrate_percentage = feedrate_percentage;
  1534. feedrate_percentage = 100;
  1535. refresh_cmd_timeout();
  1536. }
  1537. static void clean_up_after_endstop_or_probe_move() {
  1538. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1539. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1540. #endif
  1541. feedrate_mm_s = saved_feedrate_mm_s;
  1542. feedrate_percentage = saved_feedrate_percentage;
  1543. refresh_cmd_timeout();
  1544. }
  1545. #if HAS_BED_PROBE
  1546. /**
  1547. * Raise Z to a minimum height to make room for a probe to move
  1548. */
  1549. inline void do_probe_raise(float z_raise) {
  1550. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1551. if (DEBUGGING(LEVELING)) {
  1552. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1553. SERIAL_ECHOLNPGM(")");
  1554. }
  1555. #endif
  1556. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1557. if (z_dest > current_position[Z_AXIS])
  1558. do_blocking_move_to_z(z_dest);
  1559. }
  1560. #endif //HAS_BED_PROBE
  1561. #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(Z_SAFE_HOMING) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
  1562. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1563. const bool xx = x && !axis_homed[X_AXIS],
  1564. yy = y && !axis_homed[Y_AXIS],
  1565. zz = z && !axis_homed[Z_AXIS];
  1566. if (xx || yy || zz) {
  1567. SERIAL_ECHO_START;
  1568. SERIAL_ECHOPGM(MSG_HOME " ");
  1569. if (xx) SERIAL_ECHOPGM(MSG_X);
  1570. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1571. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1572. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1573. #if ENABLED(ULTRA_LCD)
  1574. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1575. strcat_P(message, PSTR(MSG_HOME " "));
  1576. if (xx) strcat_P(message, PSTR(MSG_X));
  1577. if (yy) strcat_P(message, PSTR(MSG_Y));
  1578. if (zz) strcat_P(message, PSTR(MSG_Z));
  1579. strcat_P(message, PSTR(" " MSG_FIRST));
  1580. lcd_setstatus(message);
  1581. #endif
  1582. return true;
  1583. }
  1584. return false;
  1585. }
  1586. #endif
  1587. #if ENABLED(Z_PROBE_SLED)
  1588. #ifndef SLED_DOCKING_OFFSET
  1589. #define SLED_DOCKING_OFFSET 0
  1590. #endif
  1591. /**
  1592. * Method to dock/undock a sled designed by Charles Bell.
  1593. *
  1594. * stow[in] If false, move to MAX_X and engage the solenoid
  1595. * If true, move to MAX_X and release the solenoid
  1596. */
  1597. static void dock_sled(bool stow) {
  1598. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1599. if (DEBUGGING(LEVELING)) {
  1600. SERIAL_ECHOPAIR("dock_sled(", stow);
  1601. SERIAL_ECHOLNPGM(")");
  1602. }
  1603. #endif
  1604. // Dock sled a bit closer to ensure proper capturing
  1605. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1606. #if PIN_EXISTS(SLED)
  1607. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1608. #endif
  1609. }
  1610. #endif // Z_PROBE_SLED
  1611. #if ENABLED(Z_PROBE_ALLEN_KEY)
  1612. void run_deploy_moves_script() {
  1613. #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)
  1614. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1615. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1616. #endif
  1617. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1618. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1619. #endif
  1620. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1621. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1622. #endif
  1623. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1624. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1625. #endif
  1626. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1627. #endif
  1628. #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)
  1629. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1630. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1631. #endif
  1632. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1633. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1634. #endif
  1635. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1636. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1637. #endif
  1638. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1639. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1640. #endif
  1641. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1642. #endif
  1643. #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)
  1644. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1645. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1646. #endif
  1647. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1648. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1649. #endif
  1650. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1651. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1652. #endif
  1653. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1654. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1655. #endif
  1656. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1657. #endif
  1658. #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)
  1659. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1660. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1661. #endif
  1662. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1663. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1664. #endif
  1665. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1666. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1667. #endif
  1668. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1669. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1670. #endif
  1671. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1672. #endif
  1673. #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)
  1674. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1675. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1676. #endif
  1677. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1678. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1679. #endif
  1680. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1681. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1682. #endif
  1683. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1684. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1685. #endif
  1686. do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1687. #endif
  1688. }
  1689. void run_stow_moves_script() {
  1690. #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)
  1691. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1692. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1693. #endif
  1694. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1695. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1696. #endif
  1697. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1698. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1699. #endif
  1700. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1701. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1702. #endif
  1703. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1704. #endif
  1705. #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)
  1706. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1707. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1708. #endif
  1709. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1710. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1711. #endif
  1712. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1713. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1714. #endif
  1715. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1716. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1717. #endif
  1718. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1719. #endif
  1720. #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)
  1721. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1722. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1723. #endif
  1724. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1725. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1726. #endif
  1727. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1728. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1729. #endif
  1730. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1731. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1732. #endif
  1733. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1734. #endif
  1735. #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)
  1736. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1737. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1738. #endif
  1739. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1740. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1741. #endif
  1742. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1743. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1744. #endif
  1745. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1746. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1747. #endif
  1748. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1749. #endif
  1750. #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)
  1751. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1752. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1753. #endif
  1754. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1755. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1756. #endif
  1757. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1758. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1759. #endif
  1760. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1761. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1762. #endif
  1763. do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1764. #endif
  1765. }
  1766. #endif
  1767. #if HAS_BED_PROBE
  1768. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1769. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1770. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1771. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1772. #else
  1773. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1774. #endif
  1775. #endif
  1776. #define DEPLOY_PROBE() set_probe_deployed(true)
  1777. #define STOW_PROBE() set_probe_deployed(false)
  1778. // returns false for ok and true for failure
  1779. static bool set_probe_deployed(bool deploy) {
  1780. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1781. if (DEBUGGING(LEVELING)) {
  1782. DEBUG_POS("set_probe_deployed", current_position);
  1783. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1784. }
  1785. #endif
  1786. if (endstops.z_probe_enabled == deploy) return false;
  1787. // Make room for probe
  1788. do_probe_raise(_Z_PROBE_DEPLOY_HEIGHT);
  1789. #if ENABLED(Z_PROBE_SLED)
  1790. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1791. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1792. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1793. #endif
  1794. float oldXpos = current_position[X_AXIS],
  1795. oldYpos = current_position[Y_AXIS];
  1796. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1797. // If endstop is already false, the Z probe is deployed
  1798. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1799. // Would a goto be less ugly?
  1800. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1801. // for a triggered when stowed manual probe.
  1802. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1803. // otherwise an Allen-Key probe can't be stowed.
  1804. #endif
  1805. #if ENABLED(Z_PROBE_SLED)
  1806. dock_sled(!deploy);
  1807. #elif HAS_Z_SERVO_ENDSTOP
  1808. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1809. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1810. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1811. #endif
  1812. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1813. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1814. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1815. if (IsRunning()) {
  1816. SERIAL_ERROR_START;
  1817. SERIAL_ERRORLNPGM("Z-Probe failed");
  1818. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1819. }
  1820. stop();
  1821. return true;
  1822. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1823. #endif
  1824. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1825. endstops.enable_z_probe(deploy);
  1826. return false;
  1827. }
  1828. static void do_probe_move(float z, float fr_mm_m) {
  1829. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1830. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1831. #endif
  1832. // Move down until probe triggered
  1833. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1834. // Clear endstop flags
  1835. endstops.hit_on_purpose();
  1836. // Get Z where the steppers were interrupted
  1837. set_current_from_steppers_for_axis(Z_AXIS);
  1838. // Tell the planner where we actually are
  1839. SYNC_PLAN_POSITION_KINEMATIC();
  1840. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1841. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1842. #endif
  1843. }
  1844. // Do a single Z probe and return with current_position[Z_AXIS]
  1845. // at the height where the probe triggered.
  1846. static float run_z_probe() {
  1847. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1848. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1849. #endif
  1850. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1851. refresh_cmd_timeout();
  1852. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1853. planner.bed_level_matrix.set_to_identity();
  1854. #endif
  1855. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1856. // Do a first probe at the fast speed
  1857. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1858. // move up by the bump distance
  1859. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1860. #else
  1861. // If the nozzle is above the travel height then
  1862. // move down quickly before doing the slow probe
  1863. float z = LOGICAL_Z_POSITION(Z_PROBE_TRAVEL_HEIGHT);
  1864. if (z < current_position[Z_AXIS])
  1865. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1866. #endif
  1867. // move down slowly to find bed
  1868. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1869. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1870. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1871. #endif
  1872. return current_position[Z_AXIS];
  1873. }
  1874. //
  1875. // - Move to the given XY
  1876. // - Deploy the probe, if not already deployed
  1877. // - Probe the bed, get the Z position
  1878. // - Depending on the 'stow' flag
  1879. // - Stow the probe, or
  1880. // - Raise to the BETWEEN height
  1881. // - Return the probed Z position
  1882. //
  1883. static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) {
  1884. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1885. if (DEBUGGING(LEVELING)) {
  1886. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1887. SERIAL_ECHOPAIR(", ", y);
  1888. SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
  1889. SERIAL_ECHOLNPGM(")");
  1890. DEBUG_POS("", current_position);
  1891. }
  1892. #endif
  1893. float old_feedrate_mm_s = feedrate_mm_s;
  1894. // Ensure a minimum height before moving the probe
  1895. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1896. // Move to the XY where we shall probe
  1897. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1898. if (DEBUGGING(LEVELING)) {
  1899. SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
  1900. SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1901. SERIAL_ECHOLNPGM(")");
  1902. }
  1903. #endif
  1904. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1905. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1906. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1907. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  1908. #endif
  1909. if (DEPLOY_PROBE()) return NAN;
  1910. float measured_z = run_z_probe();
  1911. if (stow) {
  1912. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1913. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  1914. #endif
  1915. if (STOW_PROBE()) return NAN;
  1916. }
  1917. else {
  1918. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1919. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> do_probe_raise");
  1920. #endif
  1921. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1922. }
  1923. if (verbose_level > 2) {
  1924. SERIAL_PROTOCOLPGM("Bed X: ");
  1925. SERIAL_PROTOCOL_F(x, 3);
  1926. SERIAL_PROTOCOLPGM(" Y: ");
  1927. SERIAL_PROTOCOL_F(y, 3);
  1928. SERIAL_PROTOCOLPGM(" Z: ");
  1929. SERIAL_PROTOCOL_F(measured_z, 3);
  1930. SERIAL_EOL;
  1931. }
  1932. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1933. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1934. #endif
  1935. feedrate_mm_s = old_feedrate_mm_s;
  1936. return measured_z;
  1937. }
  1938. #endif // HAS_BED_PROBE
  1939. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1940. #if DISABLED(DELTA)
  1941. /**
  1942. * Get the stepper positions, apply the rotation matrix
  1943. * using the home XY and Z0 position as the fulcrum.
  1944. */
  1945. vector_3 untilted_stepper_position() {
  1946. vector_3 pos = vector_3(
  1947. RAW_X_POSITION(stepper.get_axis_position_mm(X_AXIS)) - X_TILT_FULCRUM,
  1948. RAW_Y_POSITION(stepper.get_axis_position_mm(Y_AXIS)) - Y_TILT_FULCRUM,
  1949. RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS))
  1950. );
  1951. matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
  1952. //pos.debug("untilted_stepper_position offset");
  1953. //bed_level_matrix.debug("untilted_stepper_position");
  1954. //inverse.debug("in untilted_stepper_position");
  1955. pos.apply_rotation(inverse);
  1956. pos.x = LOGICAL_X_POSITION(pos.x + X_TILT_FULCRUM);
  1957. pos.y = LOGICAL_Y_POSITION(pos.y + Y_TILT_FULCRUM);
  1958. pos.z = LOGICAL_Z_POSITION(pos.z);
  1959. //pos.debug("after rotation and reorientation");
  1960. return pos;
  1961. }
  1962. #endif // !DELTA
  1963. #if ENABLED(DELTA)
  1964. /**
  1965. * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
  1966. */
  1967. static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
  1968. if (bed_level[x][y] != 0.0) {
  1969. return; // Don't overwrite good values.
  1970. }
  1971. float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y]; // Left to right.
  1972. float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2]; // Front to back.
  1973. float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2]; // Diagonal.
  1974. float median = c; // Median is robust (ignores outliers).
  1975. if (a < b) {
  1976. if (b < c) median = b;
  1977. if (c < a) median = a;
  1978. }
  1979. else { // b <= a
  1980. if (c < b) median = b;
  1981. if (a < c) median = a;
  1982. }
  1983. bed_level[x][y] = median;
  1984. }
  1985. /**
  1986. * Fill in the unprobed points (corners of circular print surface)
  1987. * using linear extrapolation, away from the center.
  1988. */
  1989. static void extrapolate_unprobed_bed_level() {
  1990. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  1991. for (int y = 0; y <= half; y++) {
  1992. for (int x = 0; x <= half; x++) {
  1993. if (x + y < 3) continue;
  1994. extrapolate_one_point(half - x, half - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
  1995. extrapolate_one_point(half + x, half - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
  1996. extrapolate_one_point(half - x, half + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
  1997. extrapolate_one_point(half + x, half + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
  1998. }
  1999. }
  2000. }
  2001. /**
  2002. * Print calibration results for plotting or manual frame adjustment.
  2003. */
  2004. static void print_bed_level() {
  2005. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  2006. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  2007. SERIAL_PROTOCOL_F(bed_level[x][y], 2);
  2008. SERIAL_PROTOCOLCHAR(' ');
  2009. }
  2010. SERIAL_EOL;
  2011. }
  2012. }
  2013. /**
  2014. * Reset calibration results to zero.
  2015. */
  2016. void reset_bed_level() {
  2017. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2018. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2019. #endif
  2020. for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
  2021. for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
  2022. bed_level[x][y] = 0.0;
  2023. }
  2024. }
  2025. }
  2026. #endif // DELTA
  2027. #endif // AUTO_BED_LEVELING_FEATURE
  2028. /**
  2029. * Home an individual axis
  2030. */
  2031. static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
  2032. current_position[axis] = 0;
  2033. sync_plan_position();
  2034. current_position[axis] = where;
  2035. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], (fr_mm_s != 0.0) ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  2036. stepper.synchronize();
  2037. endstops.hit_on_purpose();
  2038. }
  2039. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2040. static void homeaxis(AxisEnum axis) {
  2041. #define CAN_HOME(A) \
  2042. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2043. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2044. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2045. if (DEBUGGING(LEVELING)) {
  2046. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2047. SERIAL_ECHOLNPGM(")");
  2048. }
  2049. #endif
  2050. int axis_home_dir =
  2051. #if ENABLED(DUAL_X_CARRIAGE)
  2052. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2053. #endif
  2054. home_dir(axis);
  2055. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2056. #if HOMING_Z_WITH_PROBE
  2057. if (axis == Z_AXIS) {
  2058. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2059. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  2060. #endif
  2061. if (DEPLOY_PROBE()) return;
  2062. }
  2063. #endif
  2064. // Set a flag for Z motor locking
  2065. #if ENABLED(Z_DUAL_ENDSTOPS)
  2066. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2067. #endif
  2068. // Move towards the endstop until an endstop is triggered
  2069. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2070. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2071. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 1st Home ", current_position[axis]);
  2072. #endif
  2073. // Move away from the endstop by the axis HOME_BUMP_MM
  2074. do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
  2075. // Move slowly towards the endstop until triggered
  2076. do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
  2077. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2078. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("> 2nd Home ", current_position[axis]);
  2079. #endif
  2080. #if ENABLED(Z_DUAL_ENDSTOPS)
  2081. if (axis == Z_AXIS) {
  2082. float adj = fabs(z_endstop_adj);
  2083. bool lockZ1;
  2084. if (axis_home_dir > 0) {
  2085. adj = -adj;
  2086. lockZ1 = (z_endstop_adj > 0);
  2087. }
  2088. else
  2089. lockZ1 = (z_endstop_adj < 0);
  2090. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2091. // Move to the adjusted endstop height
  2092. do_homing_move(axis, adj);
  2093. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2094. stepper.set_homing_flag(false);
  2095. } // Z_AXIS
  2096. #endif
  2097. // Delta has already moved all three towers up in G28
  2098. // so here it re-homes each tower in turn.
  2099. // Delta homing treats the axes as normal linear axes.
  2100. #if ENABLED(DELTA)
  2101. // retrace by the amount specified in endstop_adj
  2102. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  2103. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2104. if (DEBUGGING(LEVELING)) {
  2105. SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR);
  2106. DEBUG_POS("", current_position);
  2107. }
  2108. #endif
  2109. do_homing_move(axis, endstop_adj[axis]);
  2110. }
  2111. #else
  2112. // Set the axis position to its home position (plus home offsets)
  2113. set_axis_is_at_home(axis);
  2114. sync_plan_position();
  2115. destination[axis] = current_position[axis];
  2116. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2117. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2118. #endif
  2119. #endif
  2120. // Put away the Z probe
  2121. #if HOMING_Z_WITH_PROBE
  2122. if (axis == Z_AXIS) {
  2123. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2124. if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
  2125. #endif
  2126. if (STOW_PROBE()) return;
  2127. }
  2128. #endif
  2129. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2130. if (DEBUGGING(LEVELING)) {
  2131. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2132. SERIAL_ECHOLNPGM(")");
  2133. }
  2134. #endif
  2135. } // homeaxis()
  2136. #if ENABLED(FWRETRACT)
  2137. void retract(bool retracting, bool swapping = false) {
  2138. if (retracting == retracted[active_extruder]) return;
  2139. float old_feedrate_mm_s = feedrate_mm_s;
  2140. set_destination_to_current();
  2141. if (retracting) {
  2142. feedrate_mm_s = retract_feedrate_mm_s;
  2143. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  2144. sync_plan_position_e();
  2145. prepare_move_to_destination();
  2146. if (retract_zlift > 0.01) {
  2147. current_position[Z_AXIS] -= retract_zlift;
  2148. SYNC_PLAN_POSITION_KINEMATIC();
  2149. prepare_move_to_destination();
  2150. }
  2151. }
  2152. else {
  2153. if (retract_zlift > 0.01) {
  2154. current_position[Z_AXIS] += retract_zlift;
  2155. SYNC_PLAN_POSITION_KINEMATIC();
  2156. }
  2157. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2158. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2159. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2160. sync_plan_position_e();
  2161. prepare_move_to_destination();
  2162. }
  2163. feedrate_mm_s = old_feedrate_mm_s;
  2164. retracted[active_extruder] = retracting;
  2165. } // retract()
  2166. #endif // FWRETRACT
  2167. #if ENABLED(MIXING_EXTRUDER)
  2168. void normalize_mix() {
  2169. float mix_total = 0.0;
  2170. for (int i = 0; i < MIXING_STEPPERS; i++) {
  2171. float v = mixing_factor[i];
  2172. if (v < 0) v = mixing_factor[i] = 0;
  2173. mix_total += v;
  2174. }
  2175. // Scale all values if they don't add up to ~1.0
  2176. if (mix_total < 0.9999 || mix_total > 1.0001) {
  2177. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2178. float mix_scale = 1.0 / mix_total;
  2179. for (int i = 0; i < MIXING_STEPPERS; i++)
  2180. mixing_factor[i] *= mix_scale;
  2181. }
  2182. }
  2183. #if ENABLED(DIRECT_MIXING_IN_G1)
  2184. // Get mixing parameters from the GCode
  2185. // Factors that are left out are set to 0
  2186. // The total "must" be 1.0 (but it will be normalized)
  2187. void gcode_get_mix() {
  2188. const char* mixing_codes = "ABCDHI";
  2189. for (int i = 0; i < MIXING_STEPPERS; i++)
  2190. mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
  2191. normalize_mix();
  2192. }
  2193. #endif
  2194. #endif
  2195. /**
  2196. * ***************************************************************************
  2197. * ***************************** G-CODE HANDLING *****************************
  2198. * ***************************************************************************
  2199. */
  2200. /**
  2201. * Set XYZE destination and feedrate from the current GCode command
  2202. *
  2203. * - Set destination from included axis codes
  2204. * - Set to current for missing axis codes
  2205. * - Set the feedrate, if included
  2206. */
  2207. void gcode_get_destination() {
  2208. LOOP_XYZE(i) {
  2209. if (code_seen(axis_codes[i]))
  2210. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2211. else
  2212. destination[i] = current_position[i];
  2213. }
  2214. if (code_seen('F') && code_value_linear_units() > 0.0)
  2215. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2216. #if ENABLED(PRINTCOUNTER)
  2217. if (!DEBUGGING(DRYRUN))
  2218. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2219. #endif
  2220. // Get ABCDHI mixing factors
  2221. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2222. gcode_get_mix();
  2223. #endif
  2224. }
  2225. void unknown_command_error() {
  2226. SERIAL_ECHO_START;
  2227. SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  2228. SERIAL_ECHO(current_command);
  2229. SERIAL_ECHOLNPGM("\"");
  2230. }
  2231. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2232. /**
  2233. * Output a "busy" message at regular intervals
  2234. * while the machine is not accepting commands.
  2235. */
  2236. void host_keepalive() {
  2237. millis_t ms = millis();
  2238. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2239. if (PENDING(ms, next_busy_signal_ms)) return;
  2240. switch (busy_state) {
  2241. case IN_HANDLER:
  2242. case IN_PROCESS:
  2243. SERIAL_ECHO_START;
  2244. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2245. break;
  2246. case PAUSED_FOR_USER:
  2247. SERIAL_ECHO_START;
  2248. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2249. break;
  2250. case PAUSED_FOR_INPUT:
  2251. SERIAL_ECHO_START;
  2252. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2253. break;
  2254. default:
  2255. break;
  2256. }
  2257. }
  2258. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2259. }
  2260. #endif //HOST_KEEPALIVE_FEATURE
  2261. /**
  2262. * G0, G1: Coordinated movement of X Y Z E axes
  2263. */
  2264. inline void gcode_G0_G1() {
  2265. if (IsRunning()) {
  2266. gcode_get_destination(); // For X Y Z E F
  2267. #if ENABLED(FWRETRACT)
  2268. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2269. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2270. // Is this move an attempt to retract or recover?
  2271. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2272. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2273. sync_plan_position_e(); // AND from the planner
  2274. retract(!retracted[active_extruder]);
  2275. return;
  2276. }
  2277. }
  2278. #endif //FWRETRACT
  2279. prepare_move_to_destination();
  2280. }
  2281. }
  2282. /**
  2283. * G2: Clockwise Arc
  2284. * G3: Counterclockwise Arc
  2285. */
  2286. #if ENABLED(ARC_SUPPORT)
  2287. inline void gcode_G2_G3(bool clockwise) {
  2288. if (IsRunning()) {
  2289. #if ENABLED(SF_ARC_FIX)
  2290. bool relative_mode_backup = relative_mode;
  2291. relative_mode = true;
  2292. #endif
  2293. gcode_get_destination();
  2294. #if ENABLED(SF_ARC_FIX)
  2295. relative_mode = relative_mode_backup;
  2296. #endif
  2297. // Center of arc as offset from current_position
  2298. float arc_offset[2] = {
  2299. code_seen('I') ? code_value_axis_units(X_AXIS) : 0,
  2300. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0
  2301. };
  2302. // Send an arc to the planner
  2303. plan_arc(destination, arc_offset, clockwise);
  2304. refresh_cmd_timeout();
  2305. }
  2306. }
  2307. #endif
  2308. /**
  2309. * G4: Dwell S<seconds> or P<milliseconds>
  2310. */
  2311. inline void gcode_G4() {
  2312. millis_t dwell_ms = 0;
  2313. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2314. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2315. stepper.synchronize();
  2316. refresh_cmd_timeout();
  2317. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2318. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2319. while (PENDING(millis(), dwell_ms)) idle();
  2320. }
  2321. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2322. /**
  2323. * Parameters interpreted according to:
  2324. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2325. * However I, J omission is not supported at this point; all
  2326. * parameters can be omitted and default to zero.
  2327. */
  2328. /**
  2329. * G5: Cubic B-spline
  2330. */
  2331. inline void gcode_G5() {
  2332. if (IsRunning()) {
  2333. gcode_get_destination();
  2334. float offset[] = {
  2335. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2336. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2337. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2338. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2339. };
  2340. plan_cubic_move(offset);
  2341. }
  2342. }
  2343. #endif // BEZIER_CURVE_SUPPORT
  2344. #if ENABLED(FWRETRACT)
  2345. /**
  2346. * G10 - Retract filament according to settings of M207
  2347. * G11 - Recover filament according to settings of M208
  2348. */
  2349. inline void gcode_G10_G11(bool doRetract=false) {
  2350. #if EXTRUDERS > 1
  2351. if (doRetract) {
  2352. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2353. }
  2354. #endif
  2355. retract(doRetract
  2356. #if EXTRUDERS > 1
  2357. , retracted_swap[active_extruder]
  2358. #endif
  2359. );
  2360. }
  2361. #endif //FWRETRACT
  2362. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2363. /**
  2364. * G12: Clean the nozzle
  2365. */
  2366. inline void gcode_G12() {
  2367. // Don't allow nozzle cleaning without homing first
  2368. if (axis_unhomed_error(true, true, true)) { return; }
  2369. uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
  2370. uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
  2371. uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  2372. Nozzle::clean(pattern, strokes, objects);
  2373. }
  2374. #endif
  2375. #if ENABLED(INCH_MODE_SUPPORT)
  2376. /**
  2377. * G20: Set input mode to inches
  2378. */
  2379. inline void gcode_G20() {
  2380. set_input_linear_units(LINEARUNIT_INCH);
  2381. }
  2382. /**
  2383. * G21: Set input mode to millimeters
  2384. */
  2385. inline void gcode_G21() {
  2386. set_input_linear_units(LINEARUNIT_MM);
  2387. }
  2388. #endif
  2389. #if ENABLED(NOZZLE_PARK_FEATURE)
  2390. /**
  2391. * G27: Park the nozzle
  2392. */
  2393. inline void gcode_G27() {
  2394. // Don't allow nozzle parking without homing first
  2395. if (axis_unhomed_error(true, true, true)) { return; }
  2396. uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
  2397. Nozzle::park(z_action);
  2398. }
  2399. #endif // NOZZLE_PARK_FEATURE
  2400. #if ENABLED(QUICK_HOME)
  2401. static void quick_home_xy() {
  2402. // Pretend the current position is 0,0
  2403. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2404. sync_plan_position();
  2405. int x_axis_home_dir =
  2406. #if ENABLED(DUAL_X_CARRIAGE)
  2407. x_home_dir(active_extruder)
  2408. #else
  2409. home_dir(X_AXIS)
  2410. #endif
  2411. ;
  2412. float mlx = max_length(X_AXIS),
  2413. mly = max_length(Y_AXIS),
  2414. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2415. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2416. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2417. endstops.hit_on_purpose(); // clear endstop hit flags
  2418. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2419. }
  2420. #endif // QUICK_HOME
  2421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2422. void log_machine_info() {
  2423. SERIAL_ECHOPGM("Machine Type: ");
  2424. #if ENABLED(DELTA)
  2425. SERIAL_ECHOLNPGM("Delta");
  2426. #elif ENABLED(SCARA)
  2427. SERIAL_ECHOLNPGM("SCARA");
  2428. #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  2429. SERIAL_ECHOLNPGM("Core");
  2430. #else
  2431. SERIAL_ECHOLNPGM("Cartesian");
  2432. #endif
  2433. SERIAL_ECHOPGM("Probe: ");
  2434. #if ENABLED(FIX_MOUNTED_PROBE)
  2435. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2436. #elif HAS_Z_SERVO_ENDSTOP
  2437. SERIAL_ECHOLNPGM("SERVO PROBE");
  2438. #elif ENABLED(BLTOUCH)
  2439. SERIAL_ECHOLNPGM("BLTOUCH");
  2440. #elif ENABLED(Z_PROBE_SLED)
  2441. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2442. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2443. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2444. #else
  2445. SERIAL_ECHOLNPGM("NONE");
  2446. #endif
  2447. #if HAS_BED_PROBE
  2448. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2449. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2450. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2451. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2452. SERIAL_ECHOPGM(" (Right");
  2453. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2454. SERIAL_ECHOPGM(" (Left");
  2455. #endif
  2456. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2457. SERIAL_ECHOPGM("-Back");
  2458. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2459. SERIAL_ECHOPGM("-Front");
  2460. #endif
  2461. if (zprobe_zoffset < 0)
  2462. SERIAL_ECHOPGM(" & Below");
  2463. else if (zprobe_zoffset > 0)
  2464. SERIAL_ECHOPGM(" & Above");
  2465. else
  2466. SERIAL_ECHOPGM(" & Same Z as");
  2467. SERIAL_ECHOLNPGM(" Nozzle)");
  2468. #endif
  2469. }
  2470. #endif // DEBUG_LEVELING_FEATURE
  2471. /**
  2472. * G28: Home all axes according to settings
  2473. *
  2474. * Parameters
  2475. *
  2476. * None Home to all axes with no parameters.
  2477. * With QUICK_HOME enabled XY will home together, then Z.
  2478. *
  2479. * Cartesian parameters
  2480. *
  2481. * X Home to the X endstop
  2482. * Y Home to the Y endstop
  2483. * Z Home to the Z endstop
  2484. *
  2485. */
  2486. inline void gcode_G28() {
  2487. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2488. if (DEBUGGING(LEVELING)) {
  2489. SERIAL_ECHOLNPGM(">>> gcode_G28");
  2490. log_machine_info();
  2491. }
  2492. #endif
  2493. // Wait for planner moves to finish!
  2494. stepper.synchronize();
  2495. // For auto bed leveling, clear the level matrix
  2496. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  2497. planner.bed_level_matrix.set_to_identity();
  2498. #if ENABLED(DELTA)
  2499. reset_bed_level();
  2500. #endif
  2501. #endif
  2502. // Always home with tool 0 active
  2503. #if HOTENDS > 1
  2504. uint8_t old_tool_index = active_extruder;
  2505. tool_change(0, 0, true);
  2506. #endif
  2507. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2508. extruder_duplication_enabled = false;
  2509. #endif
  2510. /**
  2511. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2512. * on again when homing all axis
  2513. */
  2514. #if ENABLED(MESH_BED_LEVELING)
  2515. float pre_home_z = MESH_HOME_SEARCH_Z;
  2516. if (mbl.active()) {
  2517. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2518. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2519. #endif
  2520. // Save known Z position if already homed
  2521. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2522. pre_home_z = current_position[Z_AXIS];
  2523. pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2524. }
  2525. mbl.set_active(false);
  2526. current_position[Z_AXIS] = pre_home_z;
  2527. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2528. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2529. #endif
  2530. }
  2531. #endif
  2532. setup_for_endstop_or_probe_move();
  2533. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2534. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  2535. #endif
  2536. endstops.enable(true); // Enable endstops for next homing move
  2537. #if ENABLED(DELTA)
  2538. /**
  2539. * A delta can only safely home all axes at the same time
  2540. * This is like quick_home_xy() but for 3 towers.
  2541. */
  2542. // Init the current position of all carriages to 0,0,0
  2543. memset(current_position, 0, sizeof(current_position));
  2544. sync_plan_position();
  2545. // Move all carriages together linearly until an endstop is hit.
  2546. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2547. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2548. line_to_current_position();
  2549. stepper.synchronize();
  2550. endstops.hit_on_purpose(); // clear endstop hit flags
  2551. // Probably not needed. Double-check this line:
  2552. memset(current_position, 0, sizeof(current_position));
  2553. // At least one carriage has reached the top.
  2554. // Now back off and re-home each carriage separately.
  2555. HOMEAXIS(A);
  2556. HOMEAXIS(B);
  2557. HOMEAXIS(C);
  2558. // Set all carriages to their home positions
  2559. // Do this here all at once for Delta, because
  2560. // XYZ isn't ABC. Applying this per-tower would
  2561. // give the impression that they are the same.
  2562. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2563. SYNC_PLAN_POSITION_KINEMATIC();
  2564. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2565. if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
  2566. #endif
  2567. #else // NOT DELTA
  2568. bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  2569. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2570. set_destination_to_current();
  2571. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2572. if (home_all_axis || homeZ) {
  2573. HOMEAXIS(Z);
  2574. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2575. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2576. #endif
  2577. }
  2578. #else
  2579. if (home_all_axis || homeX || homeY) {
  2580. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2581. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  2582. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  2583. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2584. if (DEBUGGING(LEVELING))
  2585. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  2586. #endif
  2587. do_blocking_move_to_z(destination[Z_AXIS]);
  2588. }
  2589. }
  2590. #endif
  2591. #if ENABLED(QUICK_HOME)
  2592. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  2593. #endif
  2594. #if ENABLED(HOME_Y_BEFORE_X)
  2595. // Home Y
  2596. if (home_all_axis || homeY) {
  2597. HOMEAXIS(Y);
  2598. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2599. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2600. #endif
  2601. }
  2602. #endif
  2603. // Home X
  2604. if (home_all_axis || homeX) {
  2605. #if ENABLED(DUAL_X_CARRIAGE)
  2606. int tmp_extruder = active_extruder;
  2607. active_extruder = !active_extruder;
  2608. HOMEAXIS(X);
  2609. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  2610. active_extruder = tmp_extruder;
  2611. HOMEAXIS(X);
  2612. // reset state used by the different modes
  2613. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2614. delayed_move_time = 0;
  2615. active_extruder_parked = true;
  2616. #else
  2617. HOMEAXIS(X);
  2618. #endif
  2619. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2620. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2621. #endif
  2622. }
  2623. #if DISABLED(HOME_Y_BEFORE_X)
  2624. // Home Y
  2625. if (home_all_axis || homeY) {
  2626. HOMEAXIS(Y);
  2627. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2628. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2629. #endif
  2630. }
  2631. #endif
  2632. // Home Z last if homing towards the bed
  2633. #if Z_HOME_DIR < 0
  2634. if (home_all_axis || homeZ) {
  2635. #if ENABLED(Z_SAFE_HOMING)
  2636. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2637. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
  2638. #endif
  2639. if (home_all_axis) {
  2640. /**
  2641. * At this point we already have Z at Z_HOMING_HEIGHT height
  2642. * No need to move Z any more as this height should already be safe
  2643. * enough to reach Z_SAFE_HOMING XY positions.
  2644. * Just make sure the planner is in sync.
  2645. */
  2646. SYNC_PLAN_POSITION_KINEMATIC();
  2647. /**
  2648. * Move the Z probe (or just the nozzle) to the safe homing point
  2649. */
  2650. destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
  2651. destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  2652. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2653. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2654. if (DEBUGGING(LEVELING)) DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
  2655. #endif
  2656. // Move in the XY plane
  2657. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2658. }
  2659. // Let's see if X and Y are homed
  2660. if (axis_unhomed_error(true, true, false)) return;
  2661. /**
  2662. * Make sure the Z probe is within the physical limits
  2663. * NOTE: This doesn't necessarily ensure the Z probe is also
  2664. * within the bed!
  2665. */
  2666. float cpx = RAW_CURRENT_POSITION(X_AXIS), cpy = RAW_CURRENT_POSITION(Y_AXIS);
  2667. if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2668. && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
  2669. && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
  2670. && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
  2671. // Home the Z axis
  2672. HOMEAXIS(Z);
  2673. }
  2674. else {
  2675. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2676. SERIAL_ECHO_START;
  2677. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2678. }
  2679. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2680. if (DEBUGGING(LEVELING)) {
  2681. SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2682. }
  2683. #endif
  2684. #else // !Z_SAFE_HOMING
  2685. HOMEAXIS(Z);
  2686. #endif // !Z_SAFE_HOMING
  2687. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2688. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2689. #endif
  2690. } // home_all_axis || homeZ
  2691. #endif // Z_HOME_DIR < 0
  2692. SYNC_PLAN_POSITION_KINEMATIC();
  2693. #endif // !DELTA (gcode_G28)
  2694. endstops.not_homing();
  2695. // Enable mesh leveling again
  2696. #if ENABLED(MESH_BED_LEVELING)
  2697. if (mbl.has_mesh()) {
  2698. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2699. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  2700. #endif
  2701. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  2702. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2703. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  2704. #endif
  2705. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2706. #if Z_HOME_DIR > 0
  2707. + Z_MAX_POS
  2708. #endif
  2709. ;
  2710. SYNC_PLAN_POSITION_KINEMATIC();
  2711. mbl.set_active(true);
  2712. #if ENABLED(MESH_G28_REST_ORIGIN)
  2713. current_position[Z_AXIS] = 0.0;
  2714. set_destination_to_current();
  2715. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  2716. line_to_destination();
  2717. stepper.synchronize();
  2718. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2719. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  2720. #endif
  2721. #else
  2722. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
  2723. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
  2724. #if Z_HOME_DIR > 0
  2725. + Z_MAX_POS
  2726. #endif
  2727. ;
  2728. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2729. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  2730. #endif
  2731. #endif
  2732. }
  2733. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  2734. current_position[Z_AXIS] = pre_home_z;
  2735. SYNC_PLAN_POSITION_KINEMATIC();
  2736. mbl.set_active(true);
  2737. current_position[Z_AXIS] = pre_home_z -
  2738. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2739. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2740. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  2741. #endif
  2742. }
  2743. }
  2744. #endif
  2745. #if ENABLED(DELTA)
  2746. // move to a height where we can use the full xy-area
  2747. do_blocking_move_to_z(delta_clip_start_height);
  2748. #endif
  2749. clean_up_after_endstop_or_probe_move();
  2750. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2751. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  2752. #endif
  2753. // Restore the active tool after homing
  2754. #if HOTENDS > 1
  2755. tool_change(old_tool_index, 0, true);
  2756. #endif
  2757. report_current_position();
  2758. }
  2759. #if HAS_PROBING_PROCEDURE
  2760. void out_of_range_error(const char* p_edge) {
  2761. SERIAL_PROTOCOLPGM("?Probe ");
  2762. serialprintPGM(p_edge);
  2763. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2764. }
  2765. #endif
  2766. #if ENABLED(MESH_BED_LEVELING)
  2767. inline void _mbl_goto_xy(float x, float y) {
  2768. float old_feedrate_mm_s = feedrate_mm_s;
  2769. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2770. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2771. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2772. + Z_PROBE_TRAVEL_HEIGHT
  2773. #elif Z_HOMING_HEIGHT > 0
  2774. + Z_HOMING_HEIGHT
  2775. #endif
  2776. ;
  2777. line_to_current_position();
  2778. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  2779. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  2780. line_to_current_position();
  2781. #if Z_PROBE_TRAVEL_HEIGHT > 0 || Z_HOMING_HEIGHT > 0
  2782. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
  2783. line_to_current_position();
  2784. #endif
  2785. feedrate_mm_s = old_feedrate_mm_s;
  2786. stepper.synchronize();
  2787. }
  2788. /**
  2789. * G29: Mesh-based Z probe, probes a grid and produces a
  2790. * mesh to compensate for variable bed height
  2791. *
  2792. * Parameters With MESH_BED_LEVELING:
  2793. *
  2794. * S0 Produce a mesh report
  2795. * S1 Start probing mesh points
  2796. * S2 Probe the next mesh point
  2797. * S3 Xn Yn Zn.nn Manually modify a single point
  2798. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2799. * S5 Reset and disable mesh
  2800. *
  2801. * The S0 report the points as below
  2802. *
  2803. * +----> X-axis 1-n
  2804. * |
  2805. * |
  2806. * v Y-axis 1-n
  2807. *
  2808. */
  2809. inline void gcode_G29() {
  2810. static int probe_point = -1;
  2811. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  2812. if (state < 0 || state > 5) {
  2813. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  2814. return;
  2815. }
  2816. int8_t px, py;
  2817. switch (state) {
  2818. case MeshReport:
  2819. if (mbl.has_mesh()) {
  2820. SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  2821. SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
  2822. SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
  2823. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  2824. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2825. for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
  2826. for (px = 0; px < MESH_NUM_X_POINTS; px++) {
  2827. SERIAL_PROTOCOLPGM(" ");
  2828. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  2829. }
  2830. SERIAL_EOL;
  2831. }
  2832. }
  2833. else
  2834. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2835. break;
  2836. case MeshStart:
  2837. mbl.reset();
  2838. probe_point = 0;
  2839. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  2840. break;
  2841. case MeshNext:
  2842. if (probe_point < 0) {
  2843. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  2844. return;
  2845. }
  2846. // For each G29 S2...
  2847. if (probe_point == 0) {
  2848. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  2849. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2850. #if Z_HOME_DIR > 0
  2851. + Z_MAX_POS
  2852. #endif
  2853. ;
  2854. SYNC_PLAN_POSITION_KINEMATIC();
  2855. }
  2856. else {
  2857. // For G29 S2 after adjusting Z.
  2858. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  2859. }
  2860. // If there's another point to sample, move there with optional lift.
  2861. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  2862. mbl.zigzag(probe_point, px, py);
  2863. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  2864. probe_point++;
  2865. }
  2866. else {
  2867. // One last "return to the bed" (as originally coded) at completion
  2868. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2869. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2870. + Z_PROBE_TRAVEL_HEIGHT
  2871. #elif Z_HOMING_HEIGHT > 0
  2872. + Z_HOMING_HEIGHT
  2873. #endif
  2874. ;
  2875. line_to_current_position();
  2876. stepper.synchronize();
  2877. // After recording the last point, activate the mbl and home
  2878. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  2879. probe_point = -1;
  2880. mbl.set_has_mesh(true);
  2881. enqueue_and_echo_commands_P(PSTR("G28"));
  2882. }
  2883. break;
  2884. case MeshSet:
  2885. if (code_seen('X')) {
  2886. px = code_value_int() - 1;
  2887. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  2888. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  2889. return;
  2890. }
  2891. }
  2892. else {
  2893. SERIAL_PROTOCOLLNPGM("X not entered.");
  2894. return;
  2895. }
  2896. if (code_seen('Y')) {
  2897. py = code_value_int() - 1;
  2898. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  2899. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  2900. return;
  2901. }
  2902. }
  2903. else {
  2904. SERIAL_PROTOCOLLNPGM("Y not entered.");
  2905. return;
  2906. }
  2907. if (code_seen('Z')) {
  2908. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  2909. }
  2910. else {
  2911. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2912. return;
  2913. }
  2914. break;
  2915. case MeshSetZOffset:
  2916. if (code_seen('Z')) {
  2917. mbl.z_offset = code_value_axis_units(Z_AXIS);
  2918. }
  2919. else {
  2920. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2921. return;
  2922. }
  2923. break;
  2924. case MeshReset:
  2925. if (mbl.active()) {
  2926. current_position[Z_AXIS] +=
  2927. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
  2928. mbl.reset();
  2929. SYNC_PLAN_POSITION_KINEMATIC();
  2930. }
  2931. else
  2932. mbl.reset();
  2933. } // switch(state)
  2934. report_current_position();
  2935. }
  2936. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  2937. /**
  2938. * G29: Detailed Z probe, probes the bed at 3 or more points.
  2939. * Will fail if the printer has not been homed with G28.
  2940. *
  2941. * Enhanced G29 Auto Bed Leveling Probe Routine
  2942. *
  2943. * Parameters With AUTO_BED_LEVELING_GRID:
  2944. *
  2945. * P Set the size of the grid that will be probed (P x P points).
  2946. * Not supported by non-linear delta printer bed leveling.
  2947. * Example: "G29 P4"
  2948. *
  2949. * S Set the XY travel speed between probe points (in units/min)
  2950. *
  2951. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  2952. * or clean the rotation Matrix. Useful to check the topology
  2953. * after a first run of G29.
  2954. *
  2955. * V Set the verbose level (0-4). Example: "G29 V3"
  2956. *
  2957. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  2958. * This is useful for manual bed leveling and finding flaws in the bed (to
  2959. * assist with part placement).
  2960. * Not supported by non-linear delta printer bed leveling.
  2961. *
  2962. * F Set the Front limit of the probing grid
  2963. * B Set the Back limit of the probing grid
  2964. * L Set the Left limit of the probing grid
  2965. * R Set the Right limit of the probing grid
  2966. *
  2967. * Global Parameters:
  2968. *
  2969. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  2970. * Include "E" to engage/disengage the Z probe for each sample.
  2971. * There's no extra effect if you have a fixed Z probe.
  2972. * Usage: "G29 E" or "G29 e"
  2973. *
  2974. */
  2975. inline void gcode_G29() {
  2976. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2977. if (DEBUGGING(LEVELING)) {
  2978. SERIAL_ECHOLNPGM(">>> gcode_G29");
  2979. DEBUG_POS("", current_position);
  2980. log_machine_info();
  2981. }
  2982. #endif
  2983. // Don't allow auto-leveling without homing first
  2984. if (axis_unhomed_error(true, true, true)) return;
  2985. int verbose_level = code_seen('V') ? code_value_int() : 1;
  2986. if (verbose_level < 0 || verbose_level > 4) {
  2987. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  2988. return;
  2989. }
  2990. bool dryrun = code_seen('D');
  2991. bool stow_probe_after_each = code_seen('E');
  2992. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2993. #if DISABLED(DELTA)
  2994. bool do_topography_map = verbose_level > 2 || code_seen('T');
  2995. #endif
  2996. if (verbose_level > 0) {
  2997. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  2998. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  2999. }
  3000. int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
  3001. #if DISABLED(DELTA)
  3002. if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
  3003. if (auto_bed_leveling_grid_points < 2) {
  3004. SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
  3005. return;
  3006. }
  3007. #endif
  3008. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  3009. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
  3010. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
  3011. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
  3012. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  3013. bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3014. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3015. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3016. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3017. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3018. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3019. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3020. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3021. if (left_out || right_out || front_out || back_out) {
  3022. if (left_out) {
  3023. out_of_range_error(PSTR("(L)eft"));
  3024. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3025. }
  3026. if (right_out) {
  3027. out_of_range_error(PSTR("(R)ight"));
  3028. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3029. }
  3030. if (front_out) {
  3031. out_of_range_error(PSTR("(F)ront"));
  3032. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3033. }
  3034. if (back_out) {
  3035. out_of_range_error(PSTR("(B)ack"));
  3036. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3037. }
  3038. return;
  3039. }
  3040. #endif // AUTO_BED_LEVELING_GRID
  3041. stepper.synchronize();
  3042. if (!dryrun) {
  3043. // Reset the bed_level_matrix because leveling
  3044. // needs to be done without leveling enabled.
  3045. planner.bed_level_matrix.set_to_identity();
  3046. //
  3047. // Re-orient the current position without leveling
  3048. // based on where the steppers are positioned.
  3049. //
  3050. #if ENABLED(DELTA) || ENABLED(SCARA)
  3051. #if ENABLED(DELTA)
  3052. reset_bed_level();
  3053. #endif
  3054. // For DELTA/SCARA we need to apply forward kinematics.
  3055. // This returns raw positions and we remap to the space.
  3056. set_cartesian_from_steppers();
  3057. LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartesian_position[i], i);
  3058. #else
  3059. // For cartesian/core the steppers are already mapped to
  3060. // the coordinate space by design.
  3061. LOOP_XYZ(i) current_position[i] = stepper.get_axis_position_mm((AxisEnum)i);
  3062. #endif // !DELTA
  3063. // Inform the planner about the new coordinates
  3064. // (This is probably not needed here)
  3065. SYNC_PLAN_POSITION_KINEMATIC();
  3066. }
  3067. setup_for_endstop_or_probe_move();
  3068. // Deploy the probe. Probe will raise if needed.
  3069. if (DEPLOY_PROBE()) return;
  3070. bed_leveling_in_progress = true;
  3071. #if ENABLED(AUTO_BED_LEVELING_GRID)
  3072. // probe at the points of a lattice grid
  3073. const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
  3074. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
  3075. #if ENABLED(DELTA)
  3076. delta_grid_spacing[X_AXIS] = xGridSpacing;
  3077. delta_grid_spacing[Y_AXIS] = yGridSpacing;
  3078. float zoffset = zprobe_zoffset;
  3079. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  3080. #else // !DELTA
  3081. /**
  3082. * solve the plane equation ax + by + d = z
  3083. * A is the matrix with rows [x y 1] for all the probed points
  3084. * B is the vector of the Z positions
  3085. * the normal vector to the plane is formed by the coefficients of the
  3086. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3087. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3088. */
  3089. int abl2 = sq(auto_bed_leveling_grid_points);
  3090. double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  3091. eqnBVector[abl2], // "B" vector of Z points
  3092. mean = 0.0;
  3093. int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
  3094. #endif // !DELTA
  3095. int probePointCounter = 0;
  3096. bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
  3097. for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
  3098. float yBase = front_probe_bed_position + yGridSpacing * yCount,
  3099. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3100. int xStart, xStop, xInc;
  3101. if (zig) {
  3102. xStart = 0;
  3103. xStop = auto_bed_leveling_grid_points;
  3104. xInc = 1;
  3105. }
  3106. else {
  3107. xStart = auto_bed_leveling_grid_points - 1;
  3108. xStop = -1;
  3109. xInc = -1;
  3110. }
  3111. zig = !zig;
  3112. for (int xCount = xStart; xCount != xStop; xCount += xInc) {
  3113. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  3114. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3115. #if ENABLED(DELTA)
  3116. // Avoid probing outside the round or hexagonal area of a delta printer
  3117. if (sq(xProbe) + sq(yProbe) > sq(DELTA_PROBEABLE_RADIUS) + 0.1) continue;
  3118. #endif
  3119. float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3120. #if DISABLED(DELTA)
  3121. mean += measured_z;
  3122. eqnBVector[probePointCounter] = measured_z;
  3123. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  3124. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  3125. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  3126. indexIntoAB[xCount][yCount] = probePointCounter;
  3127. #else
  3128. bed_level[xCount][yCount] = measured_z + zoffset;
  3129. #endif
  3130. probePointCounter++;
  3131. idle();
  3132. } //xProbe
  3133. } //yProbe
  3134. #else // !AUTO_BED_LEVELING_GRID
  3135. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3136. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3137. #endif
  3138. // Probe at 3 arbitrary points
  3139. float z_at_pt_1 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_1_X),
  3140. LOGICAL_Y_POSITION(ABL_PROBE_PT_1_Y),
  3141. stow_probe_after_each, verbose_level),
  3142. z_at_pt_2 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_2_X),
  3143. LOGICAL_Y_POSITION(ABL_PROBE_PT_2_Y),
  3144. stow_probe_after_each, verbose_level),
  3145. z_at_pt_3 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_3_X),
  3146. LOGICAL_Y_POSITION(ABL_PROBE_PT_3_Y),
  3147. stow_probe_after_each, verbose_level);
  3148. if (!dryrun) {
  3149. vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1),
  3150. pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2),
  3151. pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
  3152. vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
  3153. if (planeNormal.z < 0) {
  3154. planeNormal.x *= -1;
  3155. planeNormal.y *= -1;
  3156. planeNormal.z *= -1;
  3157. }
  3158. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3159. }
  3160. #endif // !AUTO_BED_LEVELING_GRID
  3161. // Raise to _Z_PROBE_DEPLOY_HEIGHT. Stow the probe.
  3162. if (STOW_PROBE()) return;
  3163. // Restore state after probing
  3164. clean_up_after_endstop_or_probe_move();
  3165. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3166. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3167. #endif
  3168. // Calculate leveling, print reports, correct the position
  3169. #if ENABLED(AUTO_BED_LEVELING_GRID)
  3170. #if ENABLED(DELTA)
  3171. if (!dryrun) extrapolate_unprobed_bed_level();
  3172. print_bed_level();
  3173. #else // !DELTA
  3174. // solve lsq problem
  3175. double plane_equation_coefficients[3];
  3176. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3177. mean /= abl2;
  3178. if (verbose_level) {
  3179. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3180. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3181. SERIAL_PROTOCOLPGM(" b: ");
  3182. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3183. SERIAL_PROTOCOLPGM(" d: ");
  3184. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3185. SERIAL_EOL;
  3186. if (verbose_level > 2) {
  3187. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3188. SERIAL_PROTOCOL_F(mean, 8);
  3189. SERIAL_EOL;
  3190. }
  3191. }
  3192. // Create the matrix but don't correct the position yet
  3193. if (!dryrun) {
  3194. planner.bed_level_matrix = matrix_3x3::create_look_at(
  3195. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  3196. );
  3197. }
  3198. // Show the Topography map if enabled
  3199. if (do_topography_map) {
  3200. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3201. " +--- BACK --+\n"
  3202. " | |\n"
  3203. " L | (+) | R\n"
  3204. " E | | I\n"
  3205. " F | (-) N (+) | G\n"
  3206. " T | | H\n"
  3207. " | (-) | T\n"
  3208. " | |\n"
  3209. " O-- FRONT --+\n"
  3210. " (0,0)");
  3211. float min_diff = 999;
  3212. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3213. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3214. int ind = indexIntoAB[xx][yy];
  3215. float diff = eqnBVector[ind] - mean;
  3216. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3217. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3218. z_tmp = 0;
  3219. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3220. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3221. if (diff >= 0.0)
  3222. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3223. else
  3224. SERIAL_PROTOCOLCHAR(' ');
  3225. SERIAL_PROTOCOL_F(diff, 5);
  3226. } // xx
  3227. SERIAL_EOL;
  3228. } // yy
  3229. SERIAL_EOL;
  3230. if (verbose_level > 3) {
  3231. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3232. for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
  3233. for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
  3234. int ind = indexIntoAB[xx][yy];
  3235. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3236. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3237. z_tmp = 0;
  3238. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3239. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3240. if (diff >= 0.0)
  3241. SERIAL_PROTOCOLPGM(" +");
  3242. // Include + for column alignment
  3243. else
  3244. SERIAL_PROTOCOLCHAR(' ');
  3245. SERIAL_PROTOCOL_F(diff, 5);
  3246. } // xx
  3247. SERIAL_EOL;
  3248. } // yy
  3249. SERIAL_EOL;
  3250. }
  3251. } //do_topography_map
  3252. #endif //!DELTA
  3253. #endif // AUTO_BED_LEVELING_GRID
  3254. #if DISABLED(DELTA)
  3255. if (verbose_level > 0)
  3256. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3257. if (!dryrun) {
  3258. //
  3259. // Correct the current XYZ position based on the tilted plane.
  3260. //
  3261. // Get the distance from the reference point to the current position
  3262. // The current XY is in sync with the planner/steppers at this point
  3263. // but the current Z is only known to the steppers.
  3264. float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
  3265. y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
  3266. z_real = RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS));
  3267. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3268. if (DEBUGGING(LEVELING)) {
  3269. SERIAL_ECHOPAIR("BEFORE ROTATION ... x_dist:", x_dist);
  3270. SERIAL_ECHOPAIR("y_dist:", y_dist);
  3271. SERIAL_ECHOPAIR("z_real:", z_real);
  3272. }
  3273. #endif
  3274. // Apply the matrix to the distance from the reference point to XY,
  3275. // and from the homed Z to the current Z.
  3276. apply_rotation_xyz(planner.bed_level_matrix, x_dist, y_dist, z_real);
  3277. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3278. if (DEBUGGING(LEVELING)) {
  3279. SERIAL_ECHOPAIR("AFTER ROTATION ... x_dist:", x_dist);
  3280. SERIAL_ECHOPAIR("y_dist:", y_dist);
  3281. SERIAL_ECHOPAIR("z_real:", z_real);
  3282. }
  3283. #endif
  3284. // Apply the rotated distance and Z to the current position
  3285. current_position[X_AXIS] = LOGICAL_X_POSITION(X_TILT_FULCRUM + x_dist);
  3286. current_position[Y_AXIS] = LOGICAL_Y_POSITION(Y_TILT_FULCRUM + y_dist);
  3287. current_position[Z_AXIS] = LOGICAL_Z_POSITION(z_real);
  3288. SYNC_PLAN_POSITION_KINEMATIC();
  3289. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3290. if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected XYZ in G29", current_position);
  3291. #endif
  3292. }
  3293. #endif // !DELTA
  3294. #ifdef Z_PROBE_END_SCRIPT
  3295. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3296. if (DEBUGGING(LEVELING)) {
  3297. SERIAL_ECHOPGM("Z Probe End Script: ");
  3298. SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
  3299. }
  3300. #endif
  3301. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3302. stepper.synchronize();
  3303. #endif
  3304. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3305. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3306. #endif
  3307. bed_leveling_in_progress = false;
  3308. report_current_position();
  3309. KEEPALIVE_STATE(IN_HANDLER);
  3310. }
  3311. #endif //AUTO_BED_LEVELING_FEATURE
  3312. #if HAS_BED_PROBE
  3313. /**
  3314. * G30: Do a single Z probe at the current XY
  3315. */
  3316. inline void gcode_G30() {
  3317. setup_for_endstop_or_probe_move();
  3318. // TODO: clear the leveling matrix or the planner will be set incorrectly
  3319. float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3320. current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3321. true, 1);
  3322. SERIAL_PROTOCOLPGM("Bed X: ");
  3323. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3324. SERIAL_PROTOCOLPGM(" Y: ");
  3325. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3326. SERIAL_PROTOCOLPGM(" Z: ");
  3327. SERIAL_PROTOCOL(measured_z + 0.0001);
  3328. SERIAL_EOL;
  3329. clean_up_after_endstop_or_probe_move();
  3330. report_current_position();
  3331. }
  3332. #if ENABLED(Z_PROBE_SLED)
  3333. /**
  3334. * G31: Deploy the Z probe
  3335. */
  3336. inline void gcode_G31() { DEPLOY_PROBE(); }
  3337. /**
  3338. * G32: Stow the Z probe
  3339. */
  3340. inline void gcode_G32() { STOW_PROBE(); }
  3341. #endif // Z_PROBE_SLED
  3342. #endif // HAS_BED_PROBE
  3343. /**
  3344. * G92: Set current position to given X Y Z E
  3345. */
  3346. inline void gcode_G92() {
  3347. bool didE = code_seen('E');
  3348. if (!didE) stepper.synchronize();
  3349. bool didXYZ = false;
  3350. LOOP_XYZE(i) {
  3351. if (code_seen(axis_codes[i])) {
  3352. float p = current_position[i],
  3353. v = code_value_axis_units(i);
  3354. current_position[i] = v;
  3355. if (i != E_AXIS) {
  3356. position_shift[i] += v - p; // Offset the coordinate space
  3357. update_software_endstops((AxisEnum)i);
  3358. didXYZ = true;
  3359. }
  3360. }
  3361. }
  3362. if (didXYZ)
  3363. SYNC_PLAN_POSITION_KINEMATIC();
  3364. else if (didE)
  3365. sync_plan_position_e();
  3366. }
  3367. #if ENABLED(ULTIPANEL)
  3368. /**
  3369. * M0: Unconditional stop - Wait for user button press on LCD
  3370. * M1: Conditional stop - Wait for user button press on LCD
  3371. */
  3372. inline void gcode_M0_M1() {
  3373. char* args = current_command_args;
  3374. millis_t codenum = 0;
  3375. bool hasP = false, hasS = false;
  3376. if (code_seen('P')) {
  3377. codenum = code_value_millis(); // milliseconds to wait
  3378. hasP = codenum > 0;
  3379. }
  3380. if (code_seen('S')) {
  3381. codenum = code_value_millis_from_seconds(); // seconds to wait
  3382. hasS = codenum > 0;
  3383. }
  3384. if (!hasP && !hasS && *args != '\0')
  3385. lcd_setstatus(args, true);
  3386. else {
  3387. LCD_MESSAGEPGM(MSG_USERWAIT);
  3388. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3389. dontExpireStatus();
  3390. #endif
  3391. }
  3392. lcd_ignore_click();
  3393. stepper.synchronize();
  3394. refresh_cmd_timeout();
  3395. if (codenum > 0) {
  3396. codenum += previous_cmd_ms; // wait until this time for a click
  3397. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3398. while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
  3399. KEEPALIVE_STATE(IN_HANDLER);
  3400. lcd_ignore_click(false);
  3401. }
  3402. else {
  3403. if (!lcd_detected()) return;
  3404. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3405. while (!lcd_clicked()) idle();
  3406. KEEPALIVE_STATE(IN_HANDLER);
  3407. }
  3408. if (IS_SD_PRINTING)
  3409. LCD_MESSAGEPGM(MSG_RESUMING);
  3410. else
  3411. LCD_MESSAGEPGM(WELCOME_MSG);
  3412. }
  3413. #endif // ULTIPANEL
  3414. /**
  3415. * M17: Enable power on all stepper motors
  3416. */
  3417. inline void gcode_M17() {
  3418. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3419. enable_all_steppers();
  3420. }
  3421. #if ENABLED(SDSUPPORT)
  3422. /**
  3423. * M20: List SD card to serial output
  3424. */
  3425. inline void gcode_M20() {
  3426. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3427. card.ls();
  3428. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3429. }
  3430. /**
  3431. * M21: Init SD Card
  3432. */
  3433. inline void gcode_M21() {
  3434. card.initsd();
  3435. }
  3436. /**
  3437. * M22: Release SD Card
  3438. */
  3439. inline void gcode_M22() {
  3440. card.release();
  3441. }
  3442. /**
  3443. * M23: Open a file
  3444. */
  3445. inline void gcode_M23() {
  3446. card.openFile(current_command_args, true);
  3447. }
  3448. /**
  3449. * M24: Start SD Print
  3450. */
  3451. inline void gcode_M24() {
  3452. card.startFileprint();
  3453. print_job_timer.start();
  3454. }
  3455. /**
  3456. * M25: Pause SD Print
  3457. */
  3458. inline void gcode_M25() {
  3459. card.pauseSDPrint();
  3460. }
  3461. /**
  3462. * M26: Set SD Card file index
  3463. */
  3464. inline void gcode_M26() {
  3465. if (card.cardOK && code_seen('S'))
  3466. card.setIndex(code_value_long());
  3467. }
  3468. /**
  3469. * M27: Get SD Card status
  3470. */
  3471. inline void gcode_M27() {
  3472. card.getStatus();
  3473. }
  3474. /**
  3475. * M28: Start SD Write
  3476. */
  3477. inline void gcode_M28() {
  3478. card.openFile(current_command_args, false);
  3479. }
  3480. /**
  3481. * M29: Stop SD Write
  3482. * Processed in write to file routine above
  3483. */
  3484. inline void gcode_M29() {
  3485. // card.saving = false;
  3486. }
  3487. /**
  3488. * M30 <filename>: Delete SD Card file
  3489. */
  3490. inline void gcode_M30() {
  3491. if (card.cardOK) {
  3492. card.closefile();
  3493. card.removeFile(current_command_args);
  3494. }
  3495. }
  3496. #endif //SDSUPPORT
  3497. /**
  3498. * M31: Get the time since the start of SD Print (or last M109)
  3499. */
  3500. inline void gcode_M31() {
  3501. char buffer[21];
  3502. duration_t elapsed = print_job_timer.duration();
  3503. elapsed.toString(buffer);
  3504. lcd_setstatus(buffer);
  3505. SERIAL_ECHO_START;
  3506. SERIAL_ECHOPGM("Print time: ");
  3507. SERIAL_ECHOLN(buffer);
  3508. thermalManager.autotempShutdown();
  3509. }
  3510. #if ENABLED(SDSUPPORT)
  3511. /**
  3512. * M32: Select file and start SD Print
  3513. */
  3514. inline void gcode_M32() {
  3515. if (card.sdprinting)
  3516. stepper.synchronize();
  3517. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3518. if (!namestartpos)
  3519. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3520. else
  3521. namestartpos++; //to skip the '!'
  3522. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3523. if (card.cardOK) {
  3524. card.openFile(namestartpos, true, call_procedure);
  3525. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3526. card.setIndex(code_value_long());
  3527. card.startFileprint();
  3528. // Procedure calls count as normal print time.
  3529. if (!call_procedure) print_job_timer.start();
  3530. }
  3531. }
  3532. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3533. /**
  3534. * M33: Get the long full path of a file or folder
  3535. *
  3536. * Parameters:
  3537. * <dospath> Case-insensitive DOS-style path to a file or folder
  3538. *
  3539. * Example:
  3540. * M33 miscel~1/armchair/armcha~1.gco
  3541. *
  3542. * Output:
  3543. * /Miscellaneous/Armchair/Armchair.gcode
  3544. */
  3545. inline void gcode_M33() {
  3546. card.printLongPath(current_command_args);
  3547. }
  3548. #endif
  3549. /**
  3550. * M928: Start SD Write
  3551. */
  3552. inline void gcode_M928() {
  3553. card.openLogFile(current_command_args);
  3554. }
  3555. #endif // SDSUPPORT
  3556. /**
  3557. * M42: Change pin status via GCode
  3558. *
  3559. * P<pin> Pin number (LED if omitted)
  3560. * S<byte> Pin status from 0 - 255
  3561. */
  3562. inline void gcode_M42() {
  3563. if (!code_seen('S')) return;
  3564. int pin_status = code_value_int();
  3565. if (pin_status < 0 || pin_status > 255) return;
  3566. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  3567. if (pin_number < 0) return;
  3568. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3569. if (pin_number == sensitive_pins[i]) return;
  3570. pinMode(pin_number, OUTPUT);
  3571. digitalWrite(pin_number, pin_status);
  3572. analogWrite(pin_number, pin_status);
  3573. #if FAN_COUNT > 0
  3574. switch (pin_number) {
  3575. #if HAS_FAN0
  3576. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3577. #endif
  3578. #if HAS_FAN1
  3579. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3580. #endif
  3581. #if HAS_FAN2
  3582. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3583. #endif
  3584. }
  3585. #endif
  3586. }
  3587. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3588. /**
  3589. * M48: Z probe repeatability measurement function.
  3590. *
  3591. * Usage:
  3592. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3593. * P = Number of sampled points (4-50, default 10)
  3594. * X = Sample X position
  3595. * Y = Sample Y position
  3596. * V = Verbose level (0-4, default=1)
  3597. * E = Engage Z probe for each reading
  3598. * L = Number of legs of movement before probe
  3599. * S = Schizoid (Or Star if you prefer)
  3600. *
  3601. * This function assumes the bed has been homed. Specifically, that a G28 command
  3602. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3603. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3604. * regenerated.
  3605. */
  3606. inline void gcode_M48() {
  3607. if (axis_unhomed_error(true, true, true)) return;
  3608. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  3609. if (verbose_level < 0 || verbose_level > 4) {
  3610. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  3611. return;
  3612. }
  3613. if (verbose_level > 0)
  3614. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability test");
  3615. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  3616. if (n_samples < 4 || n_samples > 50) {
  3617. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  3618. return;
  3619. }
  3620. float X_current = current_position[X_AXIS],
  3621. Y_current = current_position[Y_AXIS];
  3622. bool stow_probe_after_each = code_seen('E');
  3623. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  3624. #if DISABLED(DELTA)
  3625. if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
  3626. out_of_range_error(PSTR("X"));
  3627. return;
  3628. }
  3629. #endif
  3630. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3631. #if DISABLED(DELTA)
  3632. if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
  3633. out_of_range_error(PSTR("Y"));
  3634. return;
  3635. }
  3636. #else
  3637. if (HYPOT(RAW_X_POSITION(X_probe_location), RAW_Y_POSITION(Y_probe_location)) > DELTA_PROBEABLE_RADIUS) {
  3638. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  3639. return;
  3640. }
  3641. #endif
  3642. bool seen_L = code_seen('L');
  3643. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  3644. if (n_legs > 15) {
  3645. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  3646. return;
  3647. }
  3648. if (n_legs == 1) n_legs = 2;
  3649. bool schizoid_flag = code_seen('S');
  3650. if (schizoid_flag && !seen_L) n_legs = 7;
  3651. /**
  3652. * Now get everything to the specified probe point So we can safely do a
  3653. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  3654. * we don't want to use that as a starting point for each probe.
  3655. */
  3656. if (verbose_level > 2)
  3657. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  3658. #if ENABLED(DELTA)
  3659. // we don't do bed level correction in M48 because we want the raw data when we probe
  3660. reset_bed_level();
  3661. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  3662. // we don't do bed level correction in M48 because we want the raw data when we probe
  3663. planner.bed_level_matrix.set_to_identity();
  3664. #endif
  3665. setup_for_endstop_or_probe_move();
  3666. // Move to the first point, deploy, and probe
  3667. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3668. randomSeed(millis());
  3669. double mean = 0, sigma = 0, sample_set[n_samples];
  3670. for (uint8_t n = 0; n < n_samples; n++) {
  3671. if (n_legs) {
  3672. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  3673. float angle = random(0.0, 360.0),
  3674. radius = random(
  3675. #if ENABLED(DELTA)
  3676. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  3677. #else
  3678. 5, X_MAX_LENGTH / 8
  3679. #endif
  3680. );
  3681. if (verbose_level > 3) {
  3682. SERIAL_ECHOPAIR("Starting radius: ", radius);
  3683. SERIAL_ECHOPAIR(" angle: ", angle);
  3684. SERIAL_ECHOPGM(" Direction: ");
  3685. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  3686. SERIAL_ECHOLNPGM("Clockwise");
  3687. }
  3688. for (uint8_t l = 0; l < n_legs - 1; l++) {
  3689. double delta_angle;
  3690. if (schizoid_flag)
  3691. // The points of a 5 point star are 72 degrees apart. We need to
  3692. // skip a point and go to the next one on the star.
  3693. delta_angle = dir * 2.0 * 72.0;
  3694. else
  3695. // If we do this line, we are just trying to move further
  3696. // around the circle.
  3697. delta_angle = dir * (float) random(25, 45);
  3698. angle += delta_angle;
  3699. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  3700. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  3701. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  3702. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  3703. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  3704. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  3705. #if DISABLED(DELTA)
  3706. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  3707. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  3708. #else
  3709. // If we have gone out too far, we can do a simple fix and scale the numbers
  3710. // back in closer to the origin.
  3711. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  3712. X_current /= 1.25;
  3713. Y_current /= 1.25;
  3714. if (verbose_level > 3) {
  3715. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  3716. SERIAL_ECHOLNPAIR(", ", Y_current);
  3717. }
  3718. }
  3719. #endif
  3720. if (verbose_level > 3) {
  3721. SERIAL_PROTOCOLPGM("Going to:");
  3722. SERIAL_ECHOPAIR(" X", X_current);
  3723. SERIAL_ECHOPAIR(" Y", Y_current);
  3724. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  3725. }
  3726. do_blocking_move_to_xy(X_current, Y_current);
  3727. } // n_legs loop
  3728. } // n_legs
  3729. // Probe a single point
  3730. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3731. /**
  3732. * Get the current mean for the data points we have so far
  3733. */
  3734. double sum = 0.0;
  3735. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  3736. mean = sum / (n + 1);
  3737. /**
  3738. * Now, use that mean to calculate the standard deviation for the
  3739. * data points we have so far
  3740. */
  3741. sum = 0.0;
  3742. for (uint8_t j = 0; j <= n; j++)
  3743. sum += sq(sample_set[j] - mean);
  3744. sigma = sqrt(sum / (n + 1));
  3745. if (verbose_level > 0) {
  3746. if (verbose_level > 1) {
  3747. SERIAL_PROTOCOL(n + 1);
  3748. SERIAL_PROTOCOLPGM(" of ");
  3749. SERIAL_PROTOCOL((int)n_samples);
  3750. SERIAL_PROTOCOLPGM(" z: ");
  3751. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3752. if (verbose_level > 2) {
  3753. SERIAL_PROTOCOLPGM(" mean: ");
  3754. SERIAL_PROTOCOL_F(mean, 6);
  3755. SERIAL_PROTOCOLPGM(" sigma: ");
  3756. SERIAL_PROTOCOL_F(sigma, 6);
  3757. }
  3758. }
  3759. SERIAL_EOL;
  3760. }
  3761. } // End of probe loop
  3762. if (STOW_PROBE()) return;
  3763. if (verbose_level > 0) {
  3764. SERIAL_PROTOCOLPGM("Mean: ");
  3765. SERIAL_PROTOCOL_F(mean, 6);
  3766. SERIAL_EOL;
  3767. }
  3768. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3769. SERIAL_PROTOCOL_F(sigma, 6);
  3770. SERIAL_EOL; SERIAL_EOL;
  3771. clean_up_after_endstop_or_probe_move();
  3772. report_current_position();
  3773. }
  3774. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  3775. /**
  3776. * M75: Start print timer
  3777. */
  3778. inline void gcode_M75() { print_job_timer.start(); }
  3779. /**
  3780. * M76: Pause print timer
  3781. */
  3782. inline void gcode_M76() { print_job_timer.pause(); }
  3783. /**
  3784. * M77: Stop print timer
  3785. */
  3786. inline void gcode_M77() { print_job_timer.stop(); }
  3787. #if ENABLED(PRINTCOUNTER)
  3788. /**
  3789. * M78: Show print statistics
  3790. */
  3791. inline void gcode_M78() {
  3792. // "M78 S78" will reset the statistics
  3793. if (code_seen('S') && code_value_int() == 78)
  3794. print_job_timer.initStats();
  3795. else print_job_timer.showStats();
  3796. }
  3797. #endif
  3798. /**
  3799. * M104: Set hot end temperature
  3800. */
  3801. inline void gcode_M104() {
  3802. if (get_target_extruder_from_command(104)) return;
  3803. if (DEBUGGING(DRYRUN)) return;
  3804. #if ENABLED(SINGLENOZZLE)
  3805. if (target_extruder != active_extruder) return;
  3806. #endif
  3807. if (code_seen('S')) {
  3808. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3809. #if ENABLED(DUAL_X_CARRIAGE)
  3810. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3811. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3812. #endif
  3813. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3814. /**
  3815. * Stop the timer at the end of print, starting is managed by
  3816. * 'heat and wait' M109.
  3817. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3818. * stand by mode, for instance in a dual extruder setup, without affecting
  3819. * the running print timer.
  3820. */
  3821. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3822. print_job_timer.stop();
  3823. LCD_MESSAGEPGM(WELCOME_MSG);
  3824. }
  3825. #endif
  3826. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3827. }
  3828. }
  3829. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3830. void print_heaterstates() {
  3831. #if HAS_TEMP_HOTEND
  3832. SERIAL_PROTOCOLPGM(" T:");
  3833. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  3834. SERIAL_PROTOCOLPGM(" /");
  3835. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  3836. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3837. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  3838. SERIAL_CHAR(')');
  3839. #endif
  3840. #endif
  3841. #if HAS_TEMP_BED
  3842. SERIAL_PROTOCOLPGM(" B:");
  3843. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  3844. SERIAL_PROTOCOLPGM(" /");
  3845. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  3846. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3847. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  3848. SERIAL_CHAR(')');
  3849. #endif
  3850. #endif
  3851. #if HOTENDS > 1
  3852. HOTEND_LOOP() {
  3853. SERIAL_PROTOCOLPAIR(" T", e);
  3854. SERIAL_PROTOCOLCHAR(':');
  3855. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  3856. SERIAL_PROTOCOLPGM(" /");
  3857. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  3858. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3859. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  3860. SERIAL_CHAR(')');
  3861. #endif
  3862. }
  3863. #endif
  3864. SERIAL_PROTOCOLPGM(" @:");
  3865. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  3866. #if HAS_TEMP_BED
  3867. SERIAL_PROTOCOLPGM(" B@:");
  3868. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  3869. #endif
  3870. #if HOTENDS > 1
  3871. HOTEND_LOOP() {
  3872. SERIAL_PROTOCOLPAIR(" @", e);
  3873. SERIAL_PROTOCOLCHAR(':');
  3874. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  3875. }
  3876. #endif
  3877. }
  3878. #endif
  3879. /**
  3880. * M105: Read hot end and bed temperature
  3881. */
  3882. inline void gcode_M105() {
  3883. if (get_target_extruder_from_command(105)) return;
  3884. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3885. SERIAL_PROTOCOLPGM(MSG_OK);
  3886. print_heaterstates();
  3887. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  3888. SERIAL_ERROR_START;
  3889. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  3890. #endif
  3891. SERIAL_EOL;
  3892. }
  3893. #if FAN_COUNT > 0
  3894. /**
  3895. * M106: Set Fan Speed
  3896. *
  3897. * S<int> Speed between 0-255
  3898. * P<index> Fan index, if more than one fan
  3899. */
  3900. inline void gcode_M106() {
  3901. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  3902. p = code_seen('P') ? code_value_ushort() : 0;
  3903. NOMORE(s, 255);
  3904. if (p < FAN_COUNT) fanSpeeds[p] = s;
  3905. }
  3906. /**
  3907. * M107: Fan Off
  3908. */
  3909. inline void gcode_M107() {
  3910. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  3911. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  3912. }
  3913. #endif // FAN_COUNT > 0
  3914. #if DISABLED(EMERGENCY_PARSER)
  3915. /**
  3916. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  3917. */
  3918. inline void gcode_M108() { wait_for_heatup = false; }
  3919. /**
  3920. * M112: Emergency Stop
  3921. */
  3922. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  3923. /**
  3924. * M410: Quickstop - Abort all planned moves
  3925. *
  3926. * This will stop the carriages mid-move, so most likely they
  3927. * will be out of sync with the stepper position after this.
  3928. */
  3929. inline void gcode_M410() { quickstop_stepper(); }
  3930. #endif
  3931. #ifndef MIN_COOLING_SLOPE_DEG
  3932. #define MIN_COOLING_SLOPE_DEG 1.50
  3933. #endif
  3934. #ifndef MIN_COOLING_SLOPE_TIME
  3935. #define MIN_COOLING_SLOPE_TIME 60
  3936. #endif
  3937. /**
  3938. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  3939. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  3940. */
  3941. inline void gcode_M109() {
  3942. if (get_target_extruder_from_command(109)) return;
  3943. if (DEBUGGING(DRYRUN)) return;
  3944. #if ENABLED(SINGLENOZZLE)
  3945. if (target_extruder != active_extruder) return;
  3946. #endif
  3947. bool no_wait_for_cooling = code_seen('S');
  3948. if (no_wait_for_cooling || code_seen('R')) {
  3949. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3950. #if ENABLED(DUAL_X_CARRIAGE)
  3951. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3952. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3953. #endif
  3954. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3955. /**
  3956. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3957. * stand by mode, for instance in a dual extruder setup, without affecting
  3958. * the running print timer.
  3959. */
  3960. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3961. print_job_timer.stop();
  3962. LCD_MESSAGEPGM(WELCOME_MSG);
  3963. }
  3964. /**
  3965. * We do not check if the timer is already running because this check will
  3966. * be done for us inside the Stopwatch::start() method thus a running timer
  3967. * will not restart.
  3968. */
  3969. else print_job_timer.start();
  3970. #endif
  3971. if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3972. }
  3973. #if ENABLED(AUTOTEMP)
  3974. planner.autotemp_M109();
  3975. #endif
  3976. #if TEMP_RESIDENCY_TIME > 0
  3977. millis_t residency_start_ms = 0;
  3978. // Loop until the temperature has stabilized
  3979. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  3980. #else
  3981. // Loop until the temperature is very close target
  3982. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  3983. #endif //TEMP_RESIDENCY_TIME > 0
  3984. float theTarget = -1.0, old_temp = 9999.0;
  3985. bool wants_to_cool = false;
  3986. wait_for_heatup = true;
  3987. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  3988. KEEPALIVE_STATE(NOT_BUSY);
  3989. do {
  3990. // Target temperature might be changed during the loop
  3991. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  3992. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  3993. theTarget = thermalManager.degTargetHotend(target_extruder);
  3994. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3995. if (no_wait_for_cooling && wants_to_cool) break;
  3996. }
  3997. now = millis();
  3998. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  3999. next_temp_ms = now + 1000UL;
  4000. print_heaterstates();
  4001. #if TEMP_RESIDENCY_TIME > 0
  4002. SERIAL_PROTOCOLPGM(" W:");
  4003. if (residency_start_ms) {
  4004. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4005. SERIAL_PROTOCOLLN(rem);
  4006. }
  4007. else {
  4008. SERIAL_PROTOCOLLNPGM("?");
  4009. }
  4010. #else
  4011. SERIAL_EOL;
  4012. #endif
  4013. }
  4014. idle();
  4015. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4016. float temp = thermalManager.degHotend(target_extruder);
  4017. #if TEMP_RESIDENCY_TIME > 0
  4018. float temp_diff = fabs(theTarget - temp);
  4019. if (!residency_start_ms) {
  4020. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  4021. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  4022. }
  4023. else if (temp_diff > TEMP_HYSTERESIS) {
  4024. // Restart the timer whenever the temperature falls outside the hysteresis.
  4025. residency_start_ms = now;
  4026. }
  4027. #endif //TEMP_RESIDENCY_TIME > 0
  4028. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  4029. if (wants_to_cool) {
  4030. // break after MIN_COOLING_SLOPE_TIME seconds
  4031. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  4032. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4033. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  4034. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  4035. old_temp = temp;
  4036. }
  4037. }
  4038. } while (wait_for_heatup && TEMP_CONDITIONS);
  4039. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  4040. KEEPALIVE_STATE(IN_HANDLER);
  4041. }
  4042. #if HAS_TEMP_BED
  4043. #ifndef MIN_COOLING_SLOPE_DEG_BED
  4044. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  4045. #endif
  4046. #ifndef MIN_COOLING_SLOPE_TIME_BED
  4047. #define MIN_COOLING_SLOPE_TIME_BED 60
  4048. #endif
  4049. /**
  4050. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  4051. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  4052. */
  4053. inline void gcode_M190() {
  4054. if (DEBUGGING(DRYRUN)) return;
  4055. LCD_MESSAGEPGM(MSG_BED_HEATING);
  4056. bool no_wait_for_cooling = code_seen('S');
  4057. if (no_wait_for_cooling || code_seen('R')) {
  4058. thermalManager.setTargetBed(code_value_temp_abs());
  4059. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  4060. if (code_value_temp_abs() > BED_MINTEMP) {
  4061. /**
  4062. * We start the timer when 'heating and waiting' command arrives, LCD
  4063. * functions never wait. Cooling down managed by extruders.
  4064. *
  4065. * We do not check if the timer is already running because this check will
  4066. * be done for us inside the Stopwatch::start() method thus a running timer
  4067. * will not restart.
  4068. */
  4069. print_job_timer.start();
  4070. }
  4071. #endif
  4072. }
  4073. #if TEMP_BED_RESIDENCY_TIME > 0
  4074. millis_t residency_start_ms = 0;
  4075. // Loop until the temperature has stabilized
  4076. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  4077. #else
  4078. // Loop until the temperature is very close target
  4079. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  4080. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4081. float theTarget = -1.0, old_temp = 9999.0;
  4082. bool wants_to_cool = false;
  4083. wait_for_heatup = true;
  4084. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4085. KEEPALIVE_STATE(NOT_BUSY);
  4086. target_extruder = active_extruder; // for print_heaterstates
  4087. do {
  4088. // Target temperature might be changed during the loop
  4089. if (theTarget != thermalManager.degTargetBed()) {
  4090. wants_to_cool = thermalManager.isCoolingBed();
  4091. theTarget = thermalManager.degTargetBed();
  4092. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4093. if (no_wait_for_cooling && wants_to_cool) break;
  4094. }
  4095. now = millis();
  4096. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  4097. next_temp_ms = now + 1000UL;
  4098. print_heaterstates();
  4099. #if TEMP_BED_RESIDENCY_TIME > 0
  4100. SERIAL_PROTOCOLPGM(" W:");
  4101. if (residency_start_ms) {
  4102. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4103. SERIAL_PROTOCOLLN(rem);
  4104. }
  4105. else {
  4106. SERIAL_PROTOCOLLNPGM("?");
  4107. }
  4108. #else
  4109. SERIAL_EOL;
  4110. #endif
  4111. }
  4112. idle();
  4113. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4114. float temp = thermalManager.degBed();
  4115. #if TEMP_BED_RESIDENCY_TIME > 0
  4116. float temp_diff = fabs(theTarget - temp);
  4117. if (!residency_start_ms) {
  4118. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  4119. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  4120. }
  4121. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  4122. // Restart the timer whenever the temperature falls outside the hysteresis.
  4123. residency_start_ms = now;
  4124. }
  4125. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4126. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  4127. if (wants_to_cool) {
  4128. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  4129. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  4130. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4131. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  4132. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  4133. old_temp = temp;
  4134. }
  4135. }
  4136. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  4137. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  4138. KEEPALIVE_STATE(IN_HANDLER);
  4139. }
  4140. #endif // HAS_TEMP_BED
  4141. /**
  4142. * M110: Set Current Line Number
  4143. */
  4144. inline void gcode_M110() {
  4145. if (code_seen('N')) gcode_N = code_value_long();
  4146. }
  4147. /**
  4148. * M111: Set the debug level
  4149. */
  4150. inline void gcode_M111() {
  4151. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  4152. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  4153. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  4154. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  4155. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  4156. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  4157. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4158. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  4159. #endif
  4160. const static char* const debug_strings[] PROGMEM = {
  4161. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  4162. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4163. str_debug_32
  4164. #endif
  4165. };
  4166. SERIAL_ECHO_START;
  4167. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  4168. if (marlin_debug_flags) {
  4169. uint8_t comma = 0;
  4170. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  4171. if (TEST(marlin_debug_flags, i)) {
  4172. if (comma++) SERIAL_CHAR(',');
  4173. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  4174. }
  4175. }
  4176. }
  4177. else {
  4178. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  4179. }
  4180. SERIAL_EOL;
  4181. }
  4182. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  4183. /**
  4184. * M113: Get or set Host Keepalive interval (0 to disable)
  4185. *
  4186. * S<seconds> Optional. Set the keepalive interval.
  4187. */
  4188. inline void gcode_M113() {
  4189. if (code_seen('S')) {
  4190. host_keepalive_interval = code_value_byte();
  4191. NOMORE(host_keepalive_interval, 60);
  4192. }
  4193. else {
  4194. SERIAL_ECHO_START;
  4195. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4196. }
  4197. }
  4198. #endif
  4199. #if ENABLED(BARICUDA)
  4200. #if HAS_HEATER_1
  4201. /**
  4202. * M126: Heater 1 valve open
  4203. */
  4204. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4205. /**
  4206. * M127: Heater 1 valve close
  4207. */
  4208. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4209. #endif
  4210. #if HAS_HEATER_2
  4211. /**
  4212. * M128: Heater 2 valve open
  4213. */
  4214. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4215. /**
  4216. * M129: Heater 2 valve close
  4217. */
  4218. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4219. #endif
  4220. #endif //BARICUDA
  4221. /**
  4222. * M140: Set bed temperature
  4223. */
  4224. inline void gcode_M140() {
  4225. if (DEBUGGING(DRYRUN)) return;
  4226. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4227. }
  4228. #if ENABLED(ULTIPANEL)
  4229. /**
  4230. * M145: Set the heatup state for a material in the LCD menu
  4231. * S<material> (0=PLA, 1=ABS)
  4232. * H<hotend temp>
  4233. * B<bed temp>
  4234. * F<fan speed>
  4235. */
  4236. inline void gcode_M145() {
  4237. int8_t material = code_seen('S') ? (int8_t)code_value_int() : 0;
  4238. if (material < 0 || material > 1) {
  4239. SERIAL_ERROR_START;
  4240. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4241. }
  4242. else {
  4243. int v;
  4244. switch (material) {
  4245. case 0:
  4246. if (code_seen('H')) {
  4247. v = code_value_int();
  4248. preheatHotendTemp1 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4249. }
  4250. if (code_seen('F')) {
  4251. v = code_value_int();
  4252. preheatFanSpeed1 = constrain(v, 0, 255);
  4253. }
  4254. #if TEMP_SENSOR_BED != 0
  4255. if (code_seen('B')) {
  4256. v = code_value_int();
  4257. preheatBedTemp1 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4258. }
  4259. #endif
  4260. break;
  4261. case 1:
  4262. if (code_seen('H')) {
  4263. v = code_value_int();
  4264. preheatHotendTemp2 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4265. }
  4266. if (code_seen('F')) {
  4267. v = code_value_int();
  4268. preheatFanSpeed2 = constrain(v, 0, 255);
  4269. }
  4270. #if TEMP_SENSOR_BED != 0
  4271. if (code_seen('B')) {
  4272. v = code_value_int();
  4273. preheatBedTemp2 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4274. }
  4275. #endif
  4276. break;
  4277. }
  4278. }
  4279. }
  4280. #endif
  4281. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4282. /**
  4283. * M149: Set temperature units
  4284. */
  4285. inline void gcode_M149() {
  4286. if (code_seen('C')) {
  4287. set_input_temp_units(TEMPUNIT_C);
  4288. } else if (code_seen('K')) {
  4289. set_input_temp_units(TEMPUNIT_K);
  4290. } else if (code_seen('F')) {
  4291. set_input_temp_units(TEMPUNIT_F);
  4292. }
  4293. }
  4294. #endif
  4295. #if HAS_POWER_SWITCH
  4296. /**
  4297. * M80: Turn on Power Supply
  4298. */
  4299. inline void gcode_M80() {
  4300. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4301. /**
  4302. * If you have a switch on suicide pin, this is useful
  4303. * if you want to start another print with suicide feature after
  4304. * a print without suicide...
  4305. */
  4306. #if HAS_SUICIDE
  4307. OUT_WRITE(SUICIDE_PIN, HIGH);
  4308. #endif
  4309. #if ENABLED(ULTIPANEL)
  4310. powersupply = true;
  4311. LCD_MESSAGEPGM(WELCOME_MSG);
  4312. lcd_update();
  4313. #endif
  4314. }
  4315. #endif // HAS_POWER_SWITCH
  4316. /**
  4317. * M81: Turn off Power, including Power Supply, if there is one.
  4318. *
  4319. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4320. */
  4321. inline void gcode_M81() {
  4322. thermalManager.disable_all_heaters();
  4323. stepper.finish_and_disable();
  4324. #if FAN_COUNT > 0
  4325. #if FAN_COUNT > 1
  4326. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4327. #else
  4328. fanSpeeds[0] = 0;
  4329. #endif
  4330. #endif
  4331. delay(1000); // Wait 1 second before switching off
  4332. #if HAS_SUICIDE
  4333. stepper.synchronize();
  4334. suicide();
  4335. #elif HAS_POWER_SWITCH
  4336. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4337. #endif
  4338. #if ENABLED(ULTIPANEL)
  4339. #if HAS_POWER_SWITCH
  4340. powersupply = false;
  4341. #endif
  4342. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4343. lcd_update();
  4344. #endif
  4345. }
  4346. /**
  4347. * M82: Set E codes absolute (default)
  4348. */
  4349. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4350. /**
  4351. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4352. */
  4353. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4354. /**
  4355. * M18, M84: Disable all stepper motors
  4356. */
  4357. inline void gcode_M18_M84() {
  4358. if (code_seen('S')) {
  4359. stepper_inactive_time = code_value_millis_from_seconds();
  4360. }
  4361. else {
  4362. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  4363. if (all_axis) {
  4364. stepper.finish_and_disable();
  4365. }
  4366. else {
  4367. stepper.synchronize();
  4368. if (code_seen('X')) disable_x();
  4369. if (code_seen('Y')) disable_y();
  4370. if (code_seen('Z')) disable_z();
  4371. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4372. if (code_seen('E')) {
  4373. disable_e0();
  4374. disable_e1();
  4375. disable_e2();
  4376. disable_e3();
  4377. }
  4378. #endif
  4379. }
  4380. }
  4381. }
  4382. /**
  4383. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4384. */
  4385. inline void gcode_M85() {
  4386. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  4387. }
  4388. /**
  4389. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4390. * (Follows the same syntax as G92)
  4391. */
  4392. inline void gcode_M92() {
  4393. LOOP_XYZE(i) {
  4394. if (code_seen(axis_codes[i])) {
  4395. if (i == E_AXIS) {
  4396. float value = code_value_per_axis_unit(i);
  4397. if (value < 20.0) {
  4398. float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
  4399. planner.max_e_jerk *= factor;
  4400. planner.max_feedrate_mm_s[i] *= factor;
  4401. planner.max_acceleration_steps_per_s2[i] *= factor;
  4402. }
  4403. planner.axis_steps_per_mm[i] = value;
  4404. }
  4405. else {
  4406. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  4407. }
  4408. }
  4409. }
  4410. planner.refresh_positioning();
  4411. }
  4412. /**
  4413. * Output the current position to serial
  4414. */
  4415. static void report_current_position() {
  4416. SERIAL_PROTOCOLPGM("X:");
  4417. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4418. SERIAL_PROTOCOLPGM(" Y:");
  4419. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4420. SERIAL_PROTOCOLPGM(" Z:");
  4421. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4422. SERIAL_PROTOCOLPGM(" E:");
  4423. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4424. stepper.report_positions();
  4425. #if ENABLED(SCARA)
  4426. SERIAL_PROTOCOLPGM("SCARA Theta:");
  4427. SERIAL_PROTOCOL(delta[X_AXIS]);
  4428. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4429. SERIAL_PROTOCOL(delta[Y_AXIS]);
  4430. SERIAL_EOL;
  4431. SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
  4432. SERIAL_PROTOCOL(delta[X_AXIS]);
  4433. SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
  4434. SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90);
  4435. SERIAL_EOL;
  4436. SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
  4437. SERIAL_PROTOCOL(delta[X_AXIS] / 90 * planner.axis_steps_per_mm[X_AXIS]);
  4438. SERIAL_PROTOCOLPGM(" Psi+Theta:");
  4439. SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * planner.axis_steps_per_mm[Y_AXIS]);
  4440. SERIAL_EOL; SERIAL_EOL;
  4441. #endif
  4442. }
  4443. /**
  4444. * M114: Output current position to serial port
  4445. */
  4446. inline void gcode_M114() { report_current_position(); }
  4447. /**
  4448. * M115: Capabilities string
  4449. */
  4450. inline void gcode_M115() {
  4451. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4452. }
  4453. /**
  4454. * M117: Set LCD Status Message
  4455. */
  4456. inline void gcode_M117() {
  4457. lcd_setstatus(current_command_args);
  4458. }
  4459. /**
  4460. * M119: Output endstop states to serial output
  4461. */
  4462. inline void gcode_M119() { endstops.M119(); }
  4463. /**
  4464. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4465. */
  4466. inline void gcode_M120() { endstops.enable_globally(true); }
  4467. /**
  4468. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4469. */
  4470. inline void gcode_M121() { endstops.enable_globally(false); }
  4471. #if ENABLED(BLINKM)
  4472. /**
  4473. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4474. */
  4475. inline void gcode_M150() {
  4476. SendColors(
  4477. code_seen('R') ? code_value_byte() : 0,
  4478. code_seen('U') ? code_value_byte() : 0,
  4479. code_seen('B') ? code_value_byte() : 0
  4480. );
  4481. }
  4482. #endif // BLINKM
  4483. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4484. /**
  4485. * M155: Send data to a I2C slave device
  4486. *
  4487. * This is a PoC, the formating and arguments for the GCODE will
  4488. * change to be more compatible, the current proposal is:
  4489. *
  4490. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4491. *
  4492. * M155 B<byte-1 value in base 10>
  4493. * M155 B<byte-2 value in base 10>
  4494. * M155 B<byte-3 value in base 10>
  4495. *
  4496. * M155 S1 ; Send the buffered data and reset the buffer
  4497. * M155 R1 ; Reset the buffer without sending data
  4498. *
  4499. */
  4500. inline void gcode_M155() {
  4501. // Set the target address
  4502. if (code_seen('A')) i2c.address(code_value_byte());
  4503. // Add a new byte to the buffer
  4504. if (code_seen('B')) i2c.addbyte(code_value_byte());
  4505. // Flush the buffer to the bus
  4506. if (code_seen('S')) i2c.send();
  4507. // Reset and rewind the buffer
  4508. else if (code_seen('R')) i2c.reset();
  4509. }
  4510. /**
  4511. * M156: Request X bytes from I2C slave device
  4512. *
  4513. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4514. */
  4515. inline void gcode_M156() {
  4516. if (code_seen('A')) i2c.address(code_value_byte());
  4517. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  4518. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  4519. i2c.relay(bytes);
  4520. }
  4521. else {
  4522. SERIAL_ERROR_START;
  4523. SERIAL_ERRORLN("Bad i2c request");
  4524. }
  4525. }
  4526. #endif // EXPERIMENTAL_I2CBUS
  4527. /**
  4528. * M200: Set filament diameter and set E axis units to cubic units
  4529. *
  4530. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4531. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  4532. */
  4533. inline void gcode_M200() {
  4534. if (get_target_extruder_from_command(200)) return;
  4535. if (code_seen('D')) {
  4536. // setting any extruder filament size disables volumetric on the assumption that
  4537. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4538. // for all extruders
  4539. volumetric_enabled = (code_value_linear_units() != 0.0);
  4540. if (volumetric_enabled) {
  4541. filament_size[target_extruder] = code_value_linear_units();
  4542. // make sure all extruders have some sane value for the filament size
  4543. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  4544. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4545. }
  4546. }
  4547. else {
  4548. //reserved for setting filament diameter via UFID or filament measuring device
  4549. return;
  4550. }
  4551. calculate_volumetric_multipliers();
  4552. }
  4553. /**
  4554. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4555. */
  4556. inline void gcode_M201() {
  4557. LOOP_XYZE(i) {
  4558. if (code_seen(axis_codes[i])) {
  4559. planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
  4560. }
  4561. }
  4562. // 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)
  4563. planner.reset_acceleration_rates();
  4564. }
  4565. #if 0 // Not used for Sprinter/grbl gen6
  4566. inline void gcode_M202() {
  4567. LOOP_XYZE(i) {
  4568. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  4569. }
  4570. }
  4571. #endif
  4572. /**
  4573. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  4574. */
  4575. inline void gcode_M203() {
  4576. LOOP_XYZE(i)
  4577. if (code_seen(axis_codes[i]))
  4578. planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
  4579. }
  4580. /**
  4581. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  4582. *
  4583. * P = Printing moves
  4584. * R = Retract only (no X, Y, Z) moves
  4585. * T = Travel (non printing) moves
  4586. *
  4587. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4588. */
  4589. inline void gcode_M204() {
  4590. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4591. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  4592. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  4593. }
  4594. if (code_seen('P')) {
  4595. planner.acceleration = code_value_linear_units();
  4596. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  4597. }
  4598. if (code_seen('R')) {
  4599. planner.retract_acceleration = code_value_linear_units();
  4600. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  4601. }
  4602. if (code_seen('T')) {
  4603. planner.travel_acceleration = code_value_linear_units();
  4604. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  4605. }
  4606. }
  4607. /**
  4608. * M205: Set Advanced Settings
  4609. *
  4610. * S = Min Feed Rate (units/s)
  4611. * T = Min Travel Feed Rate (units/s)
  4612. * B = Min Segment Time (µs)
  4613. * X = Max XY Jerk (units/sec^2)
  4614. * Z = Max Z Jerk (units/sec^2)
  4615. * E = Max E Jerk (units/sec^2)
  4616. */
  4617. inline void gcode_M205() {
  4618. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  4619. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  4620. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  4621. if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
  4622. if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
  4623. if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
  4624. }
  4625. /**
  4626. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  4627. */
  4628. inline void gcode_M206() {
  4629. LOOP_XYZ(i)
  4630. if (code_seen(axis_codes[i]))
  4631. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  4632. #if ENABLED(SCARA)
  4633. if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
  4634. if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
  4635. #endif
  4636. SYNC_PLAN_POSITION_KINEMATIC();
  4637. report_current_position();
  4638. }
  4639. #if ENABLED(DELTA)
  4640. /**
  4641. * M665: Set delta configurations
  4642. *
  4643. * L = diagonal rod
  4644. * R = delta radius
  4645. * S = segments per second
  4646. * A = Alpha (Tower 1) diagonal rod trim
  4647. * B = Beta (Tower 2) diagonal rod trim
  4648. * C = Gamma (Tower 3) diagonal rod trim
  4649. */
  4650. inline void gcode_M665() {
  4651. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  4652. if (code_seen('R')) delta_radius = code_value_linear_units();
  4653. if (code_seen('S')) delta_segments_per_second = code_value_float();
  4654. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  4655. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  4656. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  4657. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4658. }
  4659. /**
  4660. * M666: Set delta endstop adjustment
  4661. */
  4662. inline void gcode_M666() {
  4663. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4664. if (DEBUGGING(LEVELING)) {
  4665. SERIAL_ECHOLNPGM(">>> gcode_M666");
  4666. }
  4667. #endif
  4668. LOOP_XYZ(i) {
  4669. if (code_seen(axis_codes[i])) {
  4670. endstop_adj[i] = code_value_axis_units(i);
  4671. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4672. if (DEBUGGING(LEVELING)) {
  4673. SERIAL_ECHOPGM("endstop_adj[");
  4674. SERIAL_ECHO(axis_codes[i]);
  4675. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  4676. }
  4677. #endif
  4678. }
  4679. }
  4680. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4681. if (DEBUGGING(LEVELING)) {
  4682. SERIAL_ECHOLNPGM("<<< gcode_M666");
  4683. }
  4684. #endif
  4685. }
  4686. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  4687. /**
  4688. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  4689. */
  4690. inline void gcode_M666() {
  4691. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  4692. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  4693. }
  4694. #endif // !DELTA && Z_DUAL_ENDSTOPS
  4695. #if ENABLED(FWRETRACT)
  4696. /**
  4697. * M207: Set firmware retraction values
  4698. *
  4699. * S[+units] retract_length
  4700. * W[+units] retract_length_swap (multi-extruder)
  4701. * F[units/min] retract_feedrate_mm_s
  4702. * Z[units] retract_zlift
  4703. */
  4704. inline void gcode_M207() {
  4705. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  4706. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4707. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  4708. #if EXTRUDERS > 1
  4709. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  4710. #endif
  4711. }
  4712. /**
  4713. * M208: Set firmware un-retraction values
  4714. *
  4715. * S[+units] retract_recover_length (in addition to M207 S*)
  4716. * W[+units] retract_recover_length_swap (multi-extruder)
  4717. * F[units/min] retract_recover_feedrate_mm_s
  4718. */
  4719. inline void gcode_M208() {
  4720. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  4721. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4722. #if EXTRUDERS > 1
  4723. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  4724. #endif
  4725. }
  4726. /**
  4727. * M209: Enable automatic retract (M209 S1)
  4728. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4729. */
  4730. inline void gcode_M209() {
  4731. if (code_seen('S')) {
  4732. autoretract_enabled = code_value_bool();
  4733. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  4734. }
  4735. }
  4736. #endif // FWRETRACT
  4737. /**
  4738. * M211: Enable, Disable, and/or Report software endstops
  4739. *
  4740. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  4741. */
  4742. inline void gcode_M211() {
  4743. SERIAL_ECHO_START;
  4744. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4745. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  4746. #endif
  4747. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4748. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": ");
  4749. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  4750. #else
  4751. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF);
  4752. #endif
  4753. SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": ");
  4754. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  4755. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  4756. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  4757. SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": ");
  4758. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  4759. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  4760. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  4761. }
  4762. #if HOTENDS > 1
  4763. /**
  4764. * M218 - set hotend offset (in linear units)
  4765. *
  4766. * T<tool>
  4767. * X<xoffset>
  4768. * Y<yoffset>
  4769. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  4770. */
  4771. inline void gcode_M218() {
  4772. if (get_target_extruder_from_command(218)) return;
  4773. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  4774. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  4775. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4776. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  4777. #endif
  4778. SERIAL_ECHO_START;
  4779. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  4780. HOTEND_LOOP() {
  4781. SERIAL_CHAR(' ');
  4782. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  4783. SERIAL_CHAR(',');
  4784. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  4785. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4786. SERIAL_CHAR(',');
  4787. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  4788. #endif
  4789. }
  4790. SERIAL_EOL;
  4791. }
  4792. #endif // HOTENDS > 1
  4793. /**
  4794. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  4795. */
  4796. inline void gcode_M220() {
  4797. if (code_seen('S')) feedrate_percentage = code_value_int();
  4798. }
  4799. /**
  4800. * M221: Set extrusion percentage (M221 T0 S95)
  4801. */
  4802. inline void gcode_M221() {
  4803. if (get_target_extruder_from_command(221)) return;
  4804. if (code_seen('S'))
  4805. flow_percentage[target_extruder] = code_value_int();
  4806. }
  4807. /**
  4808. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  4809. */
  4810. inline void gcode_M226() {
  4811. if (code_seen('P')) {
  4812. int pin_number = code_value_int();
  4813. int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  4814. if (pin_state >= -1 && pin_state <= 1) {
  4815. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  4816. if (sensitive_pins[i] == pin_number) {
  4817. pin_number = -1;
  4818. break;
  4819. }
  4820. }
  4821. if (pin_number > -1) {
  4822. int target = LOW;
  4823. stepper.synchronize();
  4824. pinMode(pin_number, INPUT);
  4825. switch (pin_state) {
  4826. case 1:
  4827. target = HIGH;
  4828. break;
  4829. case 0:
  4830. target = LOW;
  4831. break;
  4832. case -1:
  4833. target = !digitalRead(pin_number);
  4834. break;
  4835. }
  4836. while (digitalRead(pin_number) != target) idle();
  4837. } // pin_number > -1
  4838. } // pin_state -1 0 1
  4839. } // code_seen('P')
  4840. }
  4841. #if HAS_SERVOS
  4842. /**
  4843. * M280: Get or set servo position. P<index> [S<angle>]
  4844. */
  4845. inline void gcode_M280() {
  4846. if (!code_seen('P')) return;
  4847. int servo_index = code_value_int();
  4848. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  4849. if (code_seen('S'))
  4850. MOVE_SERVO(servo_index, code_value_int());
  4851. else {
  4852. SERIAL_ECHO_START;
  4853. SERIAL_ECHOPGM(" Servo ");
  4854. SERIAL_ECHO(servo_index);
  4855. SERIAL_ECHOPGM(": ");
  4856. SERIAL_ECHOLN(servo[servo_index].read());
  4857. }
  4858. }
  4859. else {
  4860. SERIAL_ERROR_START;
  4861. SERIAL_ERROR("Servo ");
  4862. SERIAL_ERROR(servo_index);
  4863. SERIAL_ERRORLN(" out of range");
  4864. }
  4865. }
  4866. #endif // HAS_SERVOS
  4867. #if HAS_BUZZER
  4868. /**
  4869. * M300: Play beep sound S<frequency Hz> P<duration ms>
  4870. */
  4871. inline void gcode_M300() {
  4872. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  4873. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  4874. // Limits the tone duration to 0-5 seconds.
  4875. NOMORE(duration, 5000);
  4876. BUZZ(duration, frequency);
  4877. }
  4878. #endif // HAS_BUZZER
  4879. #if ENABLED(PIDTEMP)
  4880. /**
  4881. * M301: Set PID parameters P I D (and optionally C, L)
  4882. *
  4883. * P[float] Kp term
  4884. * I[float] Ki term (unscaled)
  4885. * D[float] Kd term (unscaled)
  4886. *
  4887. * With PID_EXTRUSION_SCALING:
  4888. *
  4889. * C[float] Kc term
  4890. * L[float] LPQ length
  4891. */
  4892. inline void gcode_M301() {
  4893. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  4894. // default behaviour (omitting E parameter) is to update for extruder 0 only
  4895. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  4896. if (e < HOTENDS) { // catch bad input value
  4897. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  4898. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  4899. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  4900. #if ENABLED(PID_EXTRUSION_SCALING)
  4901. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  4902. if (code_seen('L')) lpq_len = code_value_float();
  4903. NOMORE(lpq_len, LPQ_MAX_LEN);
  4904. #endif
  4905. thermalManager.updatePID();
  4906. SERIAL_ECHO_START;
  4907. #if ENABLED(PID_PARAMS_PER_HOTEND)
  4908. SERIAL_ECHOPGM(" e:"); // specify extruder in serial output
  4909. SERIAL_ECHO(e);
  4910. #endif // PID_PARAMS_PER_HOTEND
  4911. SERIAL_ECHOPGM(" p:");
  4912. SERIAL_ECHO(PID_PARAM(Kp, e));
  4913. SERIAL_ECHOPGM(" i:");
  4914. SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
  4915. SERIAL_ECHOPGM(" d:");
  4916. SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
  4917. #if ENABLED(PID_EXTRUSION_SCALING)
  4918. SERIAL_ECHOPGM(" c:");
  4919. //Kc does not have scaling applied above, or in resetting defaults
  4920. SERIAL_ECHO(PID_PARAM(Kc, e));
  4921. #endif
  4922. SERIAL_EOL;
  4923. }
  4924. else {
  4925. SERIAL_ERROR_START;
  4926. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  4927. }
  4928. }
  4929. #endif // PIDTEMP
  4930. #if ENABLED(PIDTEMPBED)
  4931. inline void gcode_M304() {
  4932. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  4933. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  4934. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  4935. thermalManager.updatePID();
  4936. SERIAL_ECHO_START;
  4937. SERIAL_ECHOPGM(" p:");
  4938. SERIAL_ECHO(thermalManager.bedKp);
  4939. SERIAL_ECHOPGM(" i:");
  4940. SERIAL_ECHO(unscalePID_i(thermalManager.bedKi));
  4941. SERIAL_ECHOPGM(" d:");
  4942. SERIAL_ECHOLN(unscalePID_d(thermalManager.bedKd));
  4943. }
  4944. #endif // PIDTEMPBED
  4945. #if defined(CHDK) || HAS_PHOTOGRAPH
  4946. /**
  4947. * M240: Trigger a camera by emulating a Canon RC-1
  4948. * See http://www.doc-diy.net/photo/rc-1_hacked/
  4949. */
  4950. inline void gcode_M240() {
  4951. #ifdef CHDK
  4952. OUT_WRITE(CHDK, HIGH);
  4953. chdkHigh = millis();
  4954. chdkActive = true;
  4955. #elif HAS_PHOTOGRAPH
  4956. const uint8_t NUM_PULSES = 16;
  4957. const float PULSE_LENGTH = 0.01524;
  4958. for (int i = 0; i < NUM_PULSES; i++) {
  4959. WRITE(PHOTOGRAPH_PIN, HIGH);
  4960. _delay_ms(PULSE_LENGTH);
  4961. WRITE(PHOTOGRAPH_PIN, LOW);
  4962. _delay_ms(PULSE_LENGTH);
  4963. }
  4964. delay(7.33);
  4965. for (int i = 0; i < NUM_PULSES; i++) {
  4966. WRITE(PHOTOGRAPH_PIN, HIGH);
  4967. _delay_ms(PULSE_LENGTH);
  4968. WRITE(PHOTOGRAPH_PIN, LOW);
  4969. _delay_ms(PULSE_LENGTH);
  4970. }
  4971. #endif // !CHDK && HAS_PHOTOGRAPH
  4972. }
  4973. #endif // CHDK || PHOTOGRAPH_PIN
  4974. #if HAS_LCD_CONTRAST
  4975. /**
  4976. * M250: Read and optionally set the LCD contrast
  4977. */
  4978. inline void gcode_M250() {
  4979. if (code_seen('C')) set_lcd_contrast(code_value_int());
  4980. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4981. SERIAL_PROTOCOL(lcd_contrast);
  4982. SERIAL_EOL;
  4983. }
  4984. #endif // HAS_LCD_CONTRAST
  4985. #if ENABLED(PREVENT_COLD_EXTRUSION)
  4986. /**
  4987. * M302: Allow cold extrudes, or set the minimum extrude temperature
  4988. *
  4989. * S<temperature> sets the minimum extrude temperature
  4990. * P<bool> enables (1) or disables (0) cold extrusion
  4991. *
  4992. * Examples:
  4993. *
  4994. * M302 ; report current cold extrusion state
  4995. * M302 P0 ; enable cold extrusion checking
  4996. * M302 P1 ; disables cold extrusion checking
  4997. * M302 S0 ; always allow extrusion (disables checking)
  4998. * M302 S170 ; only allow extrusion above 170
  4999. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  5000. */
  5001. inline void gcode_M302() {
  5002. bool seen_S = code_seen('S');
  5003. if (seen_S) {
  5004. thermalManager.extrude_min_temp = code_value_temp_abs();
  5005. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  5006. }
  5007. if (code_seen('P'))
  5008. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  5009. else if (!seen_S) {
  5010. // Report current state
  5011. SERIAL_ECHO_START;
  5012. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  5013. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  5014. SERIAL_ECHOLNPGM("C)");
  5015. }
  5016. }
  5017. #endif // PREVENT_COLD_EXTRUSION
  5018. /**
  5019. * M303: PID relay autotune
  5020. *
  5021. * S<temperature> sets the target temperature. (default 150C)
  5022. * E<extruder> (-1 for the bed) (default 0)
  5023. * C<cycles>
  5024. * U<bool> with a non-zero value will apply the result to current settings
  5025. */
  5026. inline void gcode_M303() {
  5027. #if HAS_PID_HEATING
  5028. int e = code_seen('E') ? code_value_int() : 0;
  5029. int c = code_seen('C') ? code_value_int() : 5;
  5030. bool u = code_seen('U') && code_value_bool();
  5031. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  5032. if (e >= 0 && e < HOTENDS)
  5033. target_extruder = e;
  5034. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  5035. thermalManager.PID_autotune(temp, e, c, u);
  5036. KEEPALIVE_STATE(IN_HANDLER);
  5037. #else
  5038. SERIAL_ERROR_START;
  5039. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  5040. #endif
  5041. }
  5042. #if ENABLED(SCARA)
  5043. bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
  5044. //SoftEndsEnabled = false; // Ignore soft endstops during calibration
  5045. //SERIAL_ECHOLNPGM(" Soft endstops disabled");
  5046. if (IsRunning()) {
  5047. //gcode_get_destination(); // For X Y Z E F
  5048. delta[X_AXIS] = delta_x;
  5049. delta[Y_AXIS] = delta_y;
  5050. forward_kinematics_SCARA(delta);
  5051. destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
  5052. destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
  5053. prepare_move_to_destination();
  5054. //ok_to_send();
  5055. return true;
  5056. }
  5057. return false;
  5058. }
  5059. /**
  5060. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  5061. */
  5062. inline bool gcode_M360() {
  5063. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  5064. return SCARA_move_to_cal(0, 120);
  5065. }
  5066. /**
  5067. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  5068. */
  5069. inline bool gcode_M361() {
  5070. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  5071. return SCARA_move_to_cal(90, 130);
  5072. }
  5073. /**
  5074. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  5075. */
  5076. inline bool gcode_M362() {
  5077. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  5078. return SCARA_move_to_cal(60, 180);
  5079. }
  5080. /**
  5081. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  5082. */
  5083. inline bool gcode_M363() {
  5084. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  5085. return SCARA_move_to_cal(50, 90);
  5086. }
  5087. /**
  5088. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  5089. */
  5090. inline bool gcode_M364() {
  5091. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  5092. return SCARA_move_to_cal(45, 135);
  5093. }
  5094. /**
  5095. * M365: SCARA calibration: Scaling factor, X, Y, Z axis
  5096. */
  5097. inline void gcode_M365() {
  5098. LOOP_XYZ(i)
  5099. if (code_seen(axis_codes[i]))
  5100. axis_scaling[i] = code_value_float();
  5101. }
  5102. #endif // SCARA
  5103. #if ENABLED(EXT_SOLENOID)
  5104. void enable_solenoid(uint8_t num) {
  5105. switch (num) {
  5106. case 0:
  5107. OUT_WRITE(SOL0_PIN, HIGH);
  5108. break;
  5109. #if HAS_SOLENOID_1
  5110. case 1:
  5111. OUT_WRITE(SOL1_PIN, HIGH);
  5112. break;
  5113. #endif
  5114. #if HAS_SOLENOID_2
  5115. case 2:
  5116. OUT_WRITE(SOL2_PIN, HIGH);
  5117. break;
  5118. #endif
  5119. #if HAS_SOLENOID_3
  5120. case 3:
  5121. OUT_WRITE(SOL3_PIN, HIGH);
  5122. break;
  5123. #endif
  5124. default:
  5125. SERIAL_ECHO_START;
  5126. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  5127. break;
  5128. }
  5129. }
  5130. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  5131. void disable_all_solenoids() {
  5132. OUT_WRITE(SOL0_PIN, LOW);
  5133. OUT_WRITE(SOL1_PIN, LOW);
  5134. OUT_WRITE(SOL2_PIN, LOW);
  5135. OUT_WRITE(SOL3_PIN, LOW);
  5136. }
  5137. /**
  5138. * M380: Enable solenoid on the active extruder
  5139. */
  5140. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  5141. /**
  5142. * M381: Disable all solenoids
  5143. */
  5144. inline void gcode_M381() { disable_all_solenoids(); }
  5145. #endif // EXT_SOLENOID
  5146. /**
  5147. * M400: Finish all moves
  5148. */
  5149. inline void gcode_M400() { stepper.synchronize(); }
  5150. #if HAS_BED_PROBE
  5151. /**
  5152. * M401: Engage Z Servo endstop if available
  5153. */
  5154. inline void gcode_M401() { DEPLOY_PROBE(); }
  5155. /**
  5156. * M402: Retract Z Servo endstop if enabled
  5157. */
  5158. inline void gcode_M402() { STOW_PROBE(); }
  5159. #endif // HAS_BED_PROBE
  5160. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5161. /**
  5162. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  5163. */
  5164. inline void gcode_M404() {
  5165. if (code_seen('W')) {
  5166. filament_width_nominal = code_value_linear_units();
  5167. }
  5168. else {
  5169. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  5170. SERIAL_PROTOCOLLN(filament_width_nominal);
  5171. }
  5172. }
  5173. /**
  5174. * M405: Turn on filament sensor for control
  5175. */
  5176. inline void gcode_M405() {
  5177. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  5178. // everything else, it uses code_value_int() instead of code_value_linear_units().
  5179. if (code_seen('D')) meas_delay_cm = code_value_int();
  5180. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  5181. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  5182. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  5183. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  5184. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  5185. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  5186. }
  5187. filament_sensor = true;
  5188. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5189. //SERIAL_PROTOCOL(filament_width_meas);
  5190. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  5191. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  5192. }
  5193. /**
  5194. * M406: Turn off filament sensor for control
  5195. */
  5196. inline void gcode_M406() { filament_sensor = false; }
  5197. /**
  5198. * M407: Get measured filament diameter on serial output
  5199. */
  5200. inline void gcode_M407() {
  5201. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5202. SERIAL_PROTOCOLLN(filament_width_meas);
  5203. }
  5204. #endif // FILAMENT_WIDTH_SENSOR
  5205. void quickstop_stepper() {
  5206. stepper.quick_stop();
  5207. #if DISABLED(SCARA)
  5208. stepper.synchronize();
  5209. LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i);
  5210. SYNC_PLAN_POSITION_KINEMATIC();
  5211. #endif
  5212. }
  5213. #if ENABLED(MESH_BED_LEVELING)
  5214. /**
  5215. * M420: Enable/Disable Mesh Bed Leveling
  5216. */
  5217. inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.set_has_mesh(code_value_bool()); }
  5218. /**
  5219. * M421: Set a single Mesh Bed Leveling Z coordinate
  5220. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  5221. */
  5222. inline void gcode_M421() {
  5223. int8_t px = 0, py = 0;
  5224. float z = 0;
  5225. bool hasX, hasY, hasZ, hasI, hasJ;
  5226. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  5227. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  5228. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  5229. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  5230. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  5231. if (hasX && hasY && hasZ) {
  5232. if (px >= 0 && py >= 0)
  5233. mbl.set_z(px, py, z);
  5234. else {
  5235. SERIAL_ERROR_START;
  5236. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5237. }
  5238. }
  5239. else if (hasI && hasJ && hasZ) {
  5240. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  5241. mbl.set_z(px, py, z);
  5242. else {
  5243. SERIAL_ERROR_START;
  5244. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5245. }
  5246. }
  5247. else {
  5248. SERIAL_ERROR_START;
  5249. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  5250. }
  5251. }
  5252. #endif
  5253. /**
  5254. * M428: Set home_offset based on the distance between the
  5255. * current_position and the nearest "reference point."
  5256. * If an axis is past center its endstop position
  5257. * is the reference-point. Otherwise it uses 0. This allows
  5258. * the Z offset to be set near the bed when using a max endstop.
  5259. *
  5260. * M428 can't be used more than 2cm away from 0 or an endstop.
  5261. *
  5262. * Use M206 to set these values directly.
  5263. */
  5264. inline void gcode_M428() {
  5265. bool err = false;
  5266. LOOP_XYZ(i) {
  5267. if (axis_homed[i]) {
  5268. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
  5269. diff = current_position[i] - LOGICAL_POSITION(base, i);
  5270. if (diff > -20 && diff < 20) {
  5271. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5272. }
  5273. else {
  5274. SERIAL_ERROR_START;
  5275. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5276. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5277. BUZZ(200, 40);
  5278. err = true;
  5279. break;
  5280. }
  5281. }
  5282. }
  5283. if (!err) {
  5284. SYNC_PLAN_POSITION_KINEMATIC();
  5285. report_current_position();
  5286. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5287. BUZZ(200, 659);
  5288. BUZZ(200, 698);
  5289. }
  5290. }
  5291. /**
  5292. * M500: Store settings in EEPROM
  5293. */
  5294. inline void gcode_M500() {
  5295. Config_StoreSettings();
  5296. }
  5297. /**
  5298. * M501: Read settings from EEPROM
  5299. */
  5300. inline void gcode_M501() {
  5301. Config_RetrieveSettings();
  5302. }
  5303. /**
  5304. * M502: Revert to default settings
  5305. */
  5306. inline void gcode_M502() {
  5307. Config_ResetDefault();
  5308. }
  5309. /**
  5310. * M503: print settings currently in memory
  5311. */
  5312. inline void gcode_M503() {
  5313. Config_PrintSettings(code_seen('S') && !code_value_bool());
  5314. }
  5315. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5316. /**
  5317. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5318. */
  5319. inline void gcode_M540() {
  5320. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  5321. }
  5322. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5323. #if HAS_BED_PROBE
  5324. inline void gcode_M851() {
  5325. SERIAL_ECHO_START;
  5326. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5327. SERIAL_CHAR(' ');
  5328. if (code_seen('Z')) {
  5329. float value = code_value_axis_units(Z_AXIS);
  5330. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5331. zprobe_zoffset = value;
  5332. SERIAL_ECHO(zprobe_zoffset);
  5333. }
  5334. else {
  5335. SERIAL_ECHOPGM(MSG_Z_MIN);
  5336. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
  5337. SERIAL_CHAR(' ');
  5338. SERIAL_ECHOPGM(MSG_Z_MAX);
  5339. SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
  5340. }
  5341. }
  5342. else {
  5343. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5344. }
  5345. SERIAL_EOL;
  5346. }
  5347. #endif // HAS_BED_PROBE
  5348. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  5349. /**
  5350. * M600: Pause for filament change
  5351. *
  5352. * E[distance] - Retract the filament this far (negative value)
  5353. * Z[distance] - Move the Z axis by this distance
  5354. * X[position] - Move to this X position, with Y
  5355. * Y[position] - Move to this Y position, with X
  5356. * L[distance] - Retract distance for removal (manual reload)
  5357. *
  5358. * Default values are used for omitted arguments.
  5359. *
  5360. */
  5361. inline void gcode_M600() {
  5362. if (thermalManager.tooColdToExtrude(active_extruder)) {
  5363. SERIAL_ERROR_START;
  5364. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5365. return;
  5366. }
  5367. // Show initial message and wait for synchronize steppers
  5368. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  5369. stepper.synchronize();
  5370. float lastpos[NUM_AXIS];
  5371. // Save current position of all axes
  5372. LOOP_XYZE(i)
  5373. lastpos[i] = destination[i] = current_position[i];
  5374. // Define runplan for move axes
  5375. #if ENABLED(DELTA)
  5376. #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
  5377. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
  5378. #else
  5379. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
  5380. #endif
  5381. KEEPALIVE_STATE(IN_HANDLER);
  5382. // Initial retract before move to filament change position
  5383. if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5384. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5385. else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
  5386. #endif
  5387. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5388. // Lift Z axis
  5389. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5390. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5391. FILAMENT_CHANGE_Z_ADD
  5392. #else
  5393. 0
  5394. #endif
  5395. ;
  5396. if (z_lift > 0) {
  5397. destination[Z_AXIS] += z_lift;
  5398. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5399. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5400. }
  5401. // Move XY axes to filament exchange position
  5402. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  5403. #ifdef FILAMENT_CHANGE_X_POS
  5404. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  5405. #endif
  5406. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5407. #ifdef FILAMENT_CHANGE_Y_POS
  5408. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  5409. #endif
  5410. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5411. stepper.synchronize();
  5412. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  5413. // Unload filament
  5414. if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5415. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  5416. else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
  5417. #endif
  5418. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5419. // Synchronize steppers and then disable extruders steppers for manual filament changing
  5420. stepper.synchronize();
  5421. disable_e0();
  5422. disable_e1();
  5423. disable_e2();
  5424. disable_e3();
  5425. delay(100);
  5426. #if HAS_BUZZER
  5427. millis_t next_tick = 0;
  5428. #endif
  5429. // Wait for filament insert by user and press button
  5430. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  5431. while (!lcd_clicked()) {
  5432. #if HAS_BUZZER
  5433. millis_t ms = millis();
  5434. if (ms >= next_tick) {
  5435. BUZZ(300, 2000);
  5436. next_tick = ms + 2500; // Beep every 2.5s while waiting
  5437. }
  5438. #endif
  5439. idle(true);
  5440. }
  5441. delay(100);
  5442. while (lcd_clicked()) idle(true);
  5443. delay(100);
  5444. // Show load message
  5445. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  5446. // Load filament
  5447. if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
  5448. #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
  5449. else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
  5450. #endif
  5451. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5452. stepper.synchronize();
  5453. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  5454. do {
  5455. // Extrude filament to get into hotend
  5456. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  5457. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  5458. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  5459. stepper.synchronize();
  5460. // Ask user if more filament should be extruded
  5461. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5462. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  5463. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  5464. KEEPALIVE_STATE(IN_HANDLER);
  5465. } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
  5466. #endif
  5467. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  5468. KEEPALIVE_STATE(IN_HANDLER);
  5469. // Set extruder to saved position
  5470. current_position[E_AXIS] = lastpos[E_AXIS];
  5471. destination[E_AXIS] = lastpos[E_AXIS];
  5472. planner.set_e_position_mm(current_position[E_AXIS]);
  5473. #if ENABLED(DELTA)
  5474. // Move XYZ to starting position, then E
  5475. inverse_kinematics(lastpos);
  5476. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5477. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5478. #else
  5479. // Move XY to starting position, then Z, then E
  5480. destination[X_AXIS] = lastpos[X_AXIS];
  5481. destination[Y_AXIS] = lastpos[Y_AXIS];
  5482. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5483. destination[Z_AXIS] = lastpos[Z_AXIS];
  5484. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5485. #endif
  5486. stepper.synchronize();
  5487. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5488. filament_ran_out = false;
  5489. #endif
  5490. // Show status screen
  5491. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  5492. }
  5493. #endif // FILAMENT_CHANGE_FEATURE
  5494. #if ENABLED(DUAL_X_CARRIAGE)
  5495. /**
  5496. * M605: Set dual x-carriage movement mode
  5497. *
  5498. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5499. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5500. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5501. * units x-offset and an optional differential hotend temperature of
  5502. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5503. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5504. *
  5505. * Note: the X axis should be homed after changing dual x-carriage mode.
  5506. */
  5507. inline void gcode_M605() {
  5508. stepper.synchronize();
  5509. if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
  5510. switch (dual_x_carriage_mode) {
  5511. case DXC_DUPLICATION_MODE:
  5512. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  5513. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  5514. SERIAL_ECHO_START;
  5515. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5516. SERIAL_CHAR(' ');
  5517. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  5518. SERIAL_CHAR(',');
  5519. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  5520. SERIAL_CHAR(' ');
  5521. SERIAL_ECHO(duplicate_extruder_x_offset);
  5522. SERIAL_CHAR(',');
  5523. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  5524. break;
  5525. case DXC_FULL_CONTROL_MODE:
  5526. case DXC_AUTO_PARK_MODE:
  5527. break;
  5528. default:
  5529. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5530. break;
  5531. }
  5532. active_extruder_parked = false;
  5533. extruder_duplication_enabled = false;
  5534. delayed_move_time = 0;
  5535. }
  5536. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  5537. inline void gcode_M605() {
  5538. stepper.synchronize();
  5539. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  5540. SERIAL_ECHO_START;
  5541. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  5542. }
  5543. #endif // M605
  5544. #if ENABLED(LIN_ADVANCE)
  5545. /**
  5546. * M905: Set advance factor
  5547. */
  5548. inline void gcode_M905() {
  5549. stepper.synchronize();
  5550. stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
  5551. }
  5552. #endif
  5553. /**
  5554. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5555. */
  5556. inline void gcode_M907() {
  5557. #if HAS_DIGIPOTSS
  5558. LOOP_XYZE(i)
  5559. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  5560. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  5561. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  5562. #endif
  5563. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5564. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  5565. #endif
  5566. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5567. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  5568. #endif
  5569. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5570. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  5571. #endif
  5572. #if ENABLED(DIGIPOT_I2C)
  5573. // this one uses actual amps in floating point
  5574. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  5575. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5576. for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
  5577. #endif
  5578. #if ENABLED(DAC_STEPPER_CURRENT)
  5579. if (code_seen('S')) {
  5580. float dac_percent = code_value_float();
  5581. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5582. }
  5583. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  5584. #endif
  5585. }
  5586. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5587. /**
  5588. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5589. */
  5590. inline void gcode_M908() {
  5591. #if HAS_DIGIPOTSS
  5592. stepper.digitalPotWrite(
  5593. code_seen('P') ? code_value_int() : 0,
  5594. code_seen('S') ? code_value_int() : 0
  5595. );
  5596. #endif
  5597. #ifdef DAC_STEPPER_CURRENT
  5598. dac_current_raw(
  5599. code_seen('P') ? code_value_byte() : -1,
  5600. code_seen('S') ? code_value_ushort() : 0
  5601. );
  5602. #endif
  5603. }
  5604. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5605. inline void gcode_M909() { dac_print_values(); }
  5606. inline void gcode_M910() { dac_commit_eeprom(); }
  5607. #endif
  5608. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5609. #if HAS_MICROSTEPS
  5610. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5611. inline void gcode_M350() {
  5612. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  5613. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  5614. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  5615. stepper.microstep_readings();
  5616. }
  5617. /**
  5618. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5619. * S# determines MS1 or MS2, X# sets the pin high/low.
  5620. */
  5621. inline void gcode_M351() {
  5622. if (code_seen('S')) switch (code_value_byte()) {
  5623. case 1:
  5624. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  5625. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  5626. break;
  5627. case 2:
  5628. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  5629. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  5630. break;
  5631. }
  5632. stepper.microstep_readings();
  5633. }
  5634. #endif // HAS_MICROSTEPS
  5635. #if ENABLED(MIXING_EXTRUDER)
  5636. /**
  5637. * M163: Set a single mix factor for a mixing extruder
  5638. * This is called "weight" by some systems.
  5639. *
  5640. * S[index] The channel index to set
  5641. * P[float] The mix value
  5642. *
  5643. */
  5644. inline void gcode_M163() {
  5645. int mix_index = code_seen('S') ? code_value_int() : 0;
  5646. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  5647. if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
  5648. }
  5649. #if MIXING_VIRTUAL_TOOLS > 1
  5650. /**
  5651. * M164: Store the current mix factors as a virtual tool.
  5652. *
  5653. * S[index] The virtual tool to store
  5654. *
  5655. */
  5656. inline void gcode_M164() {
  5657. int tool_index = code_seen('S') ? code_value_int() : 0;
  5658. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  5659. normalize_mix();
  5660. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  5661. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  5662. }
  5663. }
  5664. #endif
  5665. #if ENABLED(DIRECT_MIXING_IN_G1)
  5666. /**
  5667. * M165: Set multiple mix factors for a mixing extruder.
  5668. * Factors that are left out will be set to 0.
  5669. * All factors together must add up to 1.0.
  5670. *
  5671. * A[factor] Mix factor for extruder stepper 1
  5672. * B[factor] Mix factor for extruder stepper 2
  5673. * C[factor] Mix factor for extruder stepper 3
  5674. * D[factor] Mix factor for extruder stepper 4
  5675. * H[factor] Mix factor for extruder stepper 5
  5676. * I[factor] Mix factor for extruder stepper 6
  5677. *
  5678. */
  5679. inline void gcode_M165() { gcode_get_mix(); }
  5680. #endif
  5681. #endif // MIXING_EXTRUDER
  5682. /**
  5683. * M999: Restart after being stopped
  5684. *
  5685. * Default behaviour is to flush the serial buffer and request
  5686. * a resend to the host starting on the last N line received.
  5687. *
  5688. * Sending "M999 S1" will resume printing without flushing the
  5689. * existing command buffer.
  5690. *
  5691. */
  5692. inline void gcode_M999() {
  5693. Running = true;
  5694. lcd_reset_alert_level();
  5695. if (code_seen('S') && code_value_bool()) return;
  5696. // gcode_LastN = Stopped_gcode_LastN;
  5697. FlushSerialRequestResend();
  5698. }
  5699. #if ENABLED(SWITCHING_EXTRUDER)
  5700. inline void move_extruder_servo(uint8_t e) {
  5701. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  5702. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  5703. }
  5704. #endif
  5705. inline void invalid_extruder_error(const uint8_t &e) {
  5706. SERIAL_ECHO_START;
  5707. SERIAL_CHAR('T');
  5708. SERIAL_PROTOCOL_F(e, DEC);
  5709. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  5710. }
  5711. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  5712. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  5713. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
  5714. invalid_extruder_error(tmp_extruder);
  5715. return;
  5716. }
  5717. // T0-Tnnn: Switch virtual tool by changing the mix
  5718. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  5719. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  5720. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5721. #if HOTENDS > 1
  5722. if (tmp_extruder >= EXTRUDERS) {
  5723. invalid_extruder_error(tmp_extruder);
  5724. return;
  5725. }
  5726. float old_feedrate_mm_s = feedrate_mm_s;
  5727. feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S;
  5728. if (tmp_extruder != active_extruder) {
  5729. if (!no_move && axis_unhomed_error(true, true, true)) {
  5730. SERIAL_ECHOLNPGM("No move on toolchange");
  5731. no_move = true;
  5732. }
  5733. // Save current position to destination, for use later
  5734. set_destination_to_current();
  5735. #if ENABLED(DUAL_X_CARRIAGE)
  5736. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5737. if (DEBUGGING(LEVELING)) {
  5738. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  5739. switch (dual_x_carriage_mode) {
  5740. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  5741. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  5742. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  5743. }
  5744. }
  5745. #endif
  5746. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  5747. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
  5748. ) {
  5749. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5750. if (DEBUGGING(LEVELING)) {
  5751. SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
  5752. SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
  5753. SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
  5754. }
  5755. #endif
  5756. // Park old head: 1) raise 2) move to park position 3) lower
  5757. for (uint8_t i = 0; i < 3; i++)
  5758. planner.buffer_line(
  5759. i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
  5760. current_position[Y_AXIS],
  5761. current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
  5762. current_position[E_AXIS],
  5763. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  5764. active_extruder
  5765. );
  5766. stepper.synchronize();
  5767. }
  5768. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  5769. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  5770. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  5771. active_extruder = tmp_extruder;
  5772. // This function resets the max/min values - the current position may be overwritten below.
  5773. set_axis_is_at_home(X_AXIS);
  5774. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5775. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  5776. #endif
  5777. switch (dual_x_carriage_mode) {
  5778. case DXC_FULL_CONTROL_MODE:
  5779. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5780. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5781. break;
  5782. case DXC_DUPLICATION_MODE:
  5783. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  5784. if (active_extruder_parked)
  5785. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5786. else
  5787. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  5788. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5789. extruder_duplication_enabled = false;
  5790. break;
  5791. default:
  5792. // record raised toolhead position for use by unpark
  5793. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  5794. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  5795. active_extruder_parked = true;
  5796. delayed_move_time = 0;
  5797. break;
  5798. }
  5799. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5800. if (DEBUGGING(LEVELING)) {
  5801. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  5802. DEBUG_POS("New extruder (parked)", current_position);
  5803. }
  5804. #endif
  5805. // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
  5806. #else // !DUAL_X_CARRIAGE
  5807. #if ENABLED(SWITCHING_EXTRUDER)
  5808. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  5809. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  5810. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  5811. // Always raise by some amount
  5812. planner.buffer_line(
  5813. current_position[X_AXIS],
  5814. current_position[Y_AXIS],
  5815. current_position[Z_AXIS] + z_raise,
  5816. current_position[E_AXIS],
  5817. planner.max_feedrate_mm_s[Z_AXIS],
  5818. active_extruder
  5819. );
  5820. stepper.synchronize();
  5821. move_extruder_servo(active_extruder);
  5822. delay(500);
  5823. // Move back down, if needed
  5824. if (z_raise != z_diff) {
  5825. planner.buffer_line(
  5826. current_position[X_AXIS],
  5827. current_position[Y_AXIS],
  5828. current_position[Z_AXIS] + z_diff,
  5829. current_position[E_AXIS],
  5830. planner.max_feedrate_mm_s[Z_AXIS],
  5831. active_extruder
  5832. );
  5833. stepper.synchronize();
  5834. }
  5835. #endif
  5836. /**
  5837. * Set current_position to the position of the new nozzle.
  5838. * Offsets are based on linear distance, so we need to get
  5839. * the resulting position in coordinate space.
  5840. *
  5841. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  5842. * - With mesh leveling, update Z for the new position
  5843. * - Otherwise, just use the raw linear distance
  5844. *
  5845. * Software endstops are altered here too. Consider a case where:
  5846. * E0 at X=0 ... E1 at X=10
  5847. * When we switch to E1 now X=10, but E1 can't move left.
  5848. * To express this we apply the change in XY to the software endstops.
  5849. * E1 can move farther right than E0, so the right limit is extended.
  5850. *
  5851. * Note that we don't adjust the Z software endstops. Why not?
  5852. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  5853. * because the bed is 1mm lower at the new position. As long as
  5854. * the first nozzle is out of the way, the carriage should be
  5855. * allowed to move 1mm lower. This technically "breaks" the
  5856. * Z software endstop. But this is technically correct (and
  5857. * there is no viable alternative).
  5858. */
  5859. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  5860. // Offset extruder, make sure to apply the bed level rotation matrix
  5861. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  5862. hotend_offset[Y_AXIS][tmp_extruder],
  5863. 0),
  5864. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  5865. hotend_offset[Y_AXIS][active_extruder],
  5866. 0),
  5867. offset_vec = tmp_offset_vec - act_offset_vec;
  5868. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5869. if (DEBUGGING(LEVELING)) {
  5870. tmp_offset_vec.debug("tmp_offset_vec");
  5871. act_offset_vec.debug("act_offset_vec");
  5872. offset_vec.debug("offset_vec (BEFORE)");
  5873. }
  5874. #endif
  5875. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  5876. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5877. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  5878. #endif
  5879. // Adjustments to the current position
  5880. float xydiff[2] = { offset_vec.x, offset_vec.y };
  5881. current_position[Z_AXIS] += offset_vec.z;
  5882. #else // !AUTO_BED_LEVELING_FEATURE
  5883. float xydiff[2] = {
  5884. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  5885. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  5886. };
  5887. #if ENABLED(MESH_BED_LEVELING)
  5888. if (mbl.active()) {
  5889. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5890. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  5891. #endif
  5892. float xpos = RAW_CURRENT_POSITION(X_AXIS),
  5893. ypos = RAW_CURRENT_POSITION(Y_AXIS);
  5894. current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
  5895. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5896. if (DEBUGGING(LEVELING))
  5897. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  5898. #endif
  5899. }
  5900. #endif // MESH_BED_LEVELING
  5901. #endif // !AUTO_BED_LEVELING_FEATURE
  5902. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5903. if (DEBUGGING(LEVELING)) {
  5904. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  5905. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  5906. SERIAL_ECHOLNPGM(" }");
  5907. }
  5908. #endif
  5909. // The newly-selected extruder XY is actually at...
  5910. current_position[X_AXIS] += xydiff[X_AXIS];
  5911. current_position[Y_AXIS] += xydiff[Y_AXIS];
  5912. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  5913. position_shift[i] += xydiff[i];
  5914. update_software_endstops((AxisEnum)i);
  5915. }
  5916. // Set the new active extruder
  5917. active_extruder = tmp_extruder;
  5918. #endif // !DUAL_X_CARRIAGE
  5919. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5920. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  5921. #endif
  5922. // Tell the planner the new "current position"
  5923. SYNC_PLAN_POSITION_KINEMATIC();
  5924. // Move to the "old position" (move the extruder into place)
  5925. if (!no_move && IsRunning()) {
  5926. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5927. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  5928. #endif
  5929. prepare_move_to_destination();
  5930. }
  5931. } // (tmp_extruder != active_extruder)
  5932. stepper.synchronize();
  5933. #if ENABLED(EXT_SOLENOID)
  5934. disable_all_solenoids();
  5935. enable_solenoid_on_active_extruder();
  5936. #endif // EXT_SOLENOID
  5937. feedrate_mm_s = old_feedrate_mm_s;
  5938. #else // HOTENDS <= 1
  5939. // Set the new active extruder
  5940. active_extruder = tmp_extruder;
  5941. UNUSED(fr_mm_s);
  5942. UNUSED(no_move);
  5943. #endif // HOTENDS <= 1
  5944. SERIAL_ECHO_START;
  5945. SERIAL_ECHOPGM(MSG_ACTIVE_EXTRUDER);
  5946. SERIAL_PROTOCOLLN((int)active_extruder);
  5947. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5948. }
  5949. /**
  5950. * T0-T3: Switch tool, usually switching extruders
  5951. *
  5952. * F[units/min] Set the movement feedrate
  5953. * S1 Don't move the tool in XY after change
  5954. */
  5955. inline void gcode_T(uint8_t tmp_extruder) {
  5956. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5957. if (DEBUGGING(LEVELING)) {
  5958. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  5959. SERIAL_ECHOLNPGM(")");
  5960. DEBUG_POS("BEFORE", current_position);
  5961. }
  5962. #endif
  5963. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  5964. tool_change(tmp_extruder);
  5965. #elif HOTENDS > 1
  5966. tool_change(
  5967. tmp_extruder,
  5968. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  5969. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  5970. );
  5971. #endif
  5972. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5973. if (DEBUGGING(LEVELING)) {
  5974. DEBUG_POS("AFTER", current_position);
  5975. SERIAL_ECHOLNPGM("<<< gcode_T");
  5976. }
  5977. #endif
  5978. }
  5979. /**
  5980. * Process a single command and dispatch it to its handler
  5981. * This is called from the main loop()
  5982. */
  5983. void process_next_command() {
  5984. current_command = command_queue[cmd_queue_index_r];
  5985. if (DEBUGGING(ECHO)) {
  5986. SERIAL_ECHO_START;
  5987. SERIAL_ECHOLN(current_command);
  5988. }
  5989. // Sanitize the current command:
  5990. // - Skip leading spaces
  5991. // - Bypass N[-0-9][0-9]*[ ]*
  5992. // - Overwrite * with nul to mark the end
  5993. while (*current_command == ' ') ++current_command;
  5994. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  5995. current_command += 2; // skip N[-0-9]
  5996. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  5997. while (*current_command == ' ') ++current_command; // skip [ ]*
  5998. }
  5999. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  6000. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  6001. char *cmd_ptr = current_command;
  6002. // Get the command code, which must be G, M, or T
  6003. char command_code = *cmd_ptr++;
  6004. // Skip spaces to get the numeric part
  6005. while (*cmd_ptr == ' ') cmd_ptr++;
  6006. uint16_t codenum = 0; // define ahead of goto
  6007. // Bail early if there's no code
  6008. bool code_is_good = NUMERIC(*cmd_ptr);
  6009. if (!code_is_good) goto ExitUnknownCommand;
  6010. // Get and skip the code number
  6011. do {
  6012. codenum = (codenum * 10) + (*cmd_ptr - '0');
  6013. cmd_ptr++;
  6014. } while (NUMERIC(*cmd_ptr));
  6015. // Skip all spaces to get to the first argument, or nul
  6016. while (*cmd_ptr == ' ') cmd_ptr++;
  6017. // The command's arguments (if any) start here, for sure!
  6018. current_command_args = cmd_ptr;
  6019. KEEPALIVE_STATE(IN_HANDLER);
  6020. // Handle a known G, M, or T
  6021. switch (command_code) {
  6022. case 'G': switch (codenum) {
  6023. // G0, G1
  6024. case 0:
  6025. case 1:
  6026. gcode_G0_G1();
  6027. break;
  6028. // G2, G3
  6029. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  6030. case 2: // G2 - CW ARC
  6031. case 3: // G3 - CCW ARC
  6032. gcode_G2_G3(codenum == 2);
  6033. break;
  6034. #endif
  6035. // G4 Dwell
  6036. case 4:
  6037. gcode_G4();
  6038. break;
  6039. #if ENABLED(BEZIER_CURVE_SUPPORT)
  6040. // G5
  6041. case 5: // G5 - Cubic B_spline
  6042. gcode_G5();
  6043. break;
  6044. #endif // BEZIER_CURVE_SUPPORT
  6045. #if ENABLED(FWRETRACT)
  6046. case 10: // G10: retract
  6047. case 11: // G11: retract_recover
  6048. gcode_G10_G11(codenum == 10);
  6049. break;
  6050. #endif // FWRETRACT
  6051. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  6052. case 12:
  6053. gcode_G12(); // G12: Nozzle Clean
  6054. break;
  6055. #endif // NOZZLE_CLEAN_FEATURE
  6056. #if ENABLED(INCH_MODE_SUPPORT)
  6057. case 20: //G20: Inch Mode
  6058. gcode_G20();
  6059. break;
  6060. case 21: //G21: MM Mode
  6061. gcode_G21();
  6062. break;
  6063. #endif // INCH_MODE_SUPPORT
  6064. #if ENABLED(NOZZLE_PARK_FEATURE)
  6065. case 27: // G27: Nozzle Park
  6066. gcode_G27();
  6067. break;
  6068. #endif // NOZZLE_PARK_FEATURE
  6069. case 28: // G28: Home all axes, one at a time
  6070. gcode_G28();
  6071. break;
  6072. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  6073. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  6074. gcode_G29();
  6075. break;
  6076. #endif // AUTO_BED_LEVELING_FEATURE
  6077. #if HAS_BED_PROBE
  6078. case 30: // G30 Single Z probe
  6079. gcode_G30();
  6080. break;
  6081. #if ENABLED(Z_PROBE_SLED)
  6082. case 31: // G31: dock the sled
  6083. gcode_G31();
  6084. break;
  6085. case 32: // G32: undock the sled
  6086. gcode_G32();
  6087. break;
  6088. #endif // Z_PROBE_SLED
  6089. #endif // HAS_BED_PROBE
  6090. case 90: // G90
  6091. relative_mode = false;
  6092. break;
  6093. case 91: // G91
  6094. relative_mode = true;
  6095. break;
  6096. case 92: // G92
  6097. gcode_G92();
  6098. break;
  6099. }
  6100. break;
  6101. case 'M': switch (codenum) {
  6102. #if ENABLED(ULTIPANEL)
  6103. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  6104. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  6105. gcode_M0_M1();
  6106. break;
  6107. #endif // ULTIPANEL
  6108. case 17:
  6109. gcode_M17();
  6110. break;
  6111. #if ENABLED(SDSUPPORT)
  6112. case 20: // M20 - list SD card
  6113. gcode_M20(); break;
  6114. case 21: // M21 - init SD card
  6115. gcode_M21(); break;
  6116. case 22: //M22 - release SD card
  6117. gcode_M22(); break;
  6118. case 23: //M23 - Select file
  6119. gcode_M23(); break;
  6120. case 24: //M24 - Start SD print
  6121. gcode_M24(); break;
  6122. case 25: //M25 - Pause SD print
  6123. gcode_M25(); break;
  6124. case 26: //M26 - Set SD index
  6125. gcode_M26(); break;
  6126. case 27: //M27 - Get SD status
  6127. gcode_M27(); break;
  6128. case 28: //M28 - Start SD write
  6129. gcode_M28(); break;
  6130. case 29: //M29 - Stop SD write
  6131. gcode_M29(); break;
  6132. case 30: //M30 <filename> Delete File
  6133. gcode_M30(); break;
  6134. case 32: //M32 - Select file and start SD print
  6135. gcode_M32(); break;
  6136. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  6137. case 33: //M33 - Get the long full path to a file or folder
  6138. gcode_M33(); break;
  6139. #endif // LONG_FILENAME_HOST_SUPPORT
  6140. case 928: //M928 - Start SD write
  6141. gcode_M928(); break;
  6142. #endif //SDSUPPORT
  6143. case 31: //M31 take time since the start of the SD print or an M109 command
  6144. gcode_M31();
  6145. break;
  6146. case 42: //M42 -Change pin status via gcode
  6147. gcode_M42();
  6148. break;
  6149. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6150. case 48: // M48 Z probe repeatability
  6151. gcode_M48();
  6152. break;
  6153. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6154. case 75: // Start print timer
  6155. gcode_M75();
  6156. break;
  6157. case 76: // Pause print timer
  6158. gcode_M76();
  6159. break;
  6160. case 77: // Stop print timer
  6161. gcode_M77();
  6162. break;
  6163. #if ENABLED(PRINTCOUNTER)
  6164. case 78: // Show print statistics
  6165. gcode_M78();
  6166. break;
  6167. #endif
  6168. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  6169. case 100:
  6170. gcode_M100();
  6171. break;
  6172. #endif
  6173. case 104: // M104
  6174. gcode_M104();
  6175. break;
  6176. case 110: // M110: Set Current Line Number
  6177. gcode_M110();
  6178. break;
  6179. case 111: // M111: Set debug level
  6180. gcode_M111();
  6181. break;
  6182. #if DISABLED(EMERGENCY_PARSER)
  6183. case 108: // M108: Cancel Waiting
  6184. gcode_M108();
  6185. break;
  6186. case 112: // M112: Emergency Stop
  6187. gcode_M112();
  6188. break;
  6189. case 410: // M410 quickstop - Abort all the planned moves.
  6190. gcode_M410();
  6191. break;
  6192. #endif
  6193. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6194. case 113: // M113: Set Host Keepalive interval
  6195. gcode_M113();
  6196. break;
  6197. #endif
  6198. case 140: // M140: Set bed temp
  6199. gcode_M140();
  6200. break;
  6201. case 105: // M105: Read current temperature
  6202. gcode_M105();
  6203. KEEPALIVE_STATE(NOT_BUSY);
  6204. return; // "ok" already printed
  6205. case 109: // M109: Wait for temperature
  6206. gcode_M109();
  6207. break;
  6208. #if HAS_TEMP_BED
  6209. case 190: // M190: Wait for bed heater to reach target
  6210. gcode_M190();
  6211. break;
  6212. #endif // HAS_TEMP_BED
  6213. #if FAN_COUNT > 0
  6214. case 106: // M106: Fan On
  6215. gcode_M106();
  6216. break;
  6217. case 107: // M107: Fan Off
  6218. gcode_M107();
  6219. break;
  6220. #endif // FAN_COUNT > 0
  6221. #if ENABLED(BARICUDA)
  6222. // PWM for HEATER_1_PIN
  6223. #if HAS_HEATER_1
  6224. case 126: // M126: valve open
  6225. gcode_M126();
  6226. break;
  6227. case 127: // M127: valve closed
  6228. gcode_M127();
  6229. break;
  6230. #endif // HAS_HEATER_1
  6231. // PWM for HEATER_2_PIN
  6232. #if HAS_HEATER_2
  6233. case 128: // M128: valve open
  6234. gcode_M128();
  6235. break;
  6236. case 129: // M129: valve closed
  6237. gcode_M129();
  6238. break;
  6239. #endif // HAS_HEATER_2
  6240. #endif // BARICUDA
  6241. #if HAS_POWER_SWITCH
  6242. case 80: // M80: Turn on Power Supply
  6243. gcode_M80();
  6244. break;
  6245. #endif // HAS_POWER_SWITCH
  6246. case 81: // M81: Turn off Power, including Power Supply, if possible
  6247. gcode_M81();
  6248. break;
  6249. case 82:
  6250. gcode_M82();
  6251. break;
  6252. case 83:
  6253. gcode_M83();
  6254. break;
  6255. case 18: // (for compatibility)
  6256. case 84: // M84
  6257. gcode_M18_M84();
  6258. break;
  6259. case 85: // M85
  6260. gcode_M85();
  6261. break;
  6262. case 92: // M92: Set the steps-per-unit for one or more axes
  6263. gcode_M92();
  6264. break;
  6265. case 115: // M115: Report capabilities
  6266. gcode_M115();
  6267. break;
  6268. case 117: // M117: Set LCD message text, if possible
  6269. gcode_M117();
  6270. break;
  6271. case 114: // M114: Report current position
  6272. gcode_M114();
  6273. break;
  6274. case 120: // M120: Enable endstops
  6275. gcode_M120();
  6276. break;
  6277. case 121: // M121: Disable endstops
  6278. gcode_M121();
  6279. break;
  6280. case 119: // M119: Report endstop states
  6281. gcode_M119();
  6282. break;
  6283. #if ENABLED(ULTIPANEL)
  6284. case 145: // M145: Set material heatup parameters
  6285. gcode_M145();
  6286. break;
  6287. #endif
  6288. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6289. case 149:
  6290. gcode_M149();
  6291. break;
  6292. #endif
  6293. #if ENABLED(BLINKM)
  6294. case 150: // M150
  6295. gcode_M150();
  6296. break;
  6297. #endif //BLINKM
  6298. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6299. case 155:
  6300. gcode_M155();
  6301. break;
  6302. case 156:
  6303. gcode_M156();
  6304. break;
  6305. #endif //EXPERIMENTAL_I2CBUS
  6306. #if ENABLED(MIXING_EXTRUDER)
  6307. case 163: // M163 S<int> P<float> set weight for a mixing extruder
  6308. gcode_M163();
  6309. break;
  6310. #if MIXING_VIRTUAL_TOOLS > 1
  6311. case 164: // M164 S<int> save current mix as a virtual extruder
  6312. gcode_M164();
  6313. break;
  6314. #endif
  6315. #if ENABLED(DIRECT_MIXING_IN_G1)
  6316. case 165: // M165 [ABCDHI]<float> set multiple mix weights
  6317. gcode_M165();
  6318. break;
  6319. #endif
  6320. #endif
  6321. case 200: // M200 D<diameter> Set filament diameter and set E axis units to cubic. (Use S0 to revert to linear units.)
  6322. gcode_M200();
  6323. break;
  6324. case 201: // M201
  6325. gcode_M201();
  6326. break;
  6327. #if 0 // Not used for Sprinter/grbl gen6
  6328. case 202: // M202
  6329. gcode_M202();
  6330. break;
  6331. #endif
  6332. case 203: // M203 max feedrate units/sec
  6333. gcode_M203();
  6334. break;
  6335. case 204: // M204 acclereration S normal moves T filmanent only moves
  6336. gcode_M204();
  6337. break;
  6338. case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  6339. gcode_M205();
  6340. break;
  6341. case 206: // M206 additional homing offset
  6342. gcode_M206();
  6343. break;
  6344. #if ENABLED(DELTA)
  6345. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  6346. gcode_M665();
  6347. break;
  6348. #endif
  6349. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  6350. case 666: // M666 set delta / dual endstop adjustment
  6351. gcode_M666();
  6352. break;
  6353. #endif
  6354. #if ENABLED(FWRETRACT)
  6355. case 207: // M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  6356. gcode_M207();
  6357. break;
  6358. case 208: // M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  6359. gcode_M208();
  6360. break;
  6361. case 209: // M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction.
  6362. gcode_M209();
  6363. break;
  6364. #endif // FWRETRACT
  6365. case 211: // M211 - Enable, Disable, and/or Report software endstops
  6366. gcode_M211();
  6367. break;
  6368. #if HOTENDS > 1
  6369. case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
  6370. gcode_M218();
  6371. break;
  6372. #endif
  6373. case 220: // M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  6374. gcode_M220();
  6375. break;
  6376. case 221: // M221 - Set Flow Percentage: S<percent>
  6377. gcode_M221();
  6378. break;
  6379. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6380. gcode_M226();
  6381. break;
  6382. #if HAS_SERVOS
  6383. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6384. gcode_M280();
  6385. break;
  6386. #endif // HAS_SERVOS
  6387. #if HAS_BUZZER
  6388. case 300: // M300 - Play beep tone
  6389. gcode_M300();
  6390. break;
  6391. #endif // HAS_BUZZER
  6392. #if ENABLED(PIDTEMP)
  6393. case 301: // M301
  6394. gcode_M301();
  6395. break;
  6396. #endif // PIDTEMP
  6397. #if ENABLED(PIDTEMPBED)
  6398. case 304: // M304
  6399. gcode_M304();
  6400. break;
  6401. #endif // PIDTEMPBED
  6402. #if defined(CHDK) || HAS_PHOTOGRAPH
  6403. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6404. gcode_M240();
  6405. break;
  6406. #endif // CHDK || PHOTOGRAPH_PIN
  6407. #if HAS_LCD_CONTRAST
  6408. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  6409. gcode_M250();
  6410. break;
  6411. #endif // HAS_LCD_CONTRAST
  6412. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6413. case 302: // allow cold extrudes, or set the minimum extrude temperature
  6414. gcode_M302();
  6415. break;
  6416. #endif // PREVENT_COLD_EXTRUSION
  6417. case 303: // M303 PID autotune
  6418. gcode_M303();
  6419. break;
  6420. #if ENABLED(SCARA)
  6421. case 360: // M360 SCARA Theta pos1
  6422. if (gcode_M360()) return;
  6423. break;
  6424. case 361: // M361 SCARA Theta pos2
  6425. if (gcode_M361()) return;
  6426. break;
  6427. case 362: // M362 SCARA Psi pos1
  6428. if (gcode_M362()) return;
  6429. break;
  6430. case 363: // M363 SCARA Psi pos2
  6431. if (gcode_M363()) return;
  6432. break;
  6433. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  6434. if (gcode_M364()) return;
  6435. break;
  6436. case 365: // M365 Set SCARA scaling for X Y Z
  6437. gcode_M365();
  6438. break;
  6439. #endif // SCARA
  6440. case 400: // M400 finish all moves
  6441. gcode_M400();
  6442. break;
  6443. #if HAS_BED_PROBE
  6444. case 401:
  6445. gcode_M401();
  6446. break;
  6447. case 402:
  6448. gcode_M402();
  6449. break;
  6450. #endif // HAS_BED_PROBE
  6451. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6452. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  6453. gcode_M404();
  6454. break;
  6455. case 405: //M405 Turn on filament sensor for control
  6456. gcode_M405();
  6457. break;
  6458. case 406: //M406 Turn off filament sensor for control
  6459. gcode_M406();
  6460. break;
  6461. case 407: //M407 Display measured filament diameter
  6462. gcode_M407();
  6463. break;
  6464. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  6465. #if ENABLED(MESH_BED_LEVELING)
  6466. case 420: // M420 Enable/Disable Mesh Bed Leveling
  6467. gcode_M420();
  6468. break;
  6469. case 421: // M421 Set a Mesh Bed Leveling Z coordinate
  6470. gcode_M421();
  6471. break;
  6472. #endif
  6473. case 428: // M428 Apply current_position to home_offset
  6474. gcode_M428();
  6475. break;
  6476. case 500: // M500 Store settings in EEPROM
  6477. gcode_M500();
  6478. break;
  6479. case 501: // M501 Read settings from EEPROM
  6480. gcode_M501();
  6481. break;
  6482. case 502: // M502 Revert to default settings
  6483. gcode_M502();
  6484. break;
  6485. case 503: // M503 print settings currently in memory
  6486. gcode_M503();
  6487. break;
  6488. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6489. case 540:
  6490. gcode_M540();
  6491. break;
  6492. #endif
  6493. #if HAS_BED_PROBE
  6494. case 851:
  6495. gcode_M851();
  6496. break;
  6497. #endif // HAS_BED_PROBE
  6498. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6499. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6500. gcode_M600();
  6501. break;
  6502. #endif // FILAMENT_CHANGE_FEATURE
  6503. #if ENABLED(DUAL_X_CARRIAGE)
  6504. case 605:
  6505. gcode_M605();
  6506. break;
  6507. #endif // DUAL_X_CARRIAGE
  6508. #if ENABLED(LIN_ADVANCE)
  6509. case 905: // M905 Set advance factor.
  6510. gcode_M905();
  6511. break;
  6512. #endif
  6513. case 907: // M907 Set digital trimpot motor current using axis codes.
  6514. gcode_M907();
  6515. break;
  6516. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6517. case 908: // M908 Control digital trimpot directly.
  6518. gcode_M908();
  6519. break;
  6520. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6521. case 909: // M909 Print digipot/DAC current value
  6522. gcode_M909();
  6523. break;
  6524. case 910: // M910 Commit digipot/DAC value to external EEPROM
  6525. gcode_M910();
  6526. break;
  6527. #endif
  6528. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6529. #if HAS_MICROSTEPS
  6530. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6531. gcode_M350();
  6532. break;
  6533. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6534. gcode_M351();
  6535. break;
  6536. #endif // HAS_MICROSTEPS
  6537. case 999: // M999: Restart after being Stopped
  6538. gcode_M999();
  6539. break;
  6540. }
  6541. break;
  6542. case 'T':
  6543. gcode_T(codenum);
  6544. break;
  6545. default: code_is_good = false;
  6546. }
  6547. KEEPALIVE_STATE(NOT_BUSY);
  6548. ExitUnknownCommand:
  6549. // Still unknown command? Throw an error
  6550. if (!code_is_good) unknown_command_error();
  6551. ok_to_send();
  6552. }
  6553. void FlushSerialRequestResend() {
  6554. //char command_queue[cmd_queue_index_r][100]="Resend:";
  6555. MYSERIAL.flush();
  6556. SERIAL_PROTOCOLPGM(MSG_RESEND);
  6557. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  6558. ok_to_send();
  6559. }
  6560. void ok_to_send() {
  6561. refresh_cmd_timeout();
  6562. if (!send_ok[cmd_queue_index_r]) return;
  6563. SERIAL_PROTOCOLPGM(MSG_OK);
  6564. #if ENABLED(ADVANCED_OK)
  6565. char* p = command_queue[cmd_queue_index_r];
  6566. if (*p == 'N') {
  6567. SERIAL_PROTOCOL(' ');
  6568. SERIAL_ECHO(*p++);
  6569. while (NUMERIC_SIGNED(*p))
  6570. SERIAL_ECHO(*p++);
  6571. }
  6572. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  6573. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  6574. #endif
  6575. SERIAL_EOL;
  6576. }
  6577. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  6578. void clamp_to_software_endstops(float target[XYZ]) {
  6579. #if ENABLED(min_software_endstops)
  6580. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  6581. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  6582. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  6583. #endif
  6584. #if ENABLED(max_software_endstops)
  6585. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  6586. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  6587. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  6588. #endif
  6589. }
  6590. #endif
  6591. #if ENABLED(DELTA)
  6592. void recalc_delta_settings(float radius, float diagonal_rod) {
  6593. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  6594. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  6595. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  6596. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  6597. delta_tower3_x = 0.0; // back middle tower
  6598. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  6599. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  6600. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  6601. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  6602. }
  6603. void inverse_kinematics(const float in_cartesian[XYZ]) {
  6604. const float cartesian[XYZ] = {
  6605. RAW_X_POSITION(in_cartesian[X_AXIS]),
  6606. RAW_Y_POSITION(in_cartesian[Y_AXIS]),
  6607. RAW_Z_POSITION(in_cartesian[Z_AXIS])
  6608. };
  6609. delta[A_AXIS] = sqrt(delta_diagonal_rod_2_tower_1
  6610. - sq(delta_tower1_x - cartesian[X_AXIS])
  6611. - sq(delta_tower1_y - cartesian[Y_AXIS])
  6612. ) + cartesian[Z_AXIS];
  6613. delta[B_AXIS] = sqrt(delta_diagonal_rod_2_tower_2
  6614. - sq(delta_tower2_x - cartesian[X_AXIS])
  6615. - sq(delta_tower2_y - cartesian[Y_AXIS])
  6616. ) + cartesian[Z_AXIS];
  6617. delta[C_AXIS] = sqrt(delta_diagonal_rod_2_tower_3
  6618. - sq(delta_tower3_x - cartesian[X_AXIS])
  6619. - sq(delta_tower3_y - cartesian[Y_AXIS])
  6620. ) + cartesian[Z_AXIS];
  6621. /**
  6622. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  6623. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  6624. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  6625. SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[A_AXIS]);
  6626. SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[B_AXIS]);
  6627. SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[C_AXIS]);
  6628. */
  6629. }
  6630. float delta_safe_distance_from_top() {
  6631. float cartesian[XYZ] = {
  6632. LOGICAL_X_POSITION(0),
  6633. LOGICAL_Y_POSITION(0),
  6634. LOGICAL_Z_POSITION(0)
  6635. };
  6636. inverse_kinematics(cartesian);
  6637. float distance = delta[A_AXIS];
  6638. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  6639. inverse_kinematics(cartesian);
  6640. return abs(distance - delta[A_AXIS]);
  6641. }
  6642. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  6643. //As discussed in Wikipedia "Trilateration"
  6644. //we are establishing a new coordinate
  6645. //system in the plane of the three carriage points.
  6646. //This system will have the origin at tower1 and
  6647. //tower2 is on the x axis. tower3 is in the X-Y
  6648. //plane with a Z component of zero. We will define unit
  6649. //vectors in this coordinate system in our original
  6650. //coordinate system. Then when we calculate the
  6651. //Xnew, Ynew and Znew values, we can translate back into
  6652. //the original system by moving along those unit vectors
  6653. //by the corresponding values.
  6654. // https://en.wikipedia.org/wiki/Trilateration
  6655. // Variable names matched to Marlin, c-version
  6656. // and avoiding a vector library
  6657. // by Andreas Hardtung 2016-06-7
  6658. // based on a Java function from
  6659. // "Delta Robot Kinematics by Steve Graves" V3
  6660. // Result is in cartesian_position[].
  6661. //Create a vector in old coordinates along x axis of new coordinate
  6662. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  6663. //Get the Magnitude of vector.
  6664. float d = sqrt( p12[0]*p12[0] + p12[1]*p12[1] + p12[2]*p12[2] );
  6665. //Create unit vector by dividing by magnitude.
  6666. float ex[3] = { p12[0]/d, p12[1]/d, p12[2]/d };
  6667. //Now find vector from the origin of the new system to the third point.
  6668. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  6669. //Now use dot product to find the component of this vector on the X axis.
  6670. float i = ex[0]*p13[0] + ex[1]*p13[1] + ex[2]*p13[2];
  6671. //Now create a vector along the x axis that represents the x component of p13.
  6672. float iex[3] = { ex[0]*i, ex[1]*i, ex[2]*i };
  6673. //Now subtract the X component away from the original vector leaving only the Y component. We use the
  6674. //variable that will be the unit vector after we scale it.
  6675. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2]};
  6676. //The magnitude of Y component
  6677. float j = sqrt(sq(ey[0]) + sq(ey[1]) + sq(ey[2]));
  6678. //Now make vector a unit vector
  6679. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  6680. //The cross product of the unit x and y is the unit z
  6681. //float[] ez = vectorCrossProd(ex, ey);
  6682. float ez[3] = { ex[1]*ey[2] - ex[2]*ey[1], ex[2]*ey[0] - ex[0]*ey[2], ex[0]*ey[1] - ex[1]*ey[0] };
  6683. //Now we have the d, i and j values defined in Wikipedia.
  6684. //We can plug them into the equations defined in
  6685. //Wikipedia for Xnew, Ynew and Znew
  6686. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + d*d)/(d*2);
  6687. float Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + i*i + j*j)/2 - i*Xnew) /j;
  6688. float Znew = sqrt(delta_diagonal_rod_2_tower_1 - Xnew*Xnew - Ynew*Ynew);
  6689. //Now we can start from the origin in the old coords and
  6690. //add vectors in the old coords that represent the
  6691. //Xnew, Ynew and Znew to find the point in the old system
  6692. cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
  6693. cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
  6694. cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
  6695. };
  6696. void forward_kinematics_DELTA(float point[ABC]) {
  6697. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  6698. }
  6699. void set_cartesian_from_steppers() {
  6700. forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
  6701. stepper.get_axis_position_mm(B_AXIS),
  6702. stepper.get_axis_position_mm(C_AXIS));
  6703. }
  6704. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  6705. // Adjust print surface height by linear interpolation over the bed_level array.
  6706. void adjust_delta(float cartesian[XYZ]) {
  6707. if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
  6708. int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
  6709. float h1 = 0.001 - half, h2 = half - 0.001,
  6710. grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[X_AXIS])),
  6711. grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[Y_AXIS]));
  6712. int floor_x = floor(grid_x), floor_y = floor(grid_y);
  6713. float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
  6714. z1 = bed_level[floor_x + half][floor_y + half],
  6715. z2 = bed_level[floor_x + half][floor_y + half + 1],
  6716. z3 = bed_level[floor_x + half + 1][floor_y + half],
  6717. z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
  6718. left = (1 - ratio_y) * z1 + ratio_y * z2,
  6719. right = (1 - ratio_y) * z3 + ratio_y * z4,
  6720. offset = (1 - ratio_x) * left + ratio_x * right;
  6721. delta[X_AXIS] += offset;
  6722. delta[Y_AXIS] += offset;
  6723. delta[Z_AXIS] += offset;
  6724. /**
  6725. SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
  6726. SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
  6727. SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
  6728. SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
  6729. SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
  6730. SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
  6731. SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
  6732. SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
  6733. SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
  6734. SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
  6735. SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
  6736. SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
  6737. SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
  6738. */
  6739. }
  6740. #endif // AUTO_BED_LEVELING_FEATURE
  6741. #endif // DELTA
  6742. void set_current_from_steppers_for_axis(AxisEnum axis) {
  6743. #if ENABLED(DELTA)
  6744. set_cartesian_from_steppers();
  6745. current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis);
  6746. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  6747. vector_3 pos = untilted_stepper_position();
  6748. current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
  6749. #else
  6750. current_position[axis] = stepper.get_axis_position_mm(axis); // CORE handled transparently
  6751. #endif
  6752. }
  6753. #if ENABLED(MESH_BED_LEVELING)
  6754. // This function is used to split lines on mesh borders so each segment is only part of one mesh area
  6755. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  6756. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  6757. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  6758. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  6759. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  6760. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  6761. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  6762. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  6763. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  6764. if (cx1 == cx2 && cy1 == cy2) {
  6765. // Start and end on same mesh square
  6766. line_to_destination(fr_mm_s);
  6767. set_current_to_destination();
  6768. return;
  6769. }
  6770. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  6771. float normalized_dist, end[NUM_AXIS];
  6772. // Split at the left/front border of the right/top square
  6773. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  6774. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  6775. memcpy(end, destination, sizeof(end));
  6776. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
  6777. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  6778. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  6779. CBI(x_splits, gcx);
  6780. }
  6781. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  6782. memcpy(end, destination, sizeof(end));
  6783. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
  6784. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  6785. destination[X_AXIS] = MBL_SEGMENT_END(X);
  6786. CBI(y_splits, gcy);
  6787. }
  6788. else {
  6789. // Already split on a border
  6790. line_to_destination(fr_mm_s);
  6791. set_current_to_destination();
  6792. return;
  6793. }
  6794. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  6795. destination[E_AXIS] = MBL_SEGMENT_END(E);
  6796. // Do the split and look for more borders
  6797. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6798. // Restore destination from stack
  6799. memcpy(destination, end, sizeof(end));
  6800. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6801. }
  6802. #endif // MESH_BED_LEVELING
  6803. #if ENABLED(DELTA) || ENABLED(SCARA)
  6804. inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
  6805. float difference[NUM_AXIS];
  6806. LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
  6807. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  6808. if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
  6809. if (cartesian_mm < 0.000001) return false;
  6810. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  6811. float seconds = cartesian_mm / _feedrate_mm_s;
  6812. int steps = max(1, int(delta_segments_per_second * seconds));
  6813. float inv_steps = 1.0/steps;
  6814. // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
  6815. // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
  6816. // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
  6817. for (int s = 1; s <= steps; s++) {
  6818. float fraction = float(s) * inv_steps;
  6819. LOOP_XYZE(i)
  6820. target[i] = current_position[i] + difference[i] * fraction;
  6821. inverse_kinematics(target);
  6822. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  6823. if (!bed_leveling_in_progress) adjust_delta(target);
  6824. #endif
  6825. //DEBUG_POS("prepare_kinematic_move_to", target);
  6826. //DEBUG_POS("prepare_kinematic_move_to", delta);
  6827. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], _feedrate_mm_s, active_extruder);
  6828. }
  6829. return true;
  6830. }
  6831. #endif // DELTA || SCARA
  6832. #if ENABLED(DUAL_X_CARRIAGE)
  6833. inline bool prepare_move_to_destination_dualx() {
  6834. if (active_extruder_parked) {
  6835. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  6836. // move duplicate extruder into correct duplication position.
  6837. planner.set_position_mm(
  6838. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  6839. current_position[Y_AXIS],
  6840. current_position[Z_AXIS],
  6841. current_position[E_AXIS]
  6842. );
  6843. planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  6844. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
  6845. SYNC_PLAN_POSITION_KINEMATIC();
  6846. stepper.synchronize();
  6847. extruder_duplication_enabled = true;
  6848. active_extruder_parked = false;
  6849. }
  6850. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  6851. if (current_position[E_AXIS] == destination[E_AXIS]) {
  6852. // This is a travel move (with no extrusion)
  6853. // Skip it, but keep track of the current position
  6854. // (so it can be used as the start of the next non-travel move)
  6855. if (delayed_move_time != 0xFFFFFFFFUL) {
  6856. set_current_to_destination();
  6857. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  6858. delayed_move_time = millis();
  6859. return false;
  6860. }
  6861. }
  6862. delayed_move_time = 0;
  6863. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  6864. planner.buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6865. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], PLANNER_XY_FEEDRATE(), active_extruder);
  6866. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  6867. active_extruder_parked = false;
  6868. }
  6869. }
  6870. return true;
  6871. }
  6872. #endif // DUAL_X_CARRIAGE
  6873. #if DISABLED(DELTA) && DISABLED(SCARA)
  6874. inline bool prepare_move_to_destination_cartesian() {
  6875. // Do not use feedrate_percentage for E or Z only moves
  6876. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  6877. line_to_destination();
  6878. }
  6879. else {
  6880. #if ENABLED(MESH_BED_LEVELING)
  6881. if (mbl.active()) {
  6882. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  6883. return false;
  6884. }
  6885. else
  6886. #endif
  6887. line_to_destination(MMS_SCALED(feedrate_mm_s));
  6888. }
  6889. return true;
  6890. }
  6891. #endif // !DELTA && !SCARA
  6892. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6893. inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
  6894. if (DEBUGGING(DRYRUN)) return;
  6895. float de = dest_e - curr_e;
  6896. if (de) {
  6897. if (thermalManager.tooColdToExtrude(active_extruder)) {
  6898. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6899. SERIAL_ECHO_START;
  6900. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  6901. }
  6902. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  6903. if (labs(de) > EXTRUDE_MAXLENGTH) {
  6904. curr_e = dest_e; // Behave as if the move really took place, but ignore E part
  6905. SERIAL_ECHO_START;
  6906. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  6907. }
  6908. #endif
  6909. }
  6910. }
  6911. #endif // PREVENT_COLD_EXTRUSION
  6912. /**
  6913. * Prepare a single move and get ready for the next one
  6914. *
  6915. * (This may call planner.buffer_line several times to put
  6916. * smaller moves into the planner for DELTA or SCARA.)
  6917. */
  6918. void prepare_move_to_destination() {
  6919. clamp_to_software_endstops(destination);
  6920. refresh_cmd_timeout();
  6921. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6922. prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  6923. #endif
  6924. #if ENABLED(DELTA) || ENABLED(SCARA)
  6925. if (!prepare_kinematic_move_to(destination)) return;
  6926. #else
  6927. #if ENABLED(DUAL_X_CARRIAGE)
  6928. if (!prepare_move_to_destination_dualx()) return;
  6929. #endif
  6930. if (!prepare_move_to_destination_cartesian()) return;
  6931. #endif
  6932. set_current_to_destination();
  6933. }
  6934. #if ENABLED(ARC_SUPPORT)
  6935. /**
  6936. * Plan an arc in 2 dimensions
  6937. *
  6938. * The arc is approximated by generating many small linear segments.
  6939. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  6940. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  6941. * larger segments will tend to be more efficient. Your slicer should have
  6942. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  6943. */
  6944. void plan_arc(
  6945. float target[NUM_AXIS], // Destination position
  6946. float* offset, // Center of rotation relative to current_position
  6947. uint8_t clockwise // Clockwise?
  6948. ) {
  6949. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  6950. center_X = current_position[X_AXIS] + offset[X_AXIS],
  6951. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  6952. linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
  6953. extruder_travel = target[E_AXIS] - current_position[E_AXIS],
  6954. r_X = -offset[X_AXIS], // Radius vector from center to current location
  6955. r_Y = -offset[Y_AXIS],
  6956. rt_X = target[X_AXIS] - center_X,
  6957. rt_Y = target[Y_AXIS] - center_Y;
  6958. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  6959. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  6960. if (angular_travel < 0) angular_travel += RADIANS(360);
  6961. if (clockwise) angular_travel -= RADIANS(360);
  6962. // Make a circle if the angular rotation is 0
  6963. if (angular_travel == 0 && current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS])
  6964. angular_travel += RADIANS(360);
  6965. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  6966. if (mm_of_travel < 0.001) return;
  6967. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  6968. if (segments == 0) segments = 1;
  6969. float theta_per_segment = angular_travel / segments;
  6970. float linear_per_segment = linear_travel / segments;
  6971. float extruder_per_segment = extruder_travel / segments;
  6972. /**
  6973. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  6974. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  6975. * r_T = [cos(phi) -sin(phi);
  6976. * sin(phi) cos(phi] * r ;
  6977. *
  6978. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  6979. * defined from the circle center to the initial position. Each line segment is formed by successive
  6980. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  6981. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  6982. * all double numbers are single precision on the Arduino. (True double precision will not have
  6983. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  6984. * tool precision in some cases. Therefore, arc path correction is implemented.
  6985. *
  6986. * Small angle approximation may be used to reduce computation overhead further. This approximation
  6987. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  6988. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  6989. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  6990. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  6991. * issue for CNC machines with the single precision Arduino calculations.
  6992. *
  6993. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  6994. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  6995. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  6996. * This is important when there are successive arc motions.
  6997. */
  6998. // Vector rotation matrix values
  6999. float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  7000. float sin_T = theta_per_segment;
  7001. float arc_target[NUM_AXIS];
  7002. float sin_Ti, cos_Ti, r_new_Y;
  7003. uint16_t i;
  7004. int8_t count = 0;
  7005. // Initialize the linear axis
  7006. arc_target[Z_AXIS] = current_position[Z_AXIS];
  7007. // Initialize the extruder axis
  7008. arc_target[E_AXIS] = current_position[E_AXIS];
  7009. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  7010. millis_t next_idle_ms = millis() + 200UL;
  7011. for (i = 1; i < segments; i++) { // Iterate (segments-1) times
  7012. thermalManager.manage_heater();
  7013. millis_t now = millis();
  7014. if (ELAPSED(now, next_idle_ms)) {
  7015. next_idle_ms = now + 200UL;
  7016. idle();
  7017. }
  7018. if (++count < N_ARC_CORRECTION) {
  7019. // Apply vector rotation matrix to previous r_X / 1
  7020. r_new_Y = r_X * sin_T + r_Y * cos_T;
  7021. r_X = r_X * cos_T - r_Y * sin_T;
  7022. r_Y = r_new_Y;
  7023. }
  7024. else {
  7025. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  7026. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  7027. // To reduce stuttering, the sin and cos could be computed at different times.
  7028. // For now, compute both at the same time.
  7029. cos_Ti = cos(i * theta_per_segment);
  7030. sin_Ti = sin(i * theta_per_segment);
  7031. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  7032. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  7033. count = 0;
  7034. }
  7035. // Update arc_target location
  7036. arc_target[X_AXIS] = center_X + r_X;
  7037. arc_target[Y_AXIS] = center_Y + r_Y;
  7038. arc_target[Z_AXIS] += linear_per_segment;
  7039. arc_target[E_AXIS] += extruder_per_segment;
  7040. clamp_to_software_endstops(arc_target);
  7041. #if ENABLED(DELTA) || ENABLED(SCARA)
  7042. inverse_kinematics(arc_target);
  7043. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  7044. adjust_delta(arc_target);
  7045. #endif
  7046. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7047. #else
  7048. planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7049. #endif
  7050. }
  7051. // Ensure last segment arrives at target location.
  7052. #if ENABLED(DELTA) || ENABLED(SCARA)
  7053. inverse_kinematics(target);
  7054. #if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
  7055. adjust_delta(target);
  7056. #endif
  7057. planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  7058. #else
  7059. planner.buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
  7060. #endif
  7061. // As far as the parser is concerned, the position is now == target. In reality the
  7062. // motion control system might still be processing the action and the real tool position
  7063. // in any intermediate location.
  7064. set_current_to_destination();
  7065. }
  7066. #endif
  7067. #if ENABLED(BEZIER_CURVE_SUPPORT)
  7068. void plan_cubic_move(const float offset[4]) {
  7069. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  7070. // As far as the parser is concerned, the position is now == target. In reality the
  7071. // motion control system might still be processing the action and the real tool position
  7072. // in any intermediate location.
  7073. set_current_to_destination();
  7074. }
  7075. #endif // BEZIER_CURVE_SUPPORT
  7076. #if HAS_CONTROLLERFAN
  7077. void controllerFan() {
  7078. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  7079. static millis_t nextMotorCheck = 0; // Last time the state was checked
  7080. millis_t ms = millis();
  7081. if (ELAPSED(ms, nextMotorCheck)) {
  7082. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  7083. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  7084. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  7085. #if E_STEPPERS > 1
  7086. || E1_ENABLE_READ == E_ENABLE_ON
  7087. #if HAS_X2_ENABLE
  7088. || X2_ENABLE_READ == X_ENABLE_ON
  7089. #endif
  7090. #if E_STEPPERS > 2
  7091. || E2_ENABLE_READ == E_ENABLE_ON
  7092. #if E_STEPPERS > 3
  7093. || E3_ENABLE_READ == E_ENABLE_ON
  7094. #endif
  7095. #endif
  7096. #endif
  7097. ) {
  7098. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  7099. }
  7100. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  7101. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  7102. // allows digital or PWM fan output to be used (see M42 handling)
  7103. digitalWrite(CONTROLLERFAN_PIN, speed);
  7104. analogWrite(CONTROLLERFAN_PIN, speed);
  7105. }
  7106. }
  7107. #endif // HAS_CONTROLLERFAN
  7108. #if ENABLED(SCARA)
  7109. void forward_kinematics_SCARA(float f_scara[ABC]) {
  7110. // Perform forward kinematics, and place results in delta[]
  7111. // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
  7112. float x_sin, x_cos, y_sin, y_cos;
  7113. //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
  7114. //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
  7115. x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  7116. x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
  7117. y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  7118. y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
  7119. //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
  7120. //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
  7121. //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
  7122. //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
  7123. delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
  7124. delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
  7125. //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
  7126. //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  7127. }
  7128. void inverse_kinematics(const float cartesian[XYZ]) {
  7129. // Inverse kinematics.
  7130. // Perform SCARA IK and place results in delta[].
  7131. // The maths and first version were done by QHARLEY.
  7132. // Integrated, tweaked by Joachim Cerny in June 2014.
  7133. float SCARA_pos[2];
  7134. static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
  7135. SCARA_pos[X_AXIS] = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
  7136. SCARA_pos[Y_AXIS] = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
  7137. #if (Linkage_1 == Linkage_2)
  7138. SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
  7139. #else
  7140. SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
  7141. #endif
  7142. SCARA_S2 = sqrt(1 - sq(SCARA_C2));
  7143. SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
  7144. SCARA_K2 = Linkage_2 * SCARA_S2;
  7145. SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
  7146. SCARA_psi = atan2(SCARA_S2, SCARA_C2);
  7147. delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
  7148. delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
  7149. delta[Z_AXIS] = RAW_Z_POSITION(cartesian[Z_AXIS]);
  7150. /**
  7151. SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
  7152. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
  7153. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
  7154. SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
  7155. SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
  7156. SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
  7157. SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
  7158. SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
  7159. SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
  7160. SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
  7161. SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
  7162. SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
  7163. SERIAL_EOL;
  7164. */
  7165. }
  7166. #endif // SCARA
  7167. #if ENABLED(TEMP_STAT_LEDS)
  7168. static bool red_led = false;
  7169. static millis_t next_status_led_update_ms = 0;
  7170. void handle_status_leds(void) {
  7171. if (ELAPSED(millis(), next_status_led_update_ms)) {
  7172. next_status_led_update_ms += 500; // Update every 0.5s
  7173. float max_temp = 0.0;
  7174. #if HAS_TEMP_BED
  7175. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  7176. #endif
  7177. HOTEND_LOOP() {
  7178. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  7179. }
  7180. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  7181. if (new_led != red_led) {
  7182. red_led = new_led;
  7183. digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
  7184. digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
  7185. }
  7186. }
  7187. }
  7188. #endif
  7189. void enable_all_steppers() {
  7190. enable_x();
  7191. enable_y();
  7192. enable_z();
  7193. enable_e0();
  7194. enable_e1();
  7195. enable_e2();
  7196. enable_e3();
  7197. }
  7198. void disable_all_steppers() {
  7199. disable_x();
  7200. disable_y();
  7201. disable_z();
  7202. disable_e0();
  7203. disable_e1();
  7204. disable_e2();
  7205. disable_e3();
  7206. }
  7207. /**
  7208. * Standard idle routine keeps the machine alive
  7209. */
  7210. void idle(
  7211. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7212. bool no_stepper_sleep/*=false*/
  7213. #endif
  7214. ) {
  7215. lcd_update();
  7216. host_keepalive();
  7217. manage_inactivity(
  7218. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7219. no_stepper_sleep
  7220. #endif
  7221. );
  7222. thermalManager.manage_heater();
  7223. #if ENABLED(PRINTCOUNTER)
  7224. print_job_timer.tick();
  7225. #endif
  7226. #if HAS_BUZZER && PIN_EXISTS(BEEPER)
  7227. buzzer.tick();
  7228. #endif
  7229. }
  7230. /**
  7231. * Manage several activities:
  7232. * - Check for Filament Runout
  7233. * - Keep the command buffer full
  7234. * - Check for maximum inactive time between commands
  7235. * - Check for maximum inactive time between stepper commands
  7236. * - Check if pin CHDK needs to go LOW
  7237. * - Check for KILL button held down
  7238. * - Check for HOME button held down
  7239. * - Check if cooling fan needs to be switched on
  7240. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  7241. */
  7242. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  7243. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7244. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  7245. handle_filament_runout();
  7246. #endif
  7247. if (commands_in_queue < BUFSIZE) get_available_commands();
  7248. millis_t ms = millis();
  7249. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  7250. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  7251. && !ignore_stepper_queue && !planner.blocks_queued()) {
  7252. #if ENABLED(DISABLE_INACTIVE_X)
  7253. disable_x();
  7254. #endif
  7255. #if ENABLED(DISABLE_INACTIVE_Y)
  7256. disable_y();
  7257. #endif
  7258. #if ENABLED(DISABLE_INACTIVE_Z)
  7259. disable_z();
  7260. #endif
  7261. #if ENABLED(DISABLE_INACTIVE_E)
  7262. disable_e0();
  7263. disable_e1();
  7264. disable_e2();
  7265. disable_e3();
  7266. #endif
  7267. }
  7268. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  7269. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  7270. chdkActive = false;
  7271. WRITE(CHDK, LOW);
  7272. }
  7273. #endif
  7274. #if HAS_KILL
  7275. // Check if the kill button was pressed and wait just in case it was an accidental
  7276. // key kill key press
  7277. // -------------------------------------------------------------------------------
  7278. static int killCount = 0; // make the inactivity button a bit less responsive
  7279. const int KILL_DELAY = 750;
  7280. if (!READ(KILL_PIN))
  7281. killCount++;
  7282. else if (killCount > 0)
  7283. killCount--;
  7284. // Exceeded threshold and we can confirm that it was not accidental
  7285. // KILL the machine
  7286. // ----------------------------------------------------------------
  7287. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  7288. #endif
  7289. #if HAS_HOME
  7290. // Check to see if we have to home, use poor man's debouncer
  7291. // ---------------------------------------------------------
  7292. static int homeDebounceCount = 0; // poor man's debouncing count
  7293. const int HOME_DEBOUNCE_DELAY = 2500;
  7294. if (!READ(HOME_PIN)) {
  7295. if (!homeDebounceCount) {
  7296. enqueue_and_echo_commands_P(PSTR("G28"));
  7297. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  7298. }
  7299. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  7300. homeDebounceCount++;
  7301. else
  7302. homeDebounceCount = 0;
  7303. }
  7304. #endif
  7305. #if HAS_CONTROLLERFAN
  7306. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  7307. #endif
  7308. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  7309. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  7310. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  7311. #if ENABLED(SWITCHING_EXTRUDER)
  7312. bool oldstatus = E0_ENABLE_READ;
  7313. enable_e0();
  7314. #else // !SWITCHING_EXTRUDER
  7315. bool oldstatus;
  7316. switch (active_extruder) {
  7317. case 0:
  7318. oldstatus = E0_ENABLE_READ;
  7319. enable_e0();
  7320. break;
  7321. #if E_STEPPERS > 1
  7322. case 1:
  7323. oldstatus = E1_ENABLE_READ;
  7324. enable_e1();
  7325. break;
  7326. #if E_STEPPERS > 2
  7327. case 2:
  7328. oldstatus = E2_ENABLE_READ;
  7329. enable_e2();
  7330. break;
  7331. #if E_STEPPERS > 3
  7332. case 3:
  7333. oldstatus = E3_ENABLE_READ;
  7334. enable_e3();
  7335. break;
  7336. #endif
  7337. #endif
  7338. #endif
  7339. }
  7340. #endif // !SWITCHING_EXTRUDER
  7341. float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
  7342. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
  7343. destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) * planner.steps_to_mm[E_AXIS],
  7344. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (EXTRUDER_RUNOUT_ESTEPS) * planner.steps_to_mm[E_AXIS], active_extruder);
  7345. current_position[E_AXIS] = oldepos;
  7346. destination[E_AXIS] = oldedes;
  7347. planner.set_e_position_mm(oldepos);
  7348. previous_cmd_ms = ms; // refresh_cmd_timeout()
  7349. stepper.synchronize();
  7350. #if ENABLED(SWITCHING_EXTRUDER)
  7351. E0_ENABLE_WRITE(oldstatus);
  7352. #else
  7353. switch (active_extruder) {
  7354. case 0:
  7355. E0_ENABLE_WRITE(oldstatus);
  7356. break;
  7357. #if E_STEPPERS > 1
  7358. case 1:
  7359. E1_ENABLE_WRITE(oldstatus);
  7360. break;
  7361. #if E_STEPPERS > 2
  7362. case 2:
  7363. E2_ENABLE_WRITE(oldstatus);
  7364. break;
  7365. #if E_STEPPERS > 3
  7366. case 3:
  7367. E3_ENABLE_WRITE(oldstatus);
  7368. break;
  7369. #endif
  7370. #endif
  7371. #endif
  7372. }
  7373. #endif // !SWITCHING_EXTRUDER
  7374. }
  7375. #endif // EXTRUDER_RUNOUT_PREVENT
  7376. #if ENABLED(DUAL_X_CARRIAGE)
  7377. // handle delayed move timeout
  7378. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  7379. // travel moves have been received so enact them
  7380. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  7381. set_destination_to_current();
  7382. prepare_move_to_destination();
  7383. }
  7384. #endif
  7385. #if ENABLED(TEMP_STAT_LEDS)
  7386. handle_status_leds();
  7387. #endif
  7388. planner.check_axes_activity();
  7389. }
  7390. void kill(const char* lcd_msg) {
  7391. SERIAL_ERROR_START;
  7392. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  7393. #if ENABLED(ULTRA_LCD)
  7394. kill_screen(lcd_msg);
  7395. #else
  7396. UNUSED(lcd_msg);
  7397. #endif
  7398. delay(500); // Wait a short time
  7399. cli(); // Stop interrupts
  7400. thermalManager.disable_all_heaters();
  7401. disable_all_steppers();
  7402. #if HAS_POWER_SWITCH
  7403. pinMode(PS_ON_PIN, INPUT);
  7404. #endif
  7405. suicide();
  7406. while (1) {
  7407. #if ENABLED(USE_WATCHDOG)
  7408. watchdog_reset();
  7409. #endif
  7410. } // Wait for reset
  7411. }
  7412. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7413. void handle_filament_runout() {
  7414. if (!filament_ran_out) {
  7415. filament_ran_out = true;
  7416. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  7417. stepper.synchronize();
  7418. }
  7419. }
  7420. #endif // FILAMENT_RUNOUT_SENSOR
  7421. #if ENABLED(FAST_PWM_FAN)
  7422. void setPwmFrequency(uint8_t pin, int val) {
  7423. val &= 0x07;
  7424. switch (digitalPinToTimer(pin)) {
  7425. #if defined(TCCR0A)
  7426. case TIMER0A:
  7427. case TIMER0B:
  7428. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7429. // TCCR0B |= val;
  7430. break;
  7431. #endif
  7432. #if defined(TCCR1A)
  7433. case TIMER1A:
  7434. case TIMER1B:
  7435. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7436. // TCCR1B |= val;
  7437. break;
  7438. #endif
  7439. #if defined(TCCR2)
  7440. case TIMER2:
  7441. case TIMER2:
  7442. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7443. TCCR2 |= val;
  7444. break;
  7445. #endif
  7446. #if defined(TCCR2A)
  7447. case TIMER2A:
  7448. case TIMER2B:
  7449. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7450. TCCR2B |= val;
  7451. break;
  7452. #endif
  7453. #if defined(TCCR3A)
  7454. case TIMER3A:
  7455. case TIMER3B:
  7456. case TIMER3C:
  7457. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7458. TCCR3B |= val;
  7459. break;
  7460. #endif
  7461. #if defined(TCCR4A)
  7462. case TIMER4A:
  7463. case TIMER4B:
  7464. case TIMER4C:
  7465. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7466. TCCR4B |= val;
  7467. break;
  7468. #endif
  7469. #if defined(TCCR5A)
  7470. case TIMER5A:
  7471. case TIMER5B:
  7472. case TIMER5C:
  7473. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7474. TCCR5B |= val;
  7475. break;
  7476. #endif
  7477. }
  7478. }
  7479. #endif // FAST_PWM_FAN
  7480. void stop() {
  7481. thermalManager.disable_all_heaters();
  7482. if (IsRunning()) {
  7483. Running = false;
  7484. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  7485. SERIAL_ERROR_START;
  7486. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  7487. LCD_MESSAGEPGM(MSG_STOPPED);
  7488. }
  7489. }
  7490. float calculate_volumetric_multiplier(float diameter) {
  7491. if (!volumetric_enabled || diameter == 0) return 1.0;
  7492. float d2 = diameter * 0.5;
  7493. return 1.0 / (M_PI * d2 * d2);
  7494. }
  7495. void calculate_volumetric_multipliers() {
  7496. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7497. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  7498. }