My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin_main.cpp 286KB

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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. #endif
  37. #if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
  38. #include "qr_solve.h"
  39. #elif ENABLED(MESH_BED_LEVELING)
  40. #include "mesh_bed_leveling.h"
  41. #endif
  42. #if ENABLED(BEZIER_CURVE_SUPPORT)
  43. #include "planner_bezier.h"
  44. #endif
  45. #include "ultralcd.h"
  46. #include "planner.h"
  47. #include "stepper.h"
  48. #include "endstops.h"
  49. #include "temperature.h"
  50. #include "cardreader.h"
  51. #include "configuration_store.h"
  52. #include "language.h"
  53. #include "pins_arduino.h"
  54. #include "math.h"
  55. #include "nozzle.h"
  56. #include "duration_t.h"
  57. #include "types.h"
  58. #if ENABLED(USE_WATCHDOG)
  59. #include "watchdog.h"
  60. #endif
  61. #if ENABLED(BLINKM)
  62. #include "blinkm.h"
  63. #include "Wire.h"
  64. #endif
  65. #if HAS_SERVOS
  66. #include "servo.h"
  67. #endif
  68. #if HAS_DIGIPOTSS
  69. #include <SPI.h>
  70. #endif
  71. #if ENABLED(DAC_STEPPER_CURRENT)
  72. #include "stepper_dac.h"
  73. #endif
  74. #if ENABLED(EXPERIMENTAL_I2CBUS)
  75. #include "twibus.h"
  76. #endif
  77. /**
  78. * Look here for descriptions of G-codes:
  79. * - http://linuxcnc.org/handbook/gcode/g-code.html
  80. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  81. *
  82. * Help us document these G-codes online:
  83. * - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
  84. * - http://reprap.org/wiki/G-code
  85. *
  86. * -----------------
  87. * Implemented Codes
  88. * -----------------
  89. *
  90. * "G" Codes
  91. *
  92. * G0 -> G1
  93. * G1 - Coordinated Movement X Y Z E
  94. * G2 - CW ARC
  95. * G3 - CCW ARC
  96. * G4 - Dwell S<seconds> or P<milliseconds>
  97. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  98. * G10 - Retract filament according to settings of M207
  99. * G11 - Retract recover filament according to settings of M208
  100. * G12 - Clean tool
  101. * G20 - Set input units to inches
  102. * G21 - Set input units to millimeters
  103. * G28 - Home one or more axes
  104. * G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
  105. * G30 - Single Z probe, probes bed at current XY location.
  106. * G31 - Dock sled (Z_PROBE_SLED only)
  107. * G32 - Undock sled (Z_PROBE_SLED only)
  108. * G90 - Use Absolute Coordinates
  109. * G91 - Use Relative Coordinates
  110. * G92 - Set current position to coordinates given
  111. *
  112. * "M" Codes
  113. *
  114. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  115. * M1 - Same as M0
  116. * M17 - Enable/Power all stepper motors
  117. * M18 - Disable all stepper motors; same as M84
  118. * M20 - List SD card
  119. * M21 - Init SD card
  120. * M22 - Release SD card
  121. * M23 - Select SD file (M23 filename.g)
  122. * M24 - Start/resume SD print
  123. * M25 - Pause SD print
  124. * M26 - Set SD position in bytes (M26 S12345)
  125. * M27 - Report SD print status
  126. * M28 - Start SD write (M28 filename.g)
  127. * M29 - Stop SD write
  128. * M30 - Delete file from SD (M30 filename.g)
  129. * M31 - Output time since last M109 or SD card start to serial
  130. * M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
  131. * syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
  132. * Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
  133. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  134. * M33 - Get the longname version of a path
  135. * M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
  136. * M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
  137. * M75 - Start the print job timer
  138. * M76 - Pause the print job timer
  139. * M77 - Stop the print job timer
  140. * M78 - Show statistical information about the print jobs
  141. * M80 - Turn on Power Supply
  142. * M81 - Turn off Power Supply
  143. * M82 - Set E codes absolute (default)
  144. * M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  145. * M84 - Disable steppers until next move,
  146. * or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  147. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  148. * M92 - Set planner.axis_steps_per_mm - same syntax as G92
  149. * M104 - Set extruder target temp
  150. * M105 - Read current temp
  151. * M106 - Fan on
  152. * M107 - Fan off
  153. * M108 - Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  154. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  155. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  156. * IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  157. * M110 - Set the current line number
  158. * M111 - Set debug flags with S<mask>. See flag bits defined in enum.h.
  159. * M112 - Emergency stop
  160. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages
  161. * M114 - Output current position to serial port
  162. * M115 - Capabilities string
  163. * M117 - Display a message on the controller screen
  164. * M119 - Output Endstop status to serial port
  165. * M120 - Enable endstop detection
  166. * M121 - Disable endstop detection
  167. * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
  168. * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
  169. * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  170. * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
  171. * M140 - Set bed target temp
  172. * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  173. * M149 - Set temperature units
  174. * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
  175. * M163 - Set a single proportion for a mixing extruder. Requires MIXING_EXTRUDER.
  176. * M164 - Save the mix as a virtual extruder. Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS.
  177. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. Requires MIXING_EXTRUDER.
  178. * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  179. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  180. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  181. * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  182. * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  183. * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  184. * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in units/sec^2
  185. * M205 - Set advanced settings. Current units apply:
  186. S<print> T<travel> minimum speeds
  187. B<minimum segment time>
  188. X<max xy jerk>, Z<max Z jerk>, E<max E jerk>
  189. * M206 - Set additional homing offset
  190. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  191. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  192. * M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
  193. Every normal extrude-only move will be classified as retract depending on the direction.
  194. * M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
  195. * M218 - Set a tool offset: T<index> X<offset> Y<offset>
  196. * M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  197. * M221 - Set Flow Percentage: S<percent>
  198. * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
  199. * M240 - Trigger a camera to take a photograph
  200. * M250 - Set LCD contrast C<contrast value> (value 0..63)
  201. * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
  202. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  203. * M301 - Set PID parameters P I and D
  204. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
  205. * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
  206. * M304 - Set bed PID parameters P I and D
  207. * M380 - Activate solenoid on active extruder
  208. * M381 - Disable all solenoids
  209. * M400 - Finish all moves
  210. * M401 - Lower Z probe if present
  211. * M402 - Raise Z probe if present
  212. * M404 - Display or set the Nominal Filament Width: [ N<diameter> ]
  213. * M405 - Enable Filament Sensor extrusion control. Optional delay between sensor and extruder: D<cm>
  214. * M406 - Disable Filament Sensor extrusion control
  215. * M407 - Display measured filament diameter in millimeters
  216. * M410 - Quickstop. Abort all the planned moves
  217. * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
  218. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units>
  219. * M428 - Set the home_offset logically based on the current_position
  220. * M500 - Store parameters in EEPROM
  221. * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
  222. * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  223. * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
  224. * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  225. * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  226. * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
  227. * M666 - Set delta endstop adjustment
  228. * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
  229. * M851 - Set Z probe's Z offset in current units. (Negative values apply to probes that extend below the nozzle.)
  230. * M907 - Set digital trimpot motor current using axis codes.
  231. * M908 - Control digital trimpot directly.
  232. * M909 - DAC_STEPPER_CURRENT: Print digipot/DAC current value
  233. * M910 - DAC_STEPPER_CURRENT: Commit digipot/DAC value to external EEPROM via I2C
  234. * M350 - Set microstepping mode.
  235. * M351 - Toggle MS1 MS2 pins directly.
  236. *
  237. * ************ SCARA Specific - This can change to suit future G-code regulations
  238. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  239. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  240. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  241. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  242. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  243. * ************* SCARA End ***************
  244. *
  245. * ************ Custom codes - This can change to suit future G-code regulations
  246. * M100 - Watch Free Memory (For Debugging Only)
  247. * M928 - Start SD logging (M928 filename.g) - ended by M29
  248. * M999 - Restart after being stopped by error
  249. *
  250. * "T" Codes
  251. *
  252. * T0-T3 - Select a tool by index (usually an extruder) [ F<units/min> ]
  253. *
  254. */
  255. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  256. void gcode_M100();
  257. #endif
  258. #if ENABLED(SDSUPPORT)
  259. CardReader card;
  260. #endif
  261. #if ENABLED(EXPERIMENTAL_I2CBUS)
  262. TWIBus i2c;
  263. #endif
  264. bool Running = true;
  265. uint8_t marlin_debug_flags = DEBUG_NONE;
  266. float current_position[NUM_AXIS] = { 0.0 };
  267. static float destination[NUM_AXIS] = { 0.0 };
  268. bool axis_known_position[XYZ] = { false };
  269. bool axis_homed[XYZ] = { false };
  270. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  271. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  272. static char* current_command, *current_command_args;
  273. static uint8_t cmd_queue_index_r = 0,
  274. cmd_queue_index_w = 0,
  275. commands_in_queue = 0;
  276. #if ENABLED(INCH_MODE_SUPPORT)
  277. float linear_unit_factor = 1.0;
  278. float volumetric_unit_factor = 1.0;
  279. #endif
  280. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  281. TempUnit input_temp_units = TEMPUNIT_C;
  282. #endif
  283. /**
  284. * Feed rates are often configured with mm/m
  285. * but the planner and stepper like mm/s units.
  286. */
  287. float constexpr homing_feedrate_mm_s[] = {
  288. #if ENABLED(DELTA)
  289. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  290. #else
  291. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  292. #endif
  293. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  294. };
  295. static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  296. int feedrate_percentage = 100, saved_feedrate_percentage;
  297. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  298. int flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  299. bool volumetric_enabled = false;
  300. float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
  301. float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  302. // The distance that XYZ has been offset by G92. Reset by G28.
  303. float position_shift[XYZ] = { 0 };
  304. // This offset is added to the configured home position.
  305. // Set by M206, M428, or menu item. Saved to EEPROM.
  306. float home_offset[XYZ] = { 0 };
  307. // Software Endstops are based on the configured limits.
  308. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  309. bool soft_endstops_enabled = true;
  310. #endif
  311. float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
  312. soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  313. #if FAN_COUNT > 0
  314. int fanSpeeds[FAN_COUNT] = { 0 };
  315. #endif
  316. // The active extruder (tool). Set with T<extruder> command.
  317. uint8_t active_extruder = 0;
  318. // Relative Mode. Enable with G91, disable with G90.
  319. static bool relative_mode = false;
  320. volatile bool wait_for_heatup = true;
  321. #if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
  322. volatile bool wait_for_user = false;
  323. #endif
  324. const char errormagic[] PROGMEM = "Error:";
  325. const char echomagic[] PROGMEM = "echo:";
  326. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  327. static int serial_count = 0;
  328. // GCode parameter pointer used by code_seen(), code_value_float(), etc.
  329. static char* seen_pointer;
  330. // Next Immediate GCode Command pointer. NULL if none.
  331. const char* queued_commands_P = NULL;
  332. const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
  333. // Inactivity shutdown
  334. millis_t previous_cmd_ms = 0;
  335. static millis_t max_inactive_time = 0;
  336. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  337. // Print Job Timer
  338. #if ENABLED(PRINTCOUNTER)
  339. PrintCounter print_job_timer = PrintCounter();
  340. #else
  341. Stopwatch print_job_timer = Stopwatch();
  342. #endif
  343. // Buzzer - I2C on the LCD or a BEEPER_PIN
  344. #if ENABLED(LCD_USE_I2C_BUZZER)
  345. #define BUZZ(d,f) lcd_buzz(d, f)
  346. #elif HAS_BUZZER
  347. Buzzer buzzer;
  348. #define BUZZ(d,f) buzzer.tone(d, f)
  349. #else
  350. #define BUZZ(d,f) NOOP
  351. #endif
  352. static uint8_t target_extruder;
  353. #if HAS_BED_PROBE
  354. float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  355. #endif
  356. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  357. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  358. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  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. endstop_adj[ABC] = { 0 };
  411. // these are the default values, can be overriden with M665
  412. float delta_radius = DELTA_RADIUS,
  413. delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
  414. delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
  415. delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
  416. delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
  417. delta_tower3_x = 0, // back middle tower
  418. delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
  419. delta_diagonal_rod = DELTA_DIAGONAL_ROD,
  420. delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
  421. delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
  422. delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
  423. delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
  424. delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
  425. delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
  426. delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
  427. delta_clip_start_height = Z_MAX_POS;
  428. float delta_safe_distance_from_top();
  429. #else
  430. static bool home_all_axis = true;
  431. #endif
  432. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  433. int nonlinear_grid_spacing[2] = { 0 };
  434. float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
  435. #endif
  436. #if IS_SCARA
  437. // Float constants for SCARA calculations
  438. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  439. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  440. L2_2 = sq(float(L2));
  441. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  442. delta[ABC];
  443. #endif
  444. float cartes[XYZ] = { 0 };
  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 get_cartesian_from_steppers();
  516. void set_current_from_steppers_for_axis(const AxisEnum axis);
  517. #if ENABLED(ARC_SUPPORT)
  518. void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  519. #endif
  520. #if ENABLED(BEZIER_CURVE_SUPPORT)
  521. void plan_cubic_move(const float offset[4]);
  522. #endif
  523. void serial_echopair_P(const char* s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  524. void serial_echopair_P(const char* s_P, char v) { serialprintPGM(s_P); SERIAL_CHAR(v); }
  525. void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  526. void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  527. void serial_echopair_P(const char* s_P, float v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  528. void serial_echopair_P(const char* s_P, double v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  529. void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  530. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  531. static void report_current_position();
  532. #if ENABLED(DEBUG_LEVELING_FEATURE)
  533. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  534. serialprintPGM(prefix);
  535. SERIAL_ECHOPAIR("(", x);
  536. SERIAL_ECHOPAIR(", ", y);
  537. SERIAL_ECHOPAIR(", ", z);
  538. SERIAL_ECHOPGM(")");
  539. if (suffix) serialprintPGM(suffix);
  540. else SERIAL_EOL;
  541. }
  542. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  543. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  544. }
  545. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  546. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  547. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  548. }
  549. #endif
  550. #define DEBUG_POS(SUFFIX,VAR) do { \
  551. print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  552. #endif
  553. /**
  554. * sync_plan_position
  555. *
  556. * Set the planner/stepper positions directly from current_position with
  557. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  558. */
  559. inline void sync_plan_position() {
  560. #if ENABLED(DEBUG_LEVELING_FEATURE)
  561. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  562. #endif
  563. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  564. }
  565. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  566. #if IS_KINEMATIC
  567. inline void sync_plan_position_kinematic() {
  568. #if ENABLED(DEBUG_LEVELING_FEATURE)
  569. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  570. #endif
  571. inverse_kinematics(current_position);
  572. planner.set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS]);
  573. }
  574. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  575. #else
  576. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  577. #endif
  578. #if ENABLED(SDSUPPORT)
  579. #include "SdFatUtil.h"
  580. int freeMemory() { return SdFatUtil::FreeRam(); }
  581. #else
  582. extern "C" {
  583. extern unsigned int __bss_end;
  584. extern unsigned int __heap_start;
  585. extern void* __brkval;
  586. int freeMemory() {
  587. int free_memory;
  588. if ((int)__brkval == 0)
  589. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  590. else
  591. free_memory = ((int)&free_memory) - ((int)__brkval);
  592. return free_memory;
  593. }
  594. }
  595. #endif //!SDSUPPORT
  596. #if ENABLED(DIGIPOT_I2C)
  597. extern void digipot_i2c_set_current(int channel, float current);
  598. extern void digipot_i2c_init();
  599. #endif
  600. /**
  601. * Inject the next "immediate" command, when possible.
  602. * Return true if any immediate commands remain to inject.
  603. */
  604. static bool drain_queued_commands_P() {
  605. if (queued_commands_P != NULL) {
  606. size_t i = 0;
  607. char c, cmd[30];
  608. strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  609. cmd[sizeof(cmd) - 1] = '\0';
  610. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  611. cmd[i] = '\0';
  612. if (enqueue_and_echo_command(cmd)) { // success?
  613. if (c) // newline char?
  614. queued_commands_P += i + 1; // advance to the next command
  615. else
  616. queued_commands_P = NULL; // nul char? no more commands
  617. }
  618. }
  619. return (queued_commands_P != NULL); // return whether any more remain
  620. }
  621. /**
  622. * Record one or many commands to run from program memory.
  623. * Aborts the current queue, if any.
  624. * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
  625. */
  626. void enqueue_and_echo_commands_P(const char* pgcode) {
  627. queued_commands_P = pgcode;
  628. drain_queued_commands_P(); // first command executed asap (when possible)
  629. }
  630. void clear_command_queue() {
  631. cmd_queue_index_r = cmd_queue_index_w;
  632. commands_in_queue = 0;
  633. }
  634. /**
  635. * Once a new command is in the ring buffer, call this to commit it
  636. */
  637. inline void _commit_command(bool say_ok) {
  638. send_ok[cmd_queue_index_w] = say_ok;
  639. cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  640. commands_in_queue++;
  641. }
  642. /**
  643. * Copy a command directly into the main command buffer, from RAM.
  644. * Returns true if successfully adds the command
  645. */
  646. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  647. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  648. strcpy(command_queue[cmd_queue_index_w], cmd);
  649. _commit_command(say_ok);
  650. return true;
  651. }
  652. void enqueue_and_echo_command_now(const char* cmd) {
  653. while (!enqueue_and_echo_command(cmd)) idle();
  654. }
  655. /**
  656. * Enqueue with Serial Echo
  657. */
  658. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  659. if (_enqueuecommand(cmd, say_ok)) {
  660. SERIAL_ECHO_START;
  661. SERIAL_ECHOPAIR(MSG_Enqueueing, 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. }
  740. /**
  741. * Stepper Reset (RigidBoard, et.al.)
  742. */
  743. #if HAS_STEPPER_RESET
  744. void disableStepperDrivers() {
  745. pinMode(STEPPER_RESET_PIN, OUTPUT);
  746. digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  747. }
  748. void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
  749. #endif
  750. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  751. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  752. i2c.receive(bytes);
  753. }
  754. void i2c_on_request() { // just send dummy data for now
  755. i2c.reply("Hello World!\n");
  756. }
  757. #endif
  758. void gcode_line_error(const char* err, bool doFlush = true) {
  759. SERIAL_ERROR_START;
  760. serialprintPGM(err);
  761. SERIAL_ERRORLN(gcode_LastN);
  762. //Serial.println(gcode_N);
  763. if (doFlush) FlushSerialRequestResend();
  764. serial_count = 0;
  765. }
  766. inline void get_serial_commands() {
  767. static char serial_line_buffer[MAX_CMD_SIZE];
  768. static boolean serial_comment_mode = false;
  769. // If the command buffer is empty for too long,
  770. // send "wait" to indicate Marlin is still waiting.
  771. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  772. static millis_t last_command_time = 0;
  773. millis_t ms = millis();
  774. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  775. SERIAL_ECHOLNPGM(MSG_WAIT);
  776. last_command_time = ms;
  777. }
  778. #endif
  779. /**
  780. * Loop while serial characters are incoming and the queue is not full
  781. */
  782. while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  783. char serial_char = MYSERIAL.read();
  784. /**
  785. * If the character ends the line
  786. */
  787. if (serial_char == '\n' || serial_char == '\r') {
  788. serial_comment_mode = false; // end of line == end of comment
  789. if (!serial_count) continue; // skip empty lines
  790. serial_line_buffer[serial_count] = 0; // terminate string
  791. serial_count = 0; //reset buffer
  792. char* command = serial_line_buffer;
  793. while (*command == ' ') command++; // skip any leading spaces
  794. char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
  795. char* apos = strchr(command, '*');
  796. if (npos) {
  797. boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  798. if (M110) {
  799. char* n2pos = strchr(command + 4, 'N');
  800. if (n2pos) npos = n2pos;
  801. }
  802. gcode_N = strtol(npos + 1, NULL, 10);
  803. if (gcode_N != gcode_LastN + 1 && !M110) {
  804. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  805. return;
  806. }
  807. if (apos) {
  808. byte checksum = 0, count = 0;
  809. while (command[count] != '*') checksum ^= command[count++];
  810. if (strtol(apos + 1, NULL, 10) != checksum) {
  811. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  812. return;
  813. }
  814. // if no errors, continue parsing
  815. }
  816. else {
  817. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  818. return;
  819. }
  820. gcode_LastN = gcode_N;
  821. // if no errors, continue parsing
  822. }
  823. else if (apos) { // No '*' without 'N'
  824. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  825. return;
  826. }
  827. // Movement commands alert when stopped
  828. if (IsStopped()) {
  829. char* gpos = strchr(command, 'G');
  830. if (gpos) {
  831. int codenum = strtol(gpos + 1, NULL, 10);
  832. switch (codenum) {
  833. case 0:
  834. case 1:
  835. case 2:
  836. case 3:
  837. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  838. LCD_MESSAGEPGM(MSG_STOPPED);
  839. break;
  840. }
  841. }
  842. }
  843. #if DISABLED(EMERGENCY_PARSER)
  844. // If command was e-stop process now
  845. if (strcmp(command, "M108") == 0) wait_for_heatup = false;
  846. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  847. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  848. #endif
  849. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  850. last_command_time = ms;
  851. #endif
  852. // Add the command to the queue
  853. _enqueuecommand(serial_line_buffer, true);
  854. }
  855. else if (serial_count >= MAX_CMD_SIZE - 1) {
  856. // Keep fetching, but ignore normal characters beyond the max length
  857. // The command will be injected when EOL is reached
  858. }
  859. else if (serial_char == '\\') { // Handle escapes
  860. if (MYSERIAL.available() > 0) {
  861. // if we have one more character, copy it over
  862. serial_char = MYSERIAL.read();
  863. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  864. }
  865. // otherwise do nothing
  866. }
  867. else { // it's not a newline, carriage return or escape char
  868. if (serial_char == ';') serial_comment_mode = true;
  869. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  870. }
  871. } // queue has space, serial has data
  872. }
  873. #if ENABLED(SDSUPPORT)
  874. inline void get_sdcard_commands() {
  875. static bool stop_buffering = false,
  876. sd_comment_mode = false;
  877. if (!card.sdprinting) return;
  878. /**
  879. * '#' stops reading from SD to the buffer prematurely, so procedural
  880. * macro calls are possible. If it occurs, stop_buffering is triggered
  881. * and the buffer is run dry; this character _can_ occur in serial com
  882. * due to checksums, however, no checksums are used in SD printing.
  883. */
  884. if (commands_in_queue == 0) stop_buffering = false;
  885. uint16_t sd_count = 0;
  886. bool card_eof = card.eof();
  887. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  888. int16_t n = card.get();
  889. char sd_char = (char)n;
  890. card_eof = card.eof();
  891. if (card_eof || n == -1
  892. || sd_char == '\n' || sd_char == '\r'
  893. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  894. ) {
  895. if (card_eof) {
  896. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  897. card.printingHasFinished();
  898. card.checkautostart(true);
  899. }
  900. else if (n == -1) {
  901. SERIAL_ERROR_START;
  902. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  903. }
  904. if (sd_char == '#') stop_buffering = true;
  905. sd_comment_mode = false; //for new command
  906. if (!sd_count) continue; //skip empty lines
  907. command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
  908. sd_count = 0; //clear buffer
  909. _commit_command(false);
  910. }
  911. else if (sd_count >= MAX_CMD_SIZE - 1) {
  912. /**
  913. * Keep fetching, but ignore normal characters beyond the max length
  914. * The command will be injected when EOL is reached
  915. */
  916. }
  917. else {
  918. if (sd_char == ';') sd_comment_mode = true;
  919. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  920. }
  921. }
  922. }
  923. #endif // SDSUPPORT
  924. /**
  925. * Add to the circular command queue the next command from:
  926. * - The command-injection queue (queued_commands_P)
  927. * - The active serial input (usually USB)
  928. * - The SD card file being actively printed
  929. */
  930. void get_available_commands() {
  931. // if any immediate commands remain, don't get other commands yet
  932. if (drain_queued_commands_P()) return;
  933. get_serial_commands();
  934. #if ENABLED(SDSUPPORT)
  935. get_sdcard_commands();
  936. #endif
  937. }
  938. inline bool code_has_value() {
  939. int i = 1;
  940. char c = seen_pointer[i];
  941. while (c == ' ') c = seen_pointer[++i];
  942. if (c == '-' || c == '+') c = seen_pointer[++i];
  943. if (c == '.') c = seen_pointer[++i];
  944. return NUMERIC(c);
  945. }
  946. inline float code_value_float() {
  947. float ret;
  948. char* e = strchr(seen_pointer, 'E');
  949. if (e) {
  950. *e = 0;
  951. ret = strtod(seen_pointer + 1, NULL);
  952. *e = 'E';
  953. }
  954. else
  955. ret = strtod(seen_pointer + 1, NULL);
  956. return ret;
  957. }
  958. inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  959. inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  960. inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  961. inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  962. inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  963. inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  964. #if ENABLED(INCH_MODE_SUPPORT)
  965. inline void set_input_linear_units(LinearUnit units) {
  966. switch (units) {
  967. case LINEARUNIT_INCH:
  968. linear_unit_factor = 25.4;
  969. break;
  970. case LINEARUNIT_MM:
  971. default:
  972. linear_unit_factor = 1.0;
  973. break;
  974. }
  975. volumetric_unit_factor = pow(linear_unit_factor, 3.0);
  976. }
  977. inline float axis_unit_factor(int axis) {
  978. return (axis == E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
  979. }
  980. inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
  981. inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
  982. inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  983. #else
  984. inline float code_value_linear_units() { return code_value_float(); }
  985. inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
  986. inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  987. #endif
  988. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  989. inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  990. float code_value_temp_abs() {
  991. switch (input_temp_units) {
  992. case TEMPUNIT_C:
  993. return code_value_float();
  994. case TEMPUNIT_F:
  995. return (code_value_float() - 32) * 0.5555555556;
  996. case TEMPUNIT_K:
  997. return code_value_float() - 272.15;
  998. default:
  999. return code_value_float();
  1000. }
  1001. }
  1002. float code_value_temp_diff() {
  1003. switch (input_temp_units) {
  1004. case TEMPUNIT_C:
  1005. case TEMPUNIT_K:
  1006. return code_value_float();
  1007. case TEMPUNIT_F:
  1008. return code_value_float() * 0.5555555556;
  1009. default:
  1010. return code_value_float();
  1011. }
  1012. }
  1013. #else
  1014. float code_value_temp_abs() { return code_value_float(); }
  1015. float code_value_temp_diff() { return code_value_float(); }
  1016. #endif
  1017. FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  1018. inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  1019. bool code_seen(char code) {
  1020. seen_pointer = strchr(current_command_args, code);
  1021. return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  1022. }
  1023. /**
  1024. * Set target_extruder from the T parameter or the active_extruder
  1025. *
  1026. * Returns TRUE if the target is invalid
  1027. */
  1028. bool get_target_extruder_from_command(int code) {
  1029. if (code_seen('T')) {
  1030. if (code_value_byte() >= EXTRUDERS) {
  1031. SERIAL_ECHO_START;
  1032. SERIAL_CHAR('M');
  1033. SERIAL_ECHO(code);
  1034. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
  1035. return true;
  1036. }
  1037. target_extruder = code_value_byte();
  1038. }
  1039. else
  1040. target_extruder = active_extruder;
  1041. return false;
  1042. }
  1043. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1044. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1045. #endif
  1046. #if ENABLED(DUAL_X_CARRIAGE)
  1047. #define DXC_FULL_CONTROL_MODE 0
  1048. #define DXC_AUTO_PARK_MODE 1
  1049. #define DXC_DUPLICATION_MODE 2
  1050. static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1051. static float x_home_pos(int extruder) {
  1052. if (extruder == 0)
  1053. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1054. else
  1055. /**
  1056. * In dual carriage mode the extruder offset provides an override of the
  1057. * second X-carriage offset when homed - otherwise X2_HOME_POS is used.
  1058. * This allow soft recalibration of the second extruder offset position
  1059. * without firmware reflash (through the M218 command).
  1060. */
  1061. return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  1062. }
  1063. static int x_home_dir(int extruder) {
  1064. return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  1065. }
  1066. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1067. static bool active_extruder_parked = false; // used in mode 1 & 2
  1068. static float raised_parked_position[NUM_AXIS]; // used in mode 1
  1069. static millis_t delayed_move_time = 0; // used in mode 1
  1070. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1071. static float duplicate_extruder_temp_offset = 0; // used in mode 2
  1072. #endif //DUAL_X_CARRIAGE
  1073. /**
  1074. * Software endstops can be used to monitor the open end of
  1075. * an axis that has a hardware endstop on the other end. Or
  1076. * they can prevent axes from moving past endstops and grinding.
  1077. *
  1078. * To keep doing their job as the coordinate system changes,
  1079. * the software endstop positions must be refreshed to remain
  1080. * at the same positions relative to the machine.
  1081. */
  1082. void update_software_endstops(AxisEnum axis) {
  1083. float offs = LOGICAL_POSITION(0, axis);
  1084. #if ENABLED(DUAL_X_CARRIAGE)
  1085. if (axis == X_AXIS) {
  1086. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1087. if (active_extruder != 0) {
  1088. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1089. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1090. return;
  1091. }
  1092. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1093. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1094. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1095. return;
  1096. }
  1097. }
  1098. else
  1099. #endif
  1100. {
  1101. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1102. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1103. }
  1104. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1105. if (DEBUGGING(LEVELING)) {
  1106. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1107. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1108. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1109. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1110. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1111. }
  1112. #endif
  1113. #if ENABLED(DELTA)
  1114. if (axis == Z_AXIS)
  1115. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1116. #endif
  1117. }
  1118. /**
  1119. * Change the home offset for an axis, update the current
  1120. * position and the software endstops to retain the same
  1121. * relative distance to the new home.
  1122. *
  1123. * Since this changes the current_position, code should
  1124. * call sync_plan_position soon after this.
  1125. */
  1126. static void set_home_offset(AxisEnum axis, float v) {
  1127. current_position[axis] += v - home_offset[axis];
  1128. home_offset[axis] = v;
  1129. update_software_endstops(axis);
  1130. }
  1131. /**
  1132. * Set an axis' current position to its home position (after homing).
  1133. *
  1134. * For Core and Cartesian robots this applies one-to-one when an
  1135. * individual axis has been homed.
  1136. *
  1137. * DELTA should wait until all homing is done before setting the XYZ
  1138. * current_position to home, because homing is a single operation.
  1139. * In the case where the axis positions are already known and previously
  1140. * homed, DELTA could home to X or Y individually by moving either one
  1141. * to the center. However, homing Z always homes XY and Z.
  1142. *
  1143. * SCARA should wait until all XY homing is done before setting the XY
  1144. * current_position to home, because neither X nor Y is at home until
  1145. * both are at home. Z can however be homed individually.
  1146. *
  1147. */
  1148. static void set_axis_is_at_home(AxisEnum axis) {
  1149. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1150. if (DEBUGGING(LEVELING)) {
  1151. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1152. SERIAL_ECHOLNPGM(")");
  1153. }
  1154. #endif
  1155. axis_known_position[axis] = axis_homed[axis] = true;
  1156. position_shift[axis] = 0;
  1157. update_software_endstops(axis);
  1158. #if ENABLED(DUAL_X_CARRIAGE)
  1159. if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1160. if (active_extruder != 0)
  1161. current_position[X_AXIS] = x_home_pos(active_extruder);
  1162. else
  1163. current_position[X_AXIS] = LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1164. update_software_endstops(X_AXIS);
  1165. return;
  1166. }
  1167. #endif
  1168. #if ENABLED(MORGAN_SCARA)
  1169. /**
  1170. * Morgan SCARA homes XY at the same time
  1171. */
  1172. if (axis == X_AXIS || axis == Y_AXIS) {
  1173. float homeposition[XYZ];
  1174. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
  1175. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1176. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1177. /**
  1178. * Get Home position SCARA arm angles using inverse kinematics,
  1179. * and calculate homing offset using forward kinematics
  1180. */
  1181. inverse_kinematics(homeposition);
  1182. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1183. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1184. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1185. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1186. /**
  1187. * SCARA home positions are based on configuration since the actual
  1188. * limits are determined by the inverse kinematic transform.
  1189. */
  1190. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1191. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1192. }
  1193. else
  1194. #endif
  1195. {
  1196. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1197. }
  1198. /**
  1199. * Z Probe Z Homing? Account for the probe's Z offset.
  1200. */
  1201. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1202. if (axis == Z_AXIS) {
  1203. #if HOMING_Z_WITH_PROBE
  1204. current_position[Z_AXIS] -= zprobe_zoffset;
  1205. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1206. if (DEBUGGING(LEVELING)) {
  1207. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1208. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1209. }
  1210. #endif
  1211. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1212. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1213. #endif
  1214. }
  1215. #endif
  1216. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1217. if (DEBUGGING(LEVELING)) {
  1218. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1219. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1220. DEBUG_POS("", current_position);
  1221. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1222. SERIAL_ECHOLNPGM(")");
  1223. }
  1224. #endif
  1225. }
  1226. /**
  1227. * Some planner shorthand inline functions
  1228. */
  1229. inline float get_homing_bump_feedrate(AxisEnum axis) {
  1230. int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  1231. int hbd = homing_bump_divisor[axis];
  1232. if (hbd < 1) {
  1233. hbd = 10;
  1234. SERIAL_ECHO_START;
  1235. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1236. }
  1237. return homing_feedrate_mm_s[axis] / hbd;
  1238. }
  1239. #if !IS_KINEMATIC
  1240. //
  1241. // line_to_current_position
  1242. // Move the planner to the current position from wherever it last moved
  1243. // (or from wherever it has been told it is located).
  1244. //
  1245. inline void line_to_current_position() {
  1246. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1247. }
  1248. //
  1249. // line_to_destination
  1250. // Move the planner, not necessarily synced with current_position
  1251. //
  1252. inline void line_to_destination(float fr_mm_s) {
  1253. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1254. }
  1255. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1256. #endif // !IS_KINEMATIC
  1257. inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
  1258. inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
  1259. #if IS_KINEMATIC
  1260. /**
  1261. * Calculate delta, start a line, and set current_position to destination
  1262. */
  1263. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1264. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1265. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1266. #endif
  1267. refresh_cmd_timeout();
  1268. inverse_kinematics(destination);
  1269. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1270. set_current_to_destination();
  1271. }
  1272. #endif
  1273. /**
  1274. * Plan a move to (X, Y, Z) and set the current_position
  1275. * The final current_position may not be the one that was requested
  1276. */
  1277. void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
  1278. float old_feedrate_mm_s = feedrate_mm_s;
  1279. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1280. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
  1281. #endif
  1282. #if ENABLED(DELTA)
  1283. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1284. set_destination_to_current(); // sync destination at the start
  1285. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1286. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
  1287. #endif
  1288. // when in the danger zone
  1289. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1290. if (z > delta_clip_start_height) { // staying in the danger zone
  1291. destination[X_AXIS] = x; // move directly (uninterpolated)
  1292. destination[Y_AXIS] = y;
  1293. destination[Z_AXIS] = z;
  1294. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1295. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1296. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1297. #endif
  1298. return;
  1299. }
  1300. else {
  1301. destination[Z_AXIS] = delta_clip_start_height;
  1302. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1303. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1304. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1305. #endif
  1306. }
  1307. }
  1308. if (z > current_position[Z_AXIS]) { // raising?
  1309. destination[Z_AXIS] = z;
  1310. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1311. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1312. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1313. #endif
  1314. }
  1315. destination[X_AXIS] = x;
  1316. destination[Y_AXIS] = y;
  1317. prepare_move_to_destination(); // set_current_to_destination
  1318. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1319. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1320. #endif
  1321. if (z < current_position[Z_AXIS]) { // lowering?
  1322. destination[Z_AXIS] = z;
  1323. prepare_uninterpolated_move_to_destination(); // set_current_to_destination
  1324. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1325. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1326. #endif
  1327. }
  1328. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1329. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1330. #endif
  1331. #elif IS_SCARA
  1332. set_destination_to_current();
  1333. // If Z needs to raise, do it before moving XY
  1334. if (current_position[Z_AXIS] < z) {
  1335. destination[Z_AXIS] = z;
  1336. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1337. }
  1338. destination[X_AXIS] = x;
  1339. destination[Y_AXIS] = y;
  1340. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1341. // If Z needs to lower, do it after moving XY
  1342. if (current_position[Z_AXIS] > z) {
  1343. destination[Z_AXIS] = z;
  1344. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
  1345. }
  1346. #else
  1347. // If Z needs to raise, do it before moving XY
  1348. if (current_position[Z_AXIS] < z) {
  1349. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1350. current_position[Z_AXIS] = z;
  1351. line_to_current_position();
  1352. }
  1353. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1354. current_position[X_AXIS] = x;
  1355. current_position[Y_AXIS] = y;
  1356. line_to_current_position();
  1357. // If Z needs to lower, do it after moving XY
  1358. if (current_position[Z_AXIS] > z) {
  1359. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
  1360. current_position[Z_AXIS] = z;
  1361. line_to_current_position();
  1362. }
  1363. #endif
  1364. stepper.synchronize();
  1365. feedrate_mm_s = old_feedrate_mm_s;
  1366. }
  1367. void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
  1368. do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1369. }
  1370. void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
  1371. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  1372. }
  1373. void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
  1374. do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  1375. }
  1376. //
  1377. // Prepare to do endstop or probe moves
  1378. // with custom feedrates.
  1379. //
  1380. // - Save current feedrates
  1381. // - Reset the rate multiplier
  1382. // - Reset the command timeout
  1383. // - Enable the endstops (for endstop moves)
  1384. //
  1385. static void setup_for_endstop_or_probe_move() {
  1386. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1387. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1388. #endif
  1389. saved_feedrate_mm_s = feedrate_mm_s;
  1390. saved_feedrate_percentage = feedrate_percentage;
  1391. feedrate_percentage = 100;
  1392. refresh_cmd_timeout();
  1393. }
  1394. static void clean_up_after_endstop_or_probe_move() {
  1395. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1396. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1397. #endif
  1398. feedrate_mm_s = saved_feedrate_mm_s;
  1399. feedrate_percentage = saved_feedrate_percentage;
  1400. refresh_cmd_timeout();
  1401. }
  1402. #if HAS_BED_PROBE
  1403. /**
  1404. * Raise Z to a minimum height to make room for a probe to move
  1405. */
  1406. inline void do_probe_raise(float z_raise) {
  1407. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1408. if (DEBUGGING(LEVELING)) {
  1409. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1410. SERIAL_ECHOLNPGM(")");
  1411. }
  1412. #endif
  1413. float z_dest = LOGICAL_Z_POSITION(z_raise);
  1414. if (z_dest > current_position[Z_AXIS])
  1415. do_blocking_move_to_z(z_dest);
  1416. }
  1417. #endif //HAS_BED_PROBE
  1418. #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)
  1419. static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
  1420. const bool xx = x && !axis_homed[X_AXIS],
  1421. yy = y && !axis_homed[Y_AXIS],
  1422. zz = z && !axis_homed[Z_AXIS];
  1423. if (xx || yy || zz) {
  1424. SERIAL_ECHO_START;
  1425. SERIAL_ECHOPGM(MSG_HOME " ");
  1426. if (xx) SERIAL_ECHOPGM(MSG_X);
  1427. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1428. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1429. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1430. #if ENABLED(ULTRA_LCD)
  1431. char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
  1432. strcat_P(message, PSTR(MSG_HOME " "));
  1433. if (xx) strcat_P(message, PSTR(MSG_X));
  1434. if (yy) strcat_P(message, PSTR(MSG_Y));
  1435. if (zz) strcat_P(message, PSTR(MSG_Z));
  1436. strcat_P(message, PSTR(" " MSG_FIRST));
  1437. lcd_setstatus(message);
  1438. #endif
  1439. return true;
  1440. }
  1441. return false;
  1442. }
  1443. #endif
  1444. #if ENABLED(Z_PROBE_SLED)
  1445. #ifndef SLED_DOCKING_OFFSET
  1446. #define SLED_DOCKING_OFFSET 0
  1447. #endif
  1448. /**
  1449. * Method to dock/undock a sled designed by Charles Bell.
  1450. *
  1451. * stow[in] If false, move to MAX_X and engage the solenoid
  1452. * If true, move to MAX_X and release the solenoid
  1453. */
  1454. static void dock_sled(bool stow) {
  1455. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1456. if (DEBUGGING(LEVELING)) {
  1457. SERIAL_ECHOPAIR("dock_sled(", stow);
  1458. SERIAL_ECHOLNPGM(")");
  1459. }
  1460. #endif
  1461. // Dock sled a bit closer to ensure proper capturing
  1462. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1463. #if PIN_EXISTS(SLED)
  1464. digitalWrite(SLED_PIN, !stow); // switch solenoid
  1465. #endif
  1466. }
  1467. #endif // Z_PROBE_SLED
  1468. #if ENABLED(Z_PROBE_ALLEN_KEY)
  1469. void run_deploy_moves_script() {
  1470. #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)
  1471. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1472. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1473. #endif
  1474. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1475. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1476. #endif
  1477. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1478. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1479. #endif
  1480. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1481. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1482. #endif
  1483. 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));
  1484. #endif
  1485. #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)
  1486. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1487. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1488. #endif
  1489. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1490. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1491. #endif
  1492. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1493. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1494. #endif
  1495. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1496. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1497. #endif
  1498. 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));
  1499. #endif
  1500. #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)
  1501. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1502. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1503. #endif
  1504. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1505. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1506. #endif
  1507. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1508. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1509. #endif
  1510. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1511. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1512. #endif
  1513. 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));
  1514. #endif
  1515. #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)
  1516. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1517. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1518. #endif
  1519. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1520. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1521. #endif
  1522. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1523. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1524. #endif
  1525. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1526. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1527. #endif
  1528. 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));
  1529. #endif
  1530. #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)
  1531. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1532. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1533. #endif
  1534. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1535. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1536. #endif
  1537. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1538. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1539. #endif
  1540. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1541. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1542. #endif
  1543. 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));
  1544. #endif
  1545. }
  1546. void run_stow_moves_script() {
  1547. #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)
  1548. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1549. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1550. #endif
  1551. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1552. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1553. #endif
  1554. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1555. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1556. #endif
  1557. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1558. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1559. #endif
  1560. 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));
  1561. #endif
  1562. #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)
  1563. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1564. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1565. #endif
  1566. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1567. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1568. #endif
  1569. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1570. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1571. #endif
  1572. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1573. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1574. #endif
  1575. 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));
  1576. #endif
  1577. #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)
  1578. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1579. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1580. #endif
  1581. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1582. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1583. #endif
  1584. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1585. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1586. #endif
  1587. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1588. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1589. #endif
  1590. 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));
  1591. #endif
  1592. #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)
  1593. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1594. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1595. #endif
  1596. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1597. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1598. #endif
  1599. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1600. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1601. #endif
  1602. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1603. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1604. #endif
  1605. 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));
  1606. #endif
  1607. #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)
  1608. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1609. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1610. #endif
  1611. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1612. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1613. #endif
  1614. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1615. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1616. #endif
  1617. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1618. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1619. #endif
  1620. 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));
  1621. #endif
  1622. }
  1623. #endif
  1624. #if HAS_BED_PROBE
  1625. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1626. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1627. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1628. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1629. #else
  1630. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1631. #endif
  1632. #endif
  1633. #define DEPLOY_PROBE() set_probe_deployed(true)
  1634. #define STOW_PROBE() set_probe_deployed(false)
  1635. #if ENABLED(BLTOUCH)
  1636. FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
  1637. servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1638. }
  1639. #endif
  1640. // returns false for ok and true for failure
  1641. static bool set_probe_deployed(bool deploy) {
  1642. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1643. if (DEBUGGING(LEVELING)) {
  1644. DEBUG_POS("set_probe_deployed", current_position);
  1645. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1646. }
  1647. #endif
  1648. if (endstops.z_probe_enabled == deploy) return false;
  1649. // Make room for probe
  1650. do_probe_raise(_Z_PROBE_DEPLOY_HEIGHT);
  1651. // When deploying make sure BLTOUCH is not already triggered
  1652. #if ENABLED(BLTOUCH)
  1653. if (deploy && TEST_BLTOUCH()) { stop(); return true; }
  1654. #endif
  1655. #if ENABLED(Z_PROBE_SLED)
  1656. if (axis_unhomed_error(true, false, false)) { stop(); return true; }
  1657. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1658. if (axis_unhomed_error(true, true, true )) { stop(); return true; }
  1659. #endif
  1660. float oldXpos = current_position[X_AXIS],
  1661. oldYpos = current_position[Y_AXIS];
  1662. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1663. // If endstop is already false, the Z probe is deployed
  1664. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1665. // Would a goto be less ugly?
  1666. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1667. // for a triggered when stowed manual probe.
  1668. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1669. // otherwise an Allen-Key probe can't be stowed.
  1670. #endif
  1671. #if ENABLED(Z_PROBE_SLED)
  1672. dock_sled(!deploy);
  1673. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1674. servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  1675. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1676. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1677. #endif
  1678. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1679. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1680. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1681. if (IsRunning()) {
  1682. SERIAL_ERROR_START;
  1683. SERIAL_ERRORLNPGM("Z-Probe failed");
  1684. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1685. }
  1686. stop();
  1687. return true;
  1688. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1689. #endif
  1690. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1691. endstops.enable_z_probe(deploy);
  1692. return false;
  1693. }
  1694. static void do_probe_move(float z, float fr_mm_m) {
  1695. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1696. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1697. #endif
  1698. // Deploy BLTouch at the start of any probe
  1699. #if ENABLED(BLTOUCH)
  1700. set_bltouch_deployed(true);
  1701. #endif
  1702. // Move down until probe triggered
  1703. do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  1704. // Retract BLTouch immediately after a probe
  1705. #if ENABLED(BLTOUCH)
  1706. set_bltouch_deployed(false);
  1707. #endif
  1708. // Clear endstop flags
  1709. endstops.hit_on_purpose();
  1710. // Get Z where the steppers were interrupted
  1711. set_current_from_steppers_for_axis(Z_AXIS);
  1712. // Tell the planner where we actually are
  1713. SYNC_PLAN_POSITION_KINEMATIC();
  1714. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1715. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1716. #endif
  1717. }
  1718. // Do a single Z probe and return with current_position[Z_AXIS]
  1719. // at the height where the probe triggered.
  1720. static float run_z_probe() {
  1721. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1722. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1723. #endif
  1724. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1725. refresh_cmd_timeout();
  1726. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1727. // Do a first probe at the fast speed
  1728. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  1729. // move up by the bump distance
  1730. do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1731. #else
  1732. // If the nozzle is above the travel height then
  1733. // move down quickly before doing the slow probe
  1734. float z = LOGICAL_Z_POSITION(Z_PROBE_TRAVEL_HEIGHT);
  1735. if (z < current_position[Z_AXIS])
  1736. do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  1737. #endif
  1738. // move down slowly to find bed
  1739. do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  1740. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1741. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  1742. #endif
  1743. return current_position[Z_AXIS];
  1744. }
  1745. //
  1746. // - Move to the given XY
  1747. // - Deploy the probe, if not already deployed
  1748. // - Probe the bed, get the Z position
  1749. // - Depending on the 'stow' flag
  1750. // - Stow the probe, or
  1751. // - Raise to the BETWEEN height
  1752. // - Return the probed Z position
  1753. //
  1754. static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) {
  1755. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1756. if (DEBUGGING(LEVELING)) {
  1757. SERIAL_ECHOPAIR(">>> probe_pt(", x);
  1758. SERIAL_ECHOPAIR(", ", y);
  1759. SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
  1760. SERIAL_ECHOLNPGM(")");
  1761. DEBUG_POS("", current_position);
  1762. }
  1763. #endif
  1764. float old_feedrate_mm_s = feedrate_mm_s;
  1765. // Ensure a minimum height before moving the probe
  1766. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1767. // Move to the XY where we shall probe
  1768. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1769. if (DEBUGGING(LEVELING)) {
  1770. SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
  1771. SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1772. SERIAL_ECHOLNPGM(")");
  1773. }
  1774. #endif
  1775. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  1776. // Move the probe to the given XY
  1777. do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  1778. if (DEPLOY_PROBE()) return NAN;
  1779. float measured_z = run_z_probe();
  1780. if (stow) {
  1781. if (STOW_PROBE()) return NAN;
  1782. }
  1783. else {
  1784. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1785. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> do_probe_raise");
  1786. #endif
  1787. do_probe_raise(Z_PROBE_TRAVEL_HEIGHT);
  1788. }
  1789. if (verbose_level > 2) {
  1790. SERIAL_PROTOCOLPGM("Bed X: ");
  1791. SERIAL_PROTOCOL_F(x, 3);
  1792. SERIAL_PROTOCOLPGM(" Y: ");
  1793. SERIAL_PROTOCOL_F(y, 3);
  1794. SERIAL_PROTOCOLPGM(" Z: ");
  1795. SERIAL_PROTOCOL_F(measured_z, 3);
  1796. SERIAL_EOL;
  1797. }
  1798. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1799. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  1800. #endif
  1801. feedrate_mm_s = old_feedrate_mm_s;
  1802. return measured_z;
  1803. }
  1804. #endif // HAS_BED_PROBE
  1805. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  1806. /**
  1807. * Reset calibration results to zero.
  1808. */
  1809. void reset_bed_level() {
  1810. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1811. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  1812. #endif
  1813. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  1814. planner.bed_level_matrix.set_to_identity();
  1815. #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  1816. memset(bed_level_grid, 0, sizeof(bed_level_grid));
  1817. nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
  1818. #endif
  1819. }
  1820. #endif // AUTO_BED_LEVELING_FEATURE
  1821. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  1822. /**
  1823. * Extrapolate a single point from its neighbors
  1824. */
  1825. static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
  1826. if (bed_level_grid[x][y]) return; // Don't overwrite good values.
  1827. float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
  1828. b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
  1829. c = 2 * bed_level_grid[x + xdir][y + ydir] - bed_level_grid[x + xdir * 2][y + ydir * 2]; // Diagonal.
  1830. // Median is robust (ignores outliers).
  1831. bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  1832. : ((c < b) ? b : (a < c) ? a : c);
  1833. }
  1834. /**
  1835. * Fill in the unprobed points (corners of circular print surface)
  1836. * using linear extrapolation, away from the center.
  1837. */
  1838. static void extrapolate_unprobed_bed_level() {
  1839. int half_x = (ABL_GRID_POINTS_X - 1) / 2,
  1840. half_y = (ABL_GRID_POINTS_Y - 1) / 2;
  1841. for (uint8_t y = 0; y <= half_y; y++) {
  1842. for (uint8_t x = 0; x <= half_x; x++) {
  1843. if (x + y < 3) continue;
  1844. extrapolate_one_point(half_x - x, half_y - y, x > 1 ? +1 : 0, y > 1 ? +1 : 0);
  1845. extrapolate_one_point(half_x + x, half_y - y, x > 1 ? -1 : 0, y > 1 ? +1 : 0);
  1846. extrapolate_one_point(half_x - x, half_y + y, x > 1 ? +1 : 0, y > 1 ? -1 : 0);
  1847. extrapolate_one_point(half_x + x, half_y + y, x > 1 ? -1 : 0, y > 1 ? -1 : 0);
  1848. }
  1849. }
  1850. }
  1851. /**
  1852. * Print calibration results for plotting or manual frame adjustment.
  1853. */
  1854. static void print_bed_level() {
  1855. for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
  1856. for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
  1857. SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
  1858. SERIAL_PROTOCOLCHAR(' ');
  1859. }
  1860. SERIAL_EOL;
  1861. }
  1862. }
  1863. #endif // AUTO_BED_LEVELING_NONLINEAR
  1864. /**
  1865. * Home an individual linear axis
  1866. */
  1867. static void do_homing_move(AxisEnum axis, float where, float fr_mm_s=0.0) {
  1868. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  1869. if (axis == Z_AXIS) set_bltouch_deployed(true);
  1870. #endif
  1871. current_position[axis] = 0;
  1872. sync_plan_position();
  1873. current_position[axis] = where;
  1874. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
  1875. stepper.synchronize();
  1876. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  1877. if (axis == Z_AXIS) set_bltouch_deployed(false);
  1878. #endif
  1879. endstops.hit_on_purpose();
  1880. }
  1881. /**
  1882. * Home an individual "raw axis" to its endstop.
  1883. * This applies to XYZ on Cartesian and Core robots, and
  1884. * to the individual ABC steppers on DELTA and SCARA.
  1885. *
  1886. * At the end of the procedure the axis is marked as
  1887. * homed and the current position of that axis is updated.
  1888. * Kinematic robots should wait till all axes are homed
  1889. * before updating the current position.
  1890. */
  1891. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  1892. static void homeaxis(AxisEnum axis) {
  1893. #if IS_SCARA
  1894. // Only Z homing (with probe) is permitted
  1895. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  1896. #else
  1897. #define CAN_HOME(A) \
  1898. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  1899. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  1900. #endif
  1901. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1902. if (DEBUGGING(LEVELING)) {
  1903. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  1904. SERIAL_ECHOLNPGM(")");
  1905. }
  1906. #endif
  1907. int axis_home_dir =
  1908. #if ENABLED(DUAL_X_CARRIAGE)
  1909. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  1910. #endif
  1911. home_dir(axis);
  1912. // Homing Z towards the bed? Deploy the Z probe or endstop.
  1913. #if HOMING_Z_WITH_PROBE
  1914. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  1915. #endif
  1916. // Set a flag for Z motor locking
  1917. #if ENABLED(Z_DUAL_ENDSTOPS)
  1918. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  1919. #endif
  1920. // 1. Fast move towards endstop until triggered
  1921. // 2. Move away from the endstop by the axis HOME_BUMP_MM
  1922. // 3. Slow move towards endstop until triggered
  1923. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  1924. do_homing_move(axis, -home_bump_mm(axis) * axis_home_dir);
  1925. do_homing_move(axis, 2 * home_bump_mm(axis) * axis_home_dir, get_homing_bump_feedrate(axis));
  1926. #if ENABLED(Z_DUAL_ENDSTOPS)
  1927. if (axis == Z_AXIS) {
  1928. float adj = fabs(z_endstop_adj);
  1929. bool lockZ1;
  1930. if (axis_home_dir > 0) {
  1931. adj = -adj;
  1932. lockZ1 = (z_endstop_adj > 0);
  1933. }
  1934. else
  1935. lockZ1 = (z_endstop_adj < 0);
  1936. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  1937. // Move to the adjusted endstop height
  1938. do_homing_move(axis, adj);
  1939. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  1940. stepper.set_homing_flag(false);
  1941. } // Z_AXIS
  1942. #endif
  1943. #if IS_SCARA
  1944. set_axis_is_at_home(axis);
  1945. SYNC_PLAN_POSITION_KINEMATIC();
  1946. #elif ENABLED(DELTA)
  1947. // Delta has already moved all three towers up in G28
  1948. // so here it re-homes each tower in turn.
  1949. // Delta homing treats the axes as normal linear axes.
  1950. // retrace by the amount specified in endstop_adj
  1951. if (endstop_adj[axis] * Z_HOME_DIR < 0) {
  1952. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1953. if (DEBUGGING(LEVELING)) {
  1954. SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR);
  1955. DEBUG_POS("", current_position);
  1956. }
  1957. #endif
  1958. do_homing_move(axis, endstop_adj[axis]);
  1959. }
  1960. #else
  1961. // For cartesian/core machines,
  1962. // set the axis to its home position
  1963. set_axis_is_at_home(axis);
  1964. sync_plan_position();
  1965. destination[axis] = current_position[axis];
  1966. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1967. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  1968. #endif
  1969. #endif
  1970. // Put away the Z probe
  1971. #if HOMING_Z_WITH_PROBE
  1972. if (axis == Z_AXIS && STOW_PROBE()) return;
  1973. #endif
  1974. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1975. if (DEBUGGING(LEVELING)) {
  1976. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  1977. SERIAL_ECHOLNPGM(")");
  1978. }
  1979. #endif
  1980. } // homeaxis()
  1981. #if ENABLED(FWRETRACT)
  1982. void retract(bool retracting, bool swapping = false) {
  1983. if (retracting == retracted[active_extruder]) return;
  1984. float old_feedrate_mm_s = feedrate_mm_s;
  1985. set_destination_to_current();
  1986. if (retracting) {
  1987. feedrate_mm_s = retract_feedrate_mm_s;
  1988. current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
  1989. sync_plan_position_e();
  1990. prepare_move_to_destination();
  1991. if (retract_zlift > 0.01) {
  1992. current_position[Z_AXIS] -= retract_zlift;
  1993. SYNC_PLAN_POSITION_KINEMATIC();
  1994. prepare_move_to_destination();
  1995. }
  1996. }
  1997. else {
  1998. if (retract_zlift > 0.01) {
  1999. current_position[Z_AXIS] += retract_zlift;
  2000. SYNC_PLAN_POSITION_KINEMATIC();
  2001. }
  2002. feedrate_mm_s = retract_recover_feedrate_mm_s;
  2003. float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
  2004. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2005. sync_plan_position_e();
  2006. prepare_move_to_destination();
  2007. }
  2008. feedrate_mm_s = old_feedrate_mm_s;
  2009. retracted[active_extruder] = retracting;
  2010. } // retract()
  2011. #endif // FWRETRACT
  2012. #if ENABLED(MIXING_EXTRUDER)
  2013. void normalize_mix() {
  2014. float mix_total = 0.0;
  2015. for (int i = 0; i < MIXING_STEPPERS; i++) {
  2016. float v = mixing_factor[i];
  2017. if (v < 0) v = mixing_factor[i] = 0;
  2018. mix_total += v;
  2019. }
  2020. // Scale all values if they don't add up to ~1.0
  2021. if (mix_total < 0.9999 || mix_total > 1.0001) {
  2022. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2023. float mix_scale = 1.0 / mix_total;
  2024. for (int i = 0; i < MIXING_STEPPERS; i++)
  2025. mixing_factor[i] *= mix_scale;
  2026. }
  2027. }
  2028. #if ENABLED(DIRECT_MIXING_IN_G1)
  2029. // Get mixing parameters from the GCode
  2030. // Factors that are left out are set to 0
  2031. // The total "must" be 1.0 (but it will be normalized)
  2032. void gcode_get_mix() {
  2033. const char* mixing_codes = "ABCDHI";
  2034. for (int i = 0; i < MIXING_STEPPERS; i++)
  2035. mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value_float() : 0;
  2036. normalize_mix();
  2037. }
  2038. #endif
  2039. #endif
  2040. /**
  2041. * ***************************************************************************
  2042. * ***************************** G-CODE HANDLING *****************************
  2043. * ***************************************************************************
  2044. */
  2045. /**
  2046. * Set XYZE destination and feedrate from the current GCode command
  2047. *
  2048. * - Set destination from included axis codes
  2049. * - Set to current for missing axis codes
  2050. * - Set the feedrate, if included
  2051. */
  2052. void gcode_get_destination() {
  2053. LOOP_XYZE(i) {
  2054. if (code_seen(axis_codes[i]))
  2055. destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2056. else
  2057. destination[i] = current_position[i];
  2058. }
  2059. if (code_seen('F') && code_value_linear_units() > 0.0)
  2060. feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  2061. #if ENABLED(PRINTCOUNTER)
  2062. if (!DEBUGGING(DRYRUN))
  2063. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2064. #endif
  2065. // Get ABCDHI mixing factors
  2066. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2067. gcode_get_mix();
  2068. #endif
  2069. }
  2070. void unknown_command_error() {
  2071. SERIAL_ECHO_START;
  2072. SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
  2073. SERIAL_ECHOLNPGM("\"");
  2074. }
  2075. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2076. /**
  2077. * Output a "busy" message at regular intervals
  2078. * while the machine is not accepting commands.
  2079. */
  2080. void host_keepalive() {
  2081. millis_t ms = millis();
  2082. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2083. if (PENDING(ms, next_busy_signal_ms)) return;
  2084. switch (busy_state) {
  2085. case IN_HANDLER:
  2086. case IN_PROCESS:
  2087. SERIAL_ECHO_START;
  2088. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2089. break;
  2090. case PAUSED_FOR_USER:
  2091. SERIAL_ECHO_START;
  2092. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2093. break;
  2094. case PAUSED_FOR_INPUT:
  2095. SERIAL_ECHO_START;
  2096. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2097. break;
  2098. default:
  2099. break;
  2100. }
  2101. }
  2102. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2103. }
  2104. #endif //HOST_KEEPALIVE_FEATURE
  2105. bool position_is_reachable(float target[XYZ]
  2106. #if HAS_BED_PROBE
  2107. , bool by_probe=false
  2108. #endif
  2109. ) {
  2110. float dx = RAW_X_POSITION(target[X_AXIS]),
  2111. dy = RAW_Y_POSITION(target[Y_AXIS]),
  2112. dz = RAW_Z_POSITION(target[Z_AXIS]);
  2113. #if HAS_BED_PROBE
  2114. if (by_probe) {
  2115. dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2116. dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2117. }
  2118. #endif
  2119. #if IS_SCARA
  2120. #if MIDDLE_DEAD_ZONE_R > 0
  2121. const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
  2122. return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
  2123. #else
  2124. return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
  2125. #endif
  2126. #elif ENABLED(DELTA)
  2127. return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
  2128. #else
  2129. return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
  2130. && dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
  2131. && dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
  2132. #endif
  2133. }
  2134. /**************************************************
  2135. ***************** GCode Handlers *****************
  2136. **************************************************/
  2137. /**
  2138. * G0, G1: Coordinated movement of X Y Z E axes
  2139. */
  2140. inline void gcode_G0_G1(
  2141. #if IS_SCARA
  2142. bool fast_move=false
  2143. #endif
  2144. ) {
  2145. if (IsRunning()) {
  2146. gcode_get_destination(); // For X Y Z E F
  2147. #if ENABLED(FWRETRACT)
  2148. if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
  2149. float echange = destination[E_AXIS] - current_position[E_AXIS];
  2150. // Is this move an attempt to retract or recover?
  2151. if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
  2152. current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
  2153. sync_plan_position_e(); // AND from the planner
  2154. retract(!retracted[active_extruder]);
  2155. return;
  2156. }
  2157. }
  2158. #endif //FWRETRACT
  2159. #if IS_SCARA
  2160. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2161. #else
  2162. prepare_move_to_destination();
  2163. #endif
  2164. }
  2165. }
  2166. /**
  2167. * G2: Clockwise Arc
  2168. * G3: Counterclockwise Arc
  2169. *
  2170. * This command has two forms: IJ-form and R-form.
  2171. *
  2172. * - I specifies an X offset. J specifies a Y offset.
  2173. * At least one of the IJ parameters is required.
  2174. * X and Y can be omitted to do a complete circle.
  2175. * The given XY is not error-checked. The arc ends
  2176. * based on the angle of the destination.
  2177. * Mixing I or J with R will throw an error.
  2178. *
  2179. * - R specifies the radius. X or Y is required.
  2180. * Omitting both X and Y will throw an error.
  2181. * X or Y must differ from the current XY.
  2182. * Mixing R with I or J will throw an error.
  2183. *
  2184. * Examples:
  2185. *
  2186. * G2 I10 ; CW circle centered at X+10
  2187. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2188. */
  2189. #if ENABLED(ARC_SUPPORT)
  2190. inline void gcode_G2_G3(bool clockwise) {
  2191. if (IsRunning()) {
  2192. #if ENABLED(SF_ARC_FIX)
  2193. bool relative_mode_backup = relative_mode;
  2194. relative_mode = true;
  2195. #endif
  2196. gcode_get_destination();
  2197. #if ENABLED(SF_ARC_FIX)
  2198. relative_mode = relative_mode_backup;
  2199. #endif
  2200. float arc_offset[2] = { 0.0, 0.0 };
  2201. if (code_seen('R')) {
  2202. const float r = code_value_axis_units(X_AXIS),
  2203. x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
  2204. x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
  2205. if (r && (x2 != x1 || y2 != y1)) {
  2206. const float e = clockwise ? -1 : 1, // clockwise -1, counterclockwise 1
  2207. dx = x2 - x1, dy = y2 - y1, // X and Y differences
  2208. d = HYPOT(dx, dy), // Linear distance between the points
  2209. h = sqrt(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2210. mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
  2211. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2212. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2213. arc_offset[X_AXIS] = cx - x1;
  2214. arc_offset[Y_AXIS] = cy - y1;
  2215. }
  2216. }
  2217. else {
  2218. if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
  2219. if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
  2220. }
  2221. if (arc_offset[0] || arc_offset[1]) {
  2222. // Send an arc to the planner
  2223. plan_arc(destination, arc_offset, clockwise);
  2224. refresh_cmd_timeout();
  2225. }
  2226. else {
  2227. // Bad arguments
  2228. SERIAL_ERROR_START;
  2229. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2230. }
  2231. }
  2232. }
  2233. #endif
  2234. /**
  2235. * G4: Dwell S<seconds> or P<milliseconds>
  2236. */
  2237. inline void gcode_G4() {
  2238. millis_t dwell_ms = 0;
  2239. if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
  2240. if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  2241. stepper.synchronize();
  2242. refresh_cmd_timeout();
  2243. dwell_ms += previous_cmd_ms; // keep track of when we started waiting
  2244. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  2245. while (PENDING(millis(), dwell_ms)) idle();
  2246. }
  2247. #if ENABLED(BEZIER_CURVE_SUPPORT)
  2248. /**
  2249. * Parameters interpreted according to:
  2250. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  2251. * However I, J omission is not supported at this point; all
  2252. * parameters can be omitted and default to zero.
  2253. */
  2254. /**
  2255. * G5: Cubic B-spline
  2256. */
  2257. inline void gcode_G5() {
  2258. if (IsRunning()) {
  2259. gcode_get_destination();
  2260. float offset[] = {
  2261. code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
  2262. code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
  2263. code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
  2264. code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
  2265. };
  2266. plan_cubic_move(offset);
  2267. }
  2268. }
  2269. #endif // BEZIER_CURVE_SUPPORT
  2270. #if ENABLED(FWRETRACT)
  2271. /**
  2272. * G10 - Retract filament according to settings of M207
  2273. * G11 - Recover filament according to settings of M208
  2274. */
  2275. inline void gcode_G10_G11(bool doRetract=false) {
  2276. #if EXTRUDERS > 1
  2277. if (doRetract) {
  2278. retracted_swap[active_extruder] = (code_seen('S') && code_value_bool()); // checks for swap retract argument
  2279. }
  2280. #endif
  2281. retract(doRetract
  2282. #if EXTRUDERS > 1
  2283. , retracted_swap[active_extruder]
  2284. #endif
  2285. );
  2286. }
  2287. #endif //FWRETRACT
  2288. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  2289. /**
  2290. * G12: Clean the nozzle
  2291. */
  2292. inline void gcode_G12() {
  2293. // Don't allow nozzle cleaning without homing first
  2294. if (axis_unhomed_error(true, true, true)) { return; }
  2295. uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
  2296. uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
  2297. uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  2298. Nozzle::clean(pattern, strokes, objects);
  2299. }
  2300. #endif
  2301. #if ENABLED(INCH_MODE_SUPPORT)
  2302. /**
  2303. * G20: Set input mode to inches
  2304. */
  2305. inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  2306. /**
  2307. * G21: Set input mode to millimeters
  2308. */
  2309. inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  2310. #endif
  2311. #if ENABLED(NOZZLE_PARK_FEATURE)
  2312. /**
  2313. * G27: Park the nozzle
  2314. */
  2315. inline void gcode_G27() {
  2316. // Don't allow nozzle parking without homing first
  2317. if (axis_unhomed_error(true, true, true)) { return; }
  2318. uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
  2319. Nozzle::park(z_action);
  2320. }
  2321. #endif // NOZZLE_PARK_FEATURE
  2322. #if ENABLED(QUICK_HOME)
  2323. static void quick_home_xy() {
  2324. // Pretend the current position is 0,0
  2325. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2326. sync_plan_position();
  2327. int x_axis_home_dir =
  2328. #if ENABLED(DUAL_X_CARRIAGE)
  2329. x_home_dir(active_extruder)
  2330. #else
  2331. home_dir(X_AXIS)
  2332. #endif
  2333. ;
  2334. float mlx = max_length(X_AXIS),
  2335. mly = max_length(Y_AXIS),
  2336. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  2337. fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  2338. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  2339. endstops.hit_on_purpose(); // clear endstop hit flags
  2340. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  2341. }
  2342. #endif // QUICK_HOME
  2343. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2344. void log_machine_info() {
  2345. SERIAL_ECHOPGM("Machine Type: ");
  2346. #if ENABLED(DELTA)
  2347. SERIAL_ECHOLNPGM("Delta");
  2348. #elif IS_SCARA
  2349. SERIAL_ECHOLNPGM("SCARA");
  2350. #elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  2351. SERIAL_ECHOLNPGM("Core");
  2352. #else
  2353. SERIAL_ECHOLNPGM("Cartesian");
  2354. #endif
  2355. SERIAL_ECHOPGM("Probe: ");
  2356. #if ENABLED(FIX_MOUNTED_PROBE)
  2357. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  2358. #elif HAS_Z_SERVO_ENDSTOP
  2359. SERIAL_ECHOLNPGM("SERVO PROBE");
  2360. #elif ENABLED(BLTOUCH)
  2361. SERIAL_ECHOLNPGM("BLTOUCH");
  2362. #elif ENABLED(Z_PROBE_SLED)
  2363. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  2364. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  2365. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  2366. #else
  2367. SERIAL_ECHOLNPGM("NONE");
  2368. #endif
  2369. #if HAS_BED_PROBE
  2370. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  2371. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  2372. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  2373. #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2374. SERIAL_ECHOPGM(" (Right");
  2375. #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2376. SERIAL_ECHOPGM(" (Left");
  2377. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2378. SERIAL_ECHOPGM(" (Middle");
  2379. #else
  2380. SERIAL_ECHOPGM(" (Aligned With");
  2381. #endif
  2382. #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
  2383. SERIAL_ECHOPGM("-Back");
  2384. #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
  2385. SERIAL_ECHOPGM("-Front");
  2386. #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
  2387. SERIAL_ECHOPGM("-Center");
  2388. #endif
  2389. if (zprobe_zoffset < 0)
  2390. SERIAL_ECHOPGM(" & Below");
  2391. else if (zprobe_zoffset > 0)
  2392. SERIAL_ECHOPGM(" & Above");
  2393. else
  2394. SERIAL_ECHOPGM(" & Same Z as");
  2395. SERIAL_ECHOLNPGM(" Nozzle)");
  2396. #endif
  2397. }
  2398. #endif // DEBUG_LEVELING_FEATURE
  2399. #if ENABLED(DELTA)
  2400. /**
  2401. * A delta can only safely home all axes at the same time
  2402. * This is like quick_home_xy() but for 3 towers.
  2403. */
  2404. inline void home_delta() {
  2405. // Init the current position of all carriages to 0,0,0
  2406. memset(current_position, 0, sizeof(current_position));
  2407. sync_plan_position();
  2408. // Move all carriages together linearly until an endstop is hit.
  2409. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
  2410. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate_mm_s[X_AXIS], active_extruder);
  2411. stepper.synchronize();
  2412. endstops.hit_on_purpose(); // clear endstop hit flags
  2413. // Probably not needed. Double-check this line:
  2414. memset(current_position, 0, sizeof(current_position));
  2415. // At least one carriage has reached the top.
  2416. // Now back off and re-home each carriage separately.
  2417. HOMEAXIS(A);
  2418. HOMEAXIS(B);
  2419. HOMEAXIS(C);
  2420. // Set all carriages to their home positions
  2421. // Do this here all at once for Delta, because
  2422. // XYZ isn't ABC. Applying this per-tower would
  2423. // give the impression that they are the same.
  2424. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  2425. SYNC_PLAN_POSITION_KINEMATIC();
  2426. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2427. if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
  2428. #endif
  2429. }
  2430. #endif // DELTA
  2431. #if ENABLED(Z_SAFE_HOMING)
  2432. inline void home_z_safely() {
  2433. // Disallow Z homing if X or Y are unknown
  2434. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  2435. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  2436. SERIAL_ECHO_START;
  2437. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  2438. return;
  2439. }
  2440. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2441. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  2442. #endif
  2443. SYNC_PLAN_POSITION_KINEMATIC();
  2444. /**
  2445. * Move the Z probe (or just the nozzle) to the safe homing point
  2446. */
  2447. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  2448. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  2449. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  2450. #if HAS_BED_PROBE
  2451. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  2452. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  2453. #endif
  2454. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2455. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  2456. #endif
  2457. if (position_is_reachable(
  2458. destination
  2459. #if HAS_BED_PROBE
  2460. , true
  2461. #endif
  2462. )
  2463. ) {
  2464. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  2465. HOMEAXIS(Z);
  2466. }
  2467. else {
  2468. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  2469. SERIAL_ECHO_START;
  2470. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  2471. }
  2472. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2473. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  2474. #endif
  2475. }
  2476. #endif // Z_SAFE_HOMING
  2477. /**
  2478. * G28: Home all axes according to settings
  2479. *
  2480. * Parameters
  2481. *
  2482. * None Home to all axes with no parameters.
  2483. * With QUICK_HOME enabled XY will home together, then Z.
  2484. *
  2485. * Cartesian parameters
  2486. *
  2487. * X Home to the X endstop
  2488. * Y Home to the Y endstop
  2489. * Z Home to the Z endstop
  2490. *
  2491. */
  2492. inline void gcode_G28() {
  2493. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2494. if (DEBUGGING(LEVELING)) {
  2495. SERIAL_ECHOLNPGM(">>> gcode_G28");
  2496. log_machine_info();
  2497. }
  2498. #endif
  2499. // Wait for planner moves to finish!
  2500. stepper.synchronize();
  2501. // For auto bed leveling, clear the level matrix
  2502. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  2503. reset_bed_level();
  2504. #endif
  2505. // Always home with tool 0 active
  2506. #if HOTENDS > 1
  2507. uint8_t old_tool_index = active_extruder;
  2508. tool_change(0, 0, true);
  2509. #endif
  2510. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  2511. extruder_duplication_enabled = false;
  2512. #endif
  2513. /**
  2514. * For mesh bed leveling deactivate the mesh calculations, will be turned
  2515. * on again when homing all axis
  2516. */
  2517. #if ENABLED(MESH_BED_LEVELING)
  2518. float pre_home_z = MESH_HOME_SEARCH_Z;
  2519. if (mbl.active()) {
  2520. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2521. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
  2522. #endif
  2523. // Save known Z position if already homed
  2524. if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
  2525. pre_home_z = current_position[Z_AXIS];
  2526. pre_home_z += mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2527. }
  2528. mbl.set_active(false);
  2529. current_position[Z_AXIS] = pre_home_z;
  2530. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2531. if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
  2532. #endif
  2533. }
  2534. #endif
  2535. setup_for_endstop_or_probe_move();
  2536. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2537. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  2538. #endif
  2539. endstops.enable(true); // Enable endstops for next homing move
  2540. #if ENABLED(DELTA)
  2541. home_delta();
  2542. #else // NOT DELTA
  2543. bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  2544. home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  2545. set_destination_to_current();
  2546. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  2547. if (home_all_axis || homeZ) {
  2548. HOMEAXIS(Z);
  2549. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2550. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  2551. #endif
  2552. }
  2553. #else
  2554. if (home_all_axis || homeX || homeY) {
  2555. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  2556. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  2557. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  2558. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2559. if (DEBUGGING(LEVELING))
  2560. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  2561. #endif
  2562. do_blocking_move_to_z(destination[Z_AXIS]);
  2563. }
  2564. }
  2565. #endif
  2566. #if ENABLED(QUICK_HOME)
  2567. if (home_all_axis || (homeX && homeY)) quick_home_xy();
  2568. #endif
  2569. #if ENABLED(HOME_Y_BEFORE_X)
  2570. // Home Y
  2571. if (home_all_axis || homeY) {
  2572. HOMEAXIS(Y);
  2573. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2574. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2575. #endif
  2576. }
  2577. #endif
  2578. // Home X
  2579. if (home_all_axis || homeX) {
  2580. #if ENABLED(DUAL_X_CARRIAGE)
  2581. int tmp_extruder = active_extruder;
  2582. active_extruder = !active_extruder;
  2583. HOMEAXIS(X);
  2584. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  2585. active_extruder = tmp_extruder;
  2586. HOMEAXIS(X);
  2587. // reset state used by the different modes
  2588. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  2589. delayed_move_time = 0;
  2590. active_extruder_parked = true;
  2591. #else
  2592. HOMEAXIS(X);
  2593. #endif
  2594. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2595. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  2596. #endif
  2597. }
  2598. #if DISABLED(HOME_Y_BEFORE_X)
  2599. // Home Y
  2600. if (home_all_axis || homeY) {
  2601. HOMEAXIS(Y);
  2602. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2603. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  2604. #endif
  2605. }
  2606. #endif
  2607. // Home Z last if homing towards the bed
  2608. #if Z_HOME_DIR < 0
  2609. if (home_all_axis || homeZ) {
  2610. #if ENABLED(Z_SAFE_HOMING)
  2611. home_z_safely();
  2612. #else
  2613. HOMEAXIS(Z);
  2614. #endif
  2615. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2616. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
  2617. #endif
  2618. } // home_all_axis || homeZ
  2619. #endif // Z_HOME_DIR < 0
  2620. SYNC_PLAN_POSITION_KINEMATIC();
  2621. #endif // !DELTA (gcode_G28)
  2622. endstops.not_homing();
  2623. // Enable mesh leveling again
  2624. #if ENABLED(MESH_BED_LEVELING)
  2625. if (mbl.has_mesh()) {
  2626. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2627. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
  2628. #endif
  2629. if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
  2630. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2631. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
  2632. #endif
  2633. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2634. #if Z_HOME_DIR > 0
  2635. + Z_MAX_POS
  2636. #endif
  2637. ;
  2638. SYNC_PLAN_POSITION_KINEMATIC();
  2639. mbl.set_active(true);
  2640. #if ENABLED(MESH_G28_REST_ORIGIN)
  2641. current_position[Z_AXIS] = 0.0;
  2642. set_destination_to_current();
  2643. feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  2644. line_to_destination();
  2645. stepper.synchronize();
  2646. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2647. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
  2648. #endif
  2649. #else
  2650. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
  2651. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
  2652. #if Z_HOME_DIR > 0
  2653. + Z_MAX_POS
  2654. #endif
  2655. ;
  2656. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2657. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
  2658. #endif
  2659. #endif
  2660. }
  2661. else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
  2662. current_position[Z_AXIS] = pre_home_z;
  2663. SYNC_PLAN_POSITION_KINEMATIC();
  2664. mbl.set_active(true);
  2665. current_position[Z_AXIS] = pre_home_z -
  2666. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
  2667. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2668. if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
  2669. #endif
  2670. }
  2671. }
  2672. #endif
  2673. #if ENABLED(DELTA)
  2674. // move to a height where we can use the full xy-area
  2675. do_blocking_move_to_z(delta_clip_start_height);
  2676. #endif
  2677. clean_up_after_endstop_or_probe_move();
  2678. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2679. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  2680. #endif
  2681. // Restore the active tool after homing
  2682. #if HOTENDS > 1
  2683. tool_change(old_tool_index, 0, true);
  2684. #endif
  2685. report_current_position();
  2686. }
  2687. #if HAS_PROBING_PROCEDURE
  2688. void out_of_range_error(const char* p_edge) {
  2689. SERIAL_PROTOCOLPGM("?Probe ");
  2690. serialprintPGM(p_edge);
  2691. SERIAL_PROTOCOLLNPGM(" position out of range.");
  2692. }
  2693. #endif
  2694. #if ENABLED(MESH_BED_LEVELING)
  2695. inline void _mbl_goto_xy(float x, float y) {
  2696. float old_feedrate_mm_s = feedrate_mm_s;
  2697. feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
  2698. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2699. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2700. + Z_PROBE_TRAVEL_HEIGHT
  2701. #elif Z_HOMING_HEIGHT > 0
  2702. + Z_HOMING_HEIGHT
  2703. #endif
  2704. ;
  2705. line_to_current_position();
  2706. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  2707. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  2708. line_to_current_position();
  2709. #if Z_PROBE_TRAVEL_HEIGHT > 0 || Z_HOMING_HEIGHT > 0
  2710. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
  2711. line_to_current_position();
  2712. #endif
  2713. feedrate_mm_s = old_feedrate_mm_s;
  2714. stepper.synchronize();
  2715. }
  2716. /**
  2717. * G29: Mesh-based Z probe, probes a grid and produces a
  2718. * mesh to compensate for variable bed height
  2719. *
  2720. * Parameters With MESH_BED_LEVELING:
  2721. *
  2722. * S0 Produce a mesh report
  2723. * S1 Start probing mesh points
  2724. * S2 Probe the next mesh point
  2725. * S3 Xn Yn Zn.nn Manually modify a single point
  2726. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  2727. * S5 Reset and disable mesh
  2728. *
  2729. * The S0 report the points as below
  2730. *
  2731. * +----> X-axis 1-n
  2732. * |
  2733. * |
  2734. * v Y-axis 1-n
  2735. *
  2736. */
  2737. inline void gcode_G29() {
  2738. static int probe_point = -1;
  2739. MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
  2740. if (state < 0 || state > 5) {
  2741. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  2742. return;
  2743. }
  2744. int8_t px, py;
  2745. switch (state) {
  2746. case MeshReport:
  2747. if (mbl.has_mesh()) {
  2748. SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
  2749. SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
  2750. SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
  2751. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  2752. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  2753. for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
  2754. for (px = 0; px < MESH_NUM_X_POINTS; px++) {
  2755. SERIAL_PROTOCOLPGM(" ");
  2756. SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
  2757. }
  2758. SERIAL_EOL;
  2759. }
  2760. }
  2761. else
  2762. SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
  2763. break;
  2764. case MeshStart:
  2765. mbl.reset();
  2766. probe_point = 0;
  2767. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  2768. break;
  2769. case MeshNext:
  2770. if (probe_point < 0) {
  2771. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  2772. return;
  2773. }
  2774. // For each G29 S2...
  2775. if (probe_point == 0) {
  2776. // For the initial G29 S2 make Z a positive value (e.g., 4.0)
  2777. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2778. #if Z_HOME_DIR > 0
  2779. + Z_MAX_POS
  2780. #endif
  2781. ;
  2782. SYNC_PLAN_POSITION_KINEMATIC();
  2783. }
  2784. else {
  2785. // For G29 S2 after adjusting Z.
  2786. mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
  2787. }
  2788. // If there's another point to sample, move there with optional lift.
  2789. if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
  2790. mbl.zigzag(probe_point, px, py);
  2791. _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
  2792. probe_point++;
  2793. }
  2794. else {
  2795. // One last "return to the bed" (as originally coded) at completion
  2796. current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
  2797. #if Z_PROBE_TRAVEL_HEIGHT > Z_HOMING_HEIGHT
  2798. + Z_PROBE_TRAVEL_HEIGHT
  2799. #elif Z_HOMING_HEIGHT > 0
  2800. + Z_HOMING_HEIGHT
  2801. #endif
  2802. ;
  2803. line_to_current_position();
  2804. stepper.synchronize();
  2805. // After recording the last point, activate the mbl and home
  2806. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  2807. probe_point = -1;
  2808. mbl.set_has_mesh(true);
  2809. enqueue_and_echo_commands_P(PSTR("G28"));
  2810. }
  2811. break;
  2812. case MeshSet:
  2813. if (code_seen('X')) {
  2814. px = code_value_int() - 1;
  2815. if (px < 0 || px >= MESH_NUM_X_POINTS) {
  2816. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
  2817. return;
  2818. }
  2819. }
  2820. else {
  2821. SERIAL_PROTOCOLLNPGM("X not entered.");
  2822. return;
  2823. }
  2824. if (code_seen('Y')) {
  2825. py = code_value_int() - 1;
  2826. if (py < 0 || py >= MESH_NUM_Y_POINTS) {
  2827. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
  2828. return;
  2829. }
  2830. }
  2831. else {
  2832. SERIAL_PROTOCOLLNPGM("Y not entered.");
  2833. return;
  2834. }
  2835. if (code_seen('Z')) {
  2836. mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
  2837. }
  2838. else {
  2839. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2840. return;
  2841. }
  2842. break;
  2843. case MeshSetZOffset:
  2844. if (code_seen('Z')) {
  2845. mbl.z_offset = code_value_axis_units(Z_AXIS);
  2846. }
  2847. else {
  2848. SERIAL_PROTOCOLLNPGM("Z not entered.");
  2849. return;
  2850. }
  2851. break;
  2852. case MeshReset:
  2853. if (mbl.active()) {
  2854. current_position[Z_AXIS] +=
  2855. mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS)) - MESH_HOME_SEARCH_Z;
  2856. mbl.reset();
  2857. SYNC_PLAN_POSITION_KINEMATIC();
  2858. }
  2859. else
  2860. mbl.reset();
  2861. } // switch(state)
  2862. report_current_position();
  2863. }
  2864. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  2865. /**
  2866. * G29: Detailed Z probe, probes the bed at 3 or more points.
  2867. * Will fail if the printer has not been homed with G28.
  2868. *
  2869. * Enhanced G29 Auto Bed Leveling Probe Routine
  2870. *
  2871. * Parameters With AUTO_BED_LEVELING_GRID:
  2872. *
  2873. * P Set the size of the grid that will be probed (P x P points).
  2874. * Not supported by non-linear delta printer bed leveling.
  2875. * Example: "G29 P4"
  2876. *
  2877. * S Set the XY travel speed between probe points (in units/min)
  2878. *
  2879. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  2880. * or clean the rotation Matrix. Useful to check the topology
  2881. * after a first run of G29.
  2882. *
  2883. * V Set the verbose level (0-4). Example: "G29 V3"
  2884. *
  2885. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  2886. * This is useful for manual bed leveling and finding flaws in the bed (to
  2887. * assist with part placement).
  2888. * Not supported by non-linear delta printer bed leveling.
  2889. *
  2890. * F Set the Front limit of the probing grid
  2891. * B Set the Back limit of the probing grid
  2892. * L Set the Left limit of the probing grid
  2893. * R Set the Right limit of the probing grid
  2894. *
  2895. * Global Parameters:
  2896. *
  2897. * E/e By default G29 will engage the Z probe, test the bed, then disengage.
  2898. * Include "E" to engage/disengage the Z probe for each sample.
  2899. * There's no extra effect if you have a fixed Z probe.
  2900. * Usage: "G29 E" or "G29 e"
  2901. *
  2902. */
  2903. inline void gcode_G29() {
  2904. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2905. if (DEBUGGING(LEVELING)) {
  2906. SERIAL_ECHOLNPGM(">>> gcode_G29");
  2907. DEBUG_POS("", current_position);
  2908. log_machine_info();
  2909. }
  2910. #endif
  2911. // Don't allow auto-leveling without homing first
  2912. if (axis_unhomed_error(true, true, true)) return;
  2913. int verbose_level = code_seen('V') ? code_value_int() : 1;
  2914. if (verbose_level < 0 || verbose_level > 4) {
  2915. SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
  2916. return;
  2917. }
  2918. bool dryrun = code_seen('D'),
  2919. stow_probe_after_each = code_seen('E');
  2920. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2921. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2922. bool do_topography_map = verbose_level > 2 || code_seen('T');
  2923. #endif
  2924. if (verbose_level > 0) {
  2925. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  2926. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  2927. }
  2928. int abl_grid_points_x = ABL_GRID_POINTS_X,
  2929. abl_grid_points_y = ABL_GRID_POINTS_Y;
  2930. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  2931. if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  2932. if (abl_grid_points_x < 2) {
  2933. SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
  2934. return;
  2935. }
  2936. #endif
  2937. xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  2938. int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
  2939. right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
  2940. front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
  2941. back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  2942. bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  2943. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  2944. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  2945. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  2946. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  2947. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  2948. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  2949. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  2950. if (left_out || right_out || front_out || back_out) {
  2951. if (left_out) {
  2952. out_of_range_error(PSTR("(L)eft"));
  2953. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  2954. }
  2955. if (right_out) {
  2956. out_of_range_error(PSTR("(R)ight"));
  2957. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  2958. }
  2959. if (front_out) {
  2960. out_of_range_error(PSTR("(F)ront"));
  2961. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  2962. }
  2963. if (back_out) {
  2964. out_of_range_error(PSTR("(B)ack"));
  2965. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  2966. }
  2967. return;
  2968. }
  2969. #endif // AUTO_BED_LEVELING_GRID
  2970. stepper.synchronize();
  2971. if (!dryrun) {
  2972. // Reset the bed_level_matrix because leveling
  2973. // needs to be done without leveling enabled.
  2974. reset_bed_level();
  2975. //
  2976. // Re-orient the current position without leveling
  2977. // based on where the steppers are positioned.
  2978. //
  2979. get_cartesian_from_steppers();
  2980. memcpy(current_position, cartes, sizeof(cartes));
  2981. // Inform the planner about the new coordinates
  2982. SYNC_PLAN_POSITION_KINEMATIC();
  2983. }
  2984. setup_for_endstop_or_probe_move();
  2985. // Deploy the probe. Probe will raise if needed.
  2986. if (DEPLOY_PROBE()) return;
  2987. float xProbe, yProbe, measured_z = 0;
  2988. #if ENABLED(AUTO_BED_LEVELING_GRID)
  2989. // probe at the points of a lattice grid
  2990. const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
  2991. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  2992. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  2993. nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
  2994. nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
  2995. float zoffset = zprobe_zoffset;
  2996. if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  2997. #elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
  2998. /**
  2999. * solve the plane equation ax + by + d = z
  3000. * A is the matrix with rows [x y 1] for all the probed points
  3001. * B is the vector of the Z positions
  3002. * the normal vector to the plane is formed by the coefficients of the
  3003. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  3004. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  3005. */
  3006. int abl2 = abl_grid_points_x * abl_grid_points_y,
  3007. indexIntoAB[abl_grid_points_x][abl_grid_points_y],
  3008. probePointCounter = -1;
  3009. float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
  3010. eqnBVector[abl2], // "B" vector of Z points
  3011. mean = 0.0;
  3012. #endif // AUTO_BED_LEVELING_LINEAR_GRID
  3013. bool zig = abl_grid_points_y & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
  3014. for (uint8_t yCount = 0; yCount < abl_grid_points_y; yCount++) {
  3015. float yBase = front_probe_bed_position + yGridSpacing * yCount;
  3016. yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  3017. int8_t xStart, xStop, xInc;
  3018. if (zig) {
  3019. xStart = 0;
  3020. xStop = abl_grid_points_x;
  3021. xInc = 1;
  3022. }
  3023. else {
  3024. xStart = abl_grid_points_x - 1;
  3025. xStop = -1;
  3026. xInc = -1;
  3027. }
  3028. zig = !zig;
  3029. for (int8_t xCount = xStart; xCount != xStop; xCount += xInc) {
  3030. float xBase = left_probe_bed_position + xGridSpacing * xCount;
  3031. xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
  3032. #if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
  3033. indexIntoAB[xCount][yCount] = ++probePointCounter;
  3034. #endif
  3035. #if IS_KINEMATIC
  3036. // Avoid probing outside the round or hexagonal area
  3037. float pos[XYZ] = { xProbe, yProbe, 0 };
  3038. if (!position_is_reachable(pos, true)) continue;
  3039. #endif
  3040. measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3041. #if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
  3042. mean += measured_z;
  3043. eqnBVector[probePointCounter] = measured_z;
  3044. eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
  3045. eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
  3046. eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  3047. #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  3048. bed_level_grid[xCount][yCount] = measured_z + zoffset;
  3049. #endif
  3050. idle();
  3051. } //xProbe
  3052. } //yProbe
  3053. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3054. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3055. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  3056. #endif
  3057. // Probe at 3 arbitrary points
  3058. vector_3 points[3] = {
  3059. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3060. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3061. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3062. };
  3063. for (uint8_t i = 0; i < 3; ++i) {
  3064. // Retain the last probe position
  3065. xProbe = LOGICAL_X_POSITION(points[i].x);
  3066. yProbe = LOGICAL_Y_POSITION(points[i].y);
  3067. measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  3068. }
  3069. if (!dryrun) {
  3070. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  3071. if (planeNormal.z < 0) {
  3072. planeNormal.x *= -1;
  3073. planeNormal.y *= -1;
  3074. planeNormal.z *= -1;
  3075. }
  3076. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  3077. }
  3078. #endif // AUTO_BED_LEVELING_3POINT
  3079. // Raise to _Z_PROBE_DEPLOY_HEIGHT. Stow the probe.
  3080. if (STOW_PROBE()) return;
  3081. // Restore state after probing
  3082. clean_up_after_endstop_or_probe_move();
  3083. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3084. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  3085. #endif
  3086. // Calculate leveling, print reports, correct the position
  3087. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  3088. if (!dryrun) extrapolate_unprobed_bed_level();
  3089. print_bed_level();
  3090. #elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
  3091. // For LINEAR leveling calculate matrix, print reports, correct the position
  3092. // solve lsq problem
  3093. float plane_equation_coefficients[3];
  3094. qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  3095. mean /= abl2;
  3096. if (verbose_level) {
  3097. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  3098. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  3099. SERIAL_PROTOCOLPGM(" b: ");
  3100. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  3101. SERIAL_PROTOCOLPGM(" d: ");
  3102. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  3103. SERIAL_EOL;
  3104. if (verbose_level > 2) {
  3105. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  3106. SERIAL_PROTOCOL_F(mean, 8);
  3107. SERIAL_EOL;
  3108. }
  3109. }
  3110. // Create the matrix but don't correct the position yet
  3111. if (!dryrun) {
  3112. planner.bed_level_matrix = matrix_3x3::create_look_at(
  3113. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
  3114. );
  3115. }
  3116. // Show the Topography map if enabled
  3117. if (do_topography_map) {
  3118. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  3119. " +--- BACK --+\n"
  3120. " | |\n"
  3121. " L | (+) | R\n"
  3122. " E | | I\n"
  3123. " F | (-) N (+) | G\n"
  3124. " T | | H\n"
  3125. " | (-) | T\n"
  3126. " | |\n"
  3127. " O-- FRONT --+\n"
  3128. " (0,0)");
  3129. float min_diff = 999;
  3130. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3131. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3132. int ind = indexIntoAB[xx][yy];
  3133. float diff = eqnBVector[ind] - mean,
  3134. x_tmp = eqnAMatrix[ind + 0 * abl2],
  3135. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3136. z_tmp = 0;
  3137. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3138. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  3139. if (diff >= 0.0)
  3140. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  3141. else
  3142. SERIAL_PROTOCOLCHAR(' ');
  3143. SERIAL_PROTOCOL_F(diff, 5);
  3144. } // xx
  3145. SERIAL_EOL;
  3146. } // yy
  3147. SERIAL_EOL;
  3148. if (verbose_level > 3) {
  3149. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  3150. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  3151. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  3152. int ind = indexIntoAB[xx][yy];
  3153. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  3154. y_tmp = eqnAMatrix[ind + 1 * abl2],
  3155. z_tmp = 0;
  3156. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  3157. float diff = eqnBVector[ind] - z_tmp - min_diff;
  3158. if (diff >= 0.0)
  3159. SERIAL_PROTOCOLPGM(" +");
  3160. // Include + for column alignment
  3161. else
  3162. SERIAL_PROTOCOLCHAR(' ');
  3163. SERIAL_PROTOCOL_F(diff, 5);
  3164. } // xx
  3165. SERIAL_EOL;
  3166. } // yy
  3167. SERIAL_EOL;
  3168. }
  3169. } //do_topography_map
  3170. #endif // AUTO_BED_LEVELING_LINEAR_GRID
  3171. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3172. // For LINEAR and 3POINT leveling correct the current position
  3173. if (verbose_level > 0)
  3174. planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  3175. if (!dryrun) {
  3176. //
  3177. // Correct the current XYZ position based on the tilted plane.
  3178. //
  3179. // 1. Get the distance from the current position to the reference point.
  3180. float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
  3181. y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
  3182. z_real = RAW_CURRENT_POSITION(Z_AXIS),
  3183. z_zero = 0;
  3184. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3185. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  3186. #endif
  3187. matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
  3188. // 2. Apply the inverse matrix to the distance
  3189. // from the reference point to X, Y, and zero.
  3190. apply_rotation_xyz(inverse, x_dist, y_dist, z_zero);
  3191. // 3. Get the matrix-based corrected Z.
  3192. // (Even if not used, get it for comparison.)
  3193. float new_z = z_real + z_zero;
  3194. // 4. Use the last measured distance to the bed, if possible
  3195. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  3196. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  3197. ) {
  3198. float simple_z = z_real - (measured_z - (-zprobe_zoffset));
  3199. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3200. if (DEBUGGING(LEVELING)) {
  3201. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  3202. SERIAL_ECHOPAIR(" Matrix:", new_z);
  3203. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - new_z);
  3204. }
  3205. #endif
  3206. new_z = simple_z;
  3207. }
  3208. // 5. The rotated XY and corrected Z are now current_position
  3209. current_position[X_AXIS] = LOGICAL_X_POSITION(x_dist) + X_TILT_FULCRUM;
  3210. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y_dist) + Y_TILT_FULCRUM;
  3211. current_position[Z_AXIS] = LOGICAL_Z_POSITION(new_z);
  3212. SYNC_PLAN_POSITION_KINEMATIC();
  3213. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3214. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  3215. #endif
  3216. }
  3217. #endif // AUTO_BED_LEVELING_LINEAR
  3218. #ifdef Z_PROBE_END_SCRIPT
  3219. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3220. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  3221. #endif
  3222. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  3223. stepper.synchronize();
  3224. #endif
  3225. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3226. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  3227. #endif
  3228. report_current_position();
  3229. KEEPALIVE_STATE(IN_HANDLER);
  3230. }
  3231. #endif // AUTO_BED_LEVELING_FEATURE
  3232. #if HAS_BED_PROBE
  3233. /**
  3234. * G30: Do a single Z probe at the current XY
  3235. */
  3236. inline void gcode_G30() {
  3237. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  3238. reset_bed_level();
  3239. #endif
  3240. setup_for_endstop_or_probe_move();
  3241. // TODO: clear the leveling matrix or the planner will be set incorrectly
  3242. float measured_z = probe_pt(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
  3243. current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
  3244. true, 1);
  3245. SERIAL_PROTOCOLPGM("Bed X: ");
  3246. SERIAL_PROTOCOL(current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3247. SERIAL_PROTOCOLPGM(" Y: ");
  3248. SERIAL_PROTOCOL(current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER + 0.0001);
  3249. SERIAL_PROTOCOLPGM(" Z: ");
  3250. SERIAL_PROTOCOL(measured_z + 0.0001);
  3251. SERIAL_EOL;
  3252. clean_up_after_endstop_or_probe_move();
  3253. report_current_position();
  3254. }
  3255. #if ENABLED(Z_PROBE_SLED)
  3256. /**
  3257. * G31: Deploy the Z probe
  3258. */
  3259. inline void gcode_G31() { DEPLOY_PROBE(); }
  3260. /**
  3261. * G32: Stow the Z probe
  3262. */
  3263. inline void gcode_G32() { STOW_PROBE(); }
  3264. #endif // Z_PROBE_SLED
  3265. #endif // HAS_BED_PROBE
  3266. /**
  3267. * G92: Set current position to given X Y Z E
  3268. */
  3269. inline void gcode_G92() {
  3270. bool didXYZ = false,
  3271. didE = code_seen('E');
  3272. if (!didE) stepper.synchronize();
  3273. LOOP_XYZE(i) {
  3274. if (code_seen(axis_codes[i])) {
  3275. #if IS_SCARA
  3276. current_position[i] = code_value_axis_units(i);
  3277. if (i != E_AXIS) didXYZ = true;
  3278. #else
  3279. float p = current_position[i],
  3280. v = code_value_axis_units(i);
  3281. current_position[i] = v;
  3282. if (i != E_AXIS) {
  3283. didXYZ = true;
  3284. position_shift[i] += v - p; // Offset the coordinate space
  3285. update_software_endstops((AxisEnum)i);
  3286. }
  3287. #endif
  3288. }
  3289. }
  3290. if (didXYZ)
  3291. SYNC_PLAN_POSITION_KINEMATIC();
  3292. else if (didE)
  3293. sync_plan_position_e();
  3294. }
  3295. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  3296. /**
  3297. * M0: Unconditional stop - Wait for user button press on LCD
  3298. * M1: Conditional stop - Wait for user button press on LCD
  3299. */
  3300. inline void gcode_M0_M1() {
  3301. char* args = current_command_args;
  3302. millis_t codenum = 0;
  3303. bool hasP = false, hasS = false;
  3304. if (code_seen('P')) {
  3305. codenum = code_value_millis(); // milliseconds to wait
  3306. hasP = codenum > 0;
  3307. }
  3308. if (code_seen('S')) {
  3309. codenum = code_value_millis_from_seconds(); // seconds to wait
  3310. hasS = codenum > 0;
  3311. }
  3312. #if ENABLED(ULTIPANEL)
  3313. if (!hasP && !hasS && *args != '\0')
  3314. lcd_setstatus(args, true);
  3315. else {
  3316. LCD_MESSAGEPGM(MSG_USERWAIT);
  3317. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  3318. dontExpireStatus();
  3319. #endif
  3320. }
  3321. lcd_ignore_click();
  3322. #else
  3323. if (!hasP && !hasS && *args != '\0') {
  3324. SERIAL_ECHO_START;
  3325. SERIAL_ECHOLN(args);
  3326. }
  3327. #endif
  3328. stepper.synchronize();
  3329. refresh_cmd_timeout();
  3330. #if ENABLED(ULTIPANEL)
  3331. if (codenum > 0) {
  3332. codenum += previous_cmd_ms; // wait until this time for a click
  3333. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3334. while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
  3335. lcd_ignore_click(false);
  3336. }
  3337. else if (lcd_detected()) {
  3338. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3339. while (!lcd_clicked()) idle();
  3340. }
  3341. else return;
  3342. if (IS_SD_PRINTING)
  3343. LCD_MESSAGEPGM(MSG_RESUMING);
  3344. else
  3345. LCD_MESSAGEPGM(WELCOME_MSG);
  3346. #else
  3347. KEEPALIVE_STATE(PAUSED_FOR_USER);
  3348. wait_for_user = true;
  3349. if (codenum > 0) {
  3350. codenum += previous_cmd_ms; // wait until this time for an M108
  3351. while (PENDING(millis(), codenum) && wait_for_user) idle();
  3352. }
  3353. else while (wait_for_user) idle();
  3354. wait_for_user = false;
  3355. #endif
  3356. KEEPALIVE_STATE(IN_HANDLER);
  3357. }
  3358. #endif // ULTIPANEL || EMERGENCY_PARSER
  3359. /**
  3360. * M17: Enable power on all stepper motors
  3361. */
  3362. inline void gcode_M17() {
  3363. LCD_MESSAGEPGM(MSG_NO_MOVE);
  3364. enable_all_steppers();
  3365. }
  3366. #if ENABLED(SDSUPPORT)
  3367. /**
  3368. * M20: List SD card to serial output
  3369. */
  3370. inline void gcode_M20() {
  3371. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  3372. card.ls();
  3373. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  3374. }
  3375. /**
  3376. * M21: Init SD Card
  3377. */
  3378. inline void gcode_M21() { card.initsd(); }
  3379. /**
  3380. * M22: Release SD Card
  3381. */
  3382. inline void gcode_M22() { card.release(); }
  3383. /**
  3384. * M23: Open a file
  3385. */
  3386. inline void gcode_M23() { card.openFile(current_command_args, true); }
  3387. /**
  3388. * M24: Start SD Print
  3389. */
  3390. inline void gcode_M24() {
  3391. card.startFileprint();
  3392. print_job_timer.start();
  3393. }
  3394. /**
  3395. * M25: Pause SD Print
  3396. */
  3397. inline void gcode_M25() { card.pauseSDPrint(); }
  3398. /**
  3399. * M26: Set SD Card file index
  3400. */
  3401. inline void gcode_M26() {
  3402. if (card.cardOK && code_seen('S'))
  3403. card.setIndex(code_value_long());
  3404. }
  3405. /**
  3406. * M27: Get SD Card status
  3407. */
  3408. inline void gcode_M27() { card.getStatus(); }
  3409. /**
  3410. * M28: Start SD Write
  3411. */
  3412. inline void gcode_M28() { card.openFile(current_command_args, false); }
  3413. /**
  3414. * M29: Stop SD Write
  3415. * Processed in write to file routine above
  3416. */
  3417. inline void gcode_M29() {
  3418. // card.saving = false;
  3419. }
  3420. /**
  3421. * M30 <filename>: Delete SD Card file
  3422. */
  3423. inline void gcode_M30() {
  3424. if (card.cardOK) {
  3425. card.closefile();
  3426. card.removeFile(current_command_args);
  3427. }
  3428. }
  3429. #endif // SDSUPPORT
  3430. /**
  3431. * M31: Get the time since the start of SD Print (or last M109)
  3432. */
  3433. inline void gcode_M31() {
  3434. char buffer[21];
  3435. duration_t elapsed = print_job_timer.duration();
  3436. elapsed.toString(buffer);
  3437. lcd_setstatus(buffer);
  3438. SERIAL_ECHO_START;
  3439. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  3440. thermalManager.autotempShutdown();
  3441. }
  3442. #if ENABLED(SDSUPPORT)
  3443. /**
  3444. * M32: Select file and start SD Print
  3445. */
  3446. inline void gcode_M32() {
  3447. if (card.sdprinting)
  3448. stepper.synchronize();
  3449. char* namestartpos = strchr(current_command_args, '!'); // Find ! to indicate filename string start.
  3450. if (!namestartpos)
  3451. namestartpos = current_command_args; // Default name position, 4 letters after the M
  3452. else
  3453. namestartpos++; //to skip the '!'
  3454. bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);
  3455. if (card.cardOK) {
  3456. card.openFile(namestartpos, true, call_procedure);
  3457. if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
  3458. card.setIndex(code_value_long());
  3459. card.startFileprint();
  3460. // Procedure calls count as normal print time.
  3461. if (!call_procedure) print_job_timer.start();
  3462. }
  3463. }
  3464. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  3465. /**
  3466. * M33: Get the long full path of a file or folder
  3467. *
  3468. * Parameters:
  3469. * <dospath> Case-insensitive DOS-style path to a file or folder
  3470. *
  3471. * Example:
  3472. * M33 miscel~1/armchair/armcha~1.gco
  3473. *
  3474. * Output:
  3475. * /Miscellaneous/Armchair/Armchair.gcode
  3476. */
  3477. inline void gcode_M33() {
  3478. card.printLongPath(current_command_args);
  3479. }
  3480. #endif
  3481. /**
  3482. * M928: Start SD Write
  3483. */
  3484. inline void gcode_M928() {
  3485. card.openLogFile(current_command_args);
  3486. }
  3487. #endif // SDSUPPORT
  3488. /**
  3489. * M42: Change pin status via GCode
  3490. *
  3491. * P<pin> Pin number (LED if omitted)
  3492. * S<byte> Pin status from 0 - 255
  3493. */
  3494. inline void gcode_M42() {
  3495. if (!code_seen('S')) return;
  3496. int pin_status = code_value_int();
  3497. if (pin_status < 0 || pin_status > 255) return;
  3498. int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
  3499. if (pin_number < 0) return;
  3500. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  3501. if (pin_number == sensitive_pins[i]) return;
  3502. pinMode(pin_number, OUTPUT);
  3503. digitalWrite(pin_number, pin_status);
  3504. analogWrite(pin_number, pin_status);
  3505. #if FAN_COUNT > 0
  3506. switch (pin_number) {
  3507. #if HAS_FAN0
  3508. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  3509. #endif
  3510. #if HAS_FAN1
  3511. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  3512. #endif
  3513. #if HAS_FAN2
  3514. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  3515. #endif
  3516. }
  3517. #endif
  3518. }
  3519. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  3520. /**
  3521. * M48: Z probe repeatability measurement function.
  3522. *
  3523. * Usage:
  3524. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  3525. * P = Number of sampled points (4-50, default 10)
  3526. * X = Sample X position
  3527. * Y = Sample Y position
  3528. * V = Verbose level (0-4, default=1)
  3529. * E = Engage Z probe for each reading
  3530. * L = Number of legs of movement before probe
  3531. * S = Schizoid (Or Star if you prefer)
  3532. *
  3533. * This function assumes the bed has been homed. Specifically, that a G28 command
  3534. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  3535. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  3536. * regenerated.
  3537. */
  3538. inline void gcode_M48() {
  3539. if (axis_unhomed_error(true, true, true)) return;
  3540. int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
  3541. if (verbose_level < 0 || verbose_level > 4) {
  3542. SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
  3543. return;
  3544. }
  3545. if (verbose_level > 0)
  3546. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability test");
  3547. int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
  3548. if (n_samples < 4 || n_samples > 50) {
  3549. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  3550. return;
  3551. }
  3552. float X_current = current_position[X_AXIS],
  3553. Y_current = current_position[Y_AXIS];
  3554. bool stow_probe_after_each = code_seen('E');
  3555. float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
  3556. #if DISABLED(DELTA)
  3557. if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
  3558. out_of_range_error(PSTR("X"));
  3559. return;
  3560. }
  3561. #endif
  3562. float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
  3563. #if DISABLED(DELTA)
  3564. if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
  3565. out_of_range_error(PSTR("Y"));
  3566. return;
  3567. }
  3568. #else
  3569. float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
  3570. if (!position_is_reachable(pos, true)) {
  3571. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  3572. return;
  3573. }
  3574. #endif
  3575. bool seen_L = code_seen('L');
  3576. uint8_t n_legs = seen_L ? code_value_byte() : 0;
  3577. if (n_legs > 15) {
  3578. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  3579. return;
  3580. }
  3581. if (n_legs == 1) n_legs = 2;
  3582. bool schizoid_flag = code_seen('S');
  3583. if (schizoid_flag && !seen_L) n_legs = 7;
  3584. /**
  3585. * Now get everything to the specified probe point So we can safely do a
  3586. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  3587. * we don't want to use that as a starting point for each probe.
  3588. */
  3589. if (verbose_level > 2)
  3590. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  3591. // Disable bed level correction in M48 because we want the raw data when we probe
  3592. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  3593. reset_bed_level();
  3594. #endif
  3595. setup_for_endstop_or_probe_move();
  3596. // Move to the first point, deploy, and probe
  3597. probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3598. randomSeed(millis());
  3599. double mean = 0, sigma = 0, sample_set[n_samples];
  3600. for (uint8_t n = 0; n < n_samples; n++) {
  3601. if (n_legs) {
  3602. int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  3603. float angle = random(0.0, 360.0),
  3604. radius = random(
  3605. #if ENABLED(DELTA)
  3606. DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
  3607. #else
  3608. 5, X_MAX_LENGTH / 8
  3609. #endif
  3610. );
  3611. if (verbose_level > 3) {
  3612. SERIAL_ECHOPAIR("Starting radius: ", radius);
  3613. SERIAL_ECHOPAIR(" angle: ", angle);
  3614. SERIAL_ECHOPGM(" Direction: ");
  3615. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  3616. SERIAL_ECHOLNPGM("Clockwise");
  3617. }
  3618. for (uint8_t l = 0; l < n_legs - 1; l++) {
  3619. double delta_angle;
  3620. if (schizoid_flag)
  3621. // The points of a 5 point star are 72 degrees apart. We need to
  3622. // skip a point and go to the next one on the star.
  3623. delta_angle = dir * 2.0 * 72.0;
  3624. else
  3625. // If we do this line, we are just trying to move further
  3626. // around the circle.
  3627. delta_angle = dir * (float) random(25, 45);
  3628. angle += delta_angle;
  3629. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  3630. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  3631. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  3632. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  3633. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  3634. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  3635. #if DISABLED(DELTA)
  3636. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  3637. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  3638. #else
  3639. // If we have gone out too far, we can do a simple fix and scale the numbers
  3640. // back in closer to the origin.
  3641. while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
  3642. X_current /= 1.25;
  3643. Y_current /= 1.25;
  3644. if (verbose_level > 3) {
  3645. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  3646. SERIAL_ECHOLNPAIR(", ", Y_current);
  3647. }
  3648. }
  3649. #endif
  3650. if (verbose_level > 3) {
  3651. SERIAL_PROTOCOLPGM("Going to:");
  3652. SERIAL_ECHOPAIR(" X", X_current);
  3653. SERIAL_ECHOPAIR(" Y", Y_current);
  3654. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  3655. }
  3656. do_blocking_move_to_xy(X_current, Y_current);
  3657. } // n_legs loop
  3658. } // n_legs
  3659. // Probe a single point
  3660. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  3661. /**
  3662. * Get the current mean for the data points we have so far
  3663. */
  3664. double sum = 0.0;
  3665. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  3666. mean = sum / (n + 1);
  3667. /**
  3668. * Now, use that mean to calculate the standard deviation for the
  3669. * data points we have so far
  3670. */
  3671. sum = 0.0;
  3672. for (uint8_t j = 0; j <= n; j++)
  3673. sum += sq(sample_set[j] - mean);
  3674. sigma = sqrt(sum / (n + 1));
  3675. if (verbose_level > 0) {
  3676. if (verbose_level > 1) {
  3677. SERIAL_PROTOCOL(n + 1);
  3678. SERIAL_PROTOCOLPGM(" of ");
  3679. SERIAL_PROTOCOL((int)n_samples);
  3680. SERIAL_PROTOCOLPGM(" z: ");
  3681. SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
  3682. if (verbose_level > 2) {
  3683. SERIAL_PROTOCOLPGM(" mean: ");
  3684. SERIAL_PROTOCOL_F(mean, 6);
  3685. SERIAL_PROTOCOLPGM(" sigma: ");
  3686. SERIAL_PROTOCOL_F(sigma, 6);
  3687. }
  3688. }
  3689. SERIAL_EOL;
  3690. }
  3691. } // End of probe loop
  3692. if (STOW_PROBE()) return;
  3693. if (verbose_level > 0) {
  3694. SERIAL_PROTOCOLPGM("Mean: ");
  3695. SERIAL_PROTOCOL_F(mean, 6);
  3696. SERIAL_EOL;
  3697. }
  3698. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  3699. SERIAL_PROTOCOL_F(sigma, 6);
  3700. SERIAL_EOL; SERIAL_EOL;
  3701. clean_up_after_endstop_or_probe_move();
  3702. report_current_position();
  3703. }
  3704. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  3705. /**
  3706. * M75: Start print timer
  3707. */
  3708. inline void gcode_M75() { print_job_timer.start(); }
  3709. /**
  3710. * M76: Pause print timer
  3711. */
  3712. inline void gcode_M76() { print_job_timer.pause(); }
  3713. /**
  3714. * M77: Stop print timer
  3715. */
  3716. inline void gcode_M77() { print_job_timer.stop(); }
  3717. #if ENABLED(PRINTCOUNTER)
  3718. /**
  3719. * M78: Show print statistics
  3720. */
  3721. inline void gcode_M78() {
  3722. // "M78 S78" will reset the statistics
  3723. if (code_seen('S') && code_value_int() == 78)
  3724. print_job_timer.initStats();
  3725. else
  3726. print_job_timer.showStats();
  3727. }
  3728. #endif
  3729. /**
  3730. * M104: Set hot end temperature
  3731. */
  3732. inline void gcode_M104() {
  3733. if (get_target_extruder_from_command(104)) return;
  3734. if (DEBUGGING(DRYRUN)) return;
  3735. #if ENABLED(SINGLENOZZLE)
  3736. if (target_extruder != active_extruder) return;
  3737. #endif
  3738. if (code_seen('S')) {
  3739. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3740. #if ENABLED(DUAL_X_CARRIAGE)
  3741. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3742. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3743. #endif
  3744. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3745. /**
  3746. * Stop the timer at the end of print, starting is managed by
  3747. * 'heat and wait' M109.
  3748. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3749. * stand by mode, for instance in a dual extruder setup, without affecting
  3750. * the running print timer.
  3751. */
  3752. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3753. print_job_timer.stop();
  3754. LCD_MESSAGEPGM(WELCOME_MSG);
  3755. }
  3756. #endif
  3757. if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3758. }
  3759. }
  3760. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3761. void print_heaterstates() {
  3762. #if HAS_TEMP_HOTEND
  3763. SERIAL_PROTOCOLPGM(" T:");
  3764. SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
  3765. SERIAL_PROTOCOLPGM(" /");
  3766. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
  3767. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3768. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
  3769. SERIAL_CHAR(')');
  3770. #endif
  3771. #endif
  3772. #if HAS_TEMP_BED
  3773. SERIAL_PROTOCOLPGM(" B:");
  3774. SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
  3775. SERIAL_PROTOCOLPGM(" /");
  3776. SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
  3777. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3778. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
  3779. SERIAL_CHAR(')');
  3780. #endif
  3781. #endif
  3782. #if HOTENDS > 1
  3783. HOTEND_LOOP() {
  3784. SERIAL_PROTOCOLPAIR(" T", e);
  3785. SERIAL_PROTOCOLCHAR(':');
  3786. SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
  3787. SERIAL_PROTOCOLPGM(" /");
  3788. SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
  3789. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  3790. SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
  3791. SERIAL_CHAR(')');
  3792. #endif
  3793. }
  3794. #endif
  3795. SERIAL_PROTOCOLPGM(" @:");
  3796. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  3797. #if HAS_TEMP_BED
  3798. SERIAL_PROTOCOLPGM(" B@:");
  3799. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  3800. #endif
  3801. #if HOTENDS > 1
  3802. HOTEND_LOOP() {
  3803. SERIAL_PROTOCOLPAIR(" @", e);
  3804. SERIAL_PROTOCOLCHAR(':');
  3805. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  3806. }
  3807. #endif
  3808. }
  3809. #endif
  3810. /**
  3811. * M105: Read hot end and bed temperature
  3812. */
  3813. inline void gcode_M105() {
  3814. if (get_target_extruder_from_command(105)) return;
  3815. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  3816. SERIAL_PROTOCOLPGM(MSG_OK);
  3817. print_heaterstates();
  3818. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  3819. SERIAL_ERROR_START;
  3820. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  3821. #endif
  3822. SERIAL_EOL;
  3823. }
  3824. #if FAN_COUNT > 0
  3825. /**
  3826. * M106: Set Fan Speed
  3827. *
  3828. * S<int> Speed between 0-255
  3829. * P<index> Fan index, if more than one fan
  3830. */
  3831. inline void gcode_M106() {
  3832. uint16_t s = code_seen('S') ? code_value_ushort() : 255,
  3833. p = code_seen('P') ? code_value_ushort() : 0;
  3834. NOMORE(s, 255);
  3835. if (p < FAN_COUNT) fanSpeeds[p] = s;
  3836. }
  3837. /**
  3838. * M107: Fan Off
  3839. */
  3840. inline void gcode_M107() {
  3841. uint16_t p = code_seen('P') ? code_value_ushort() : 0;
  3842. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  3843. }
  3844. #endif // FAN_COUNT > 0
  3845. #if DISABLED(EMERGENCY_PARSER)
  3846. /**
  3847. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  3848. */
  3849. inline void gcode_M108() { wait_for_heatup = false; }
  3850. /**
  3851. * M112: Emergency Stop
  3852. */
  3853. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  3854. /**
  3855. * M410: Quickstop - Abort all planned moves
  3856. *
  3857. * This will stop the carriages mid-move, so most likely they
  3858. * will be out of sync with the stepper position after this.
  3859. */
  3860. inline void gcode_M410() { quickstop_stepper(); }
  3861. #endif
  3862. #ifndef MIN_COOLING_SLOPE_DEG
  3863. #define MIN_COOLING_SLOPE_DEG 1.50
  3864. #endif
  3865. #ifndef MIN_COOLING_SLOPE_TIME
  3866. #define MIN_COOLING_SLOPE_TIME 60
  3867. #endif
  3868. /**
  3869. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  3870. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  3871. */
  3872. inline void gcode_M109() {
  3873. if (get_target_extruder_from_command(109)) return;
  3874. if (DEBUGGING(DRYRUN)) return;
  3875. #if ENABLED(SINGLENOZZLE)
  3876. if (target_extruder != active_extruder) return;
  3877. #endif
  3878. bool no_wait_for_cooling = code_seen('S');
  3879. if (no_wait_for_cooling || code_seen('R')) {
  3880. thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
  3881. #if ENABLED(DUAL_X_CARRIAGE)
  3882. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  3883. thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
  3884. #endif
  3885. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3886. /**
  3887. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  3888. * stand by mode, for instance in a dual extruder setup, without affecting
  3889. * the running print timer.
  3890. */
  3891. if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
  3892. print_job_timer.stop();
  3893. LCD_MESSAGEPGM(WELCOME_MSG);
  3894. }
  3895. /**
  3896. * We do not check if the timer is already running because this check will
  3897. * be done for us inside the Stopwatch::start() method thus a running timer
  3898. * will not restart.
  3899. */
  3900. else print_job_timer.start();
  3901. #endif
  3902. if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  3903. }
  3904. #if ENABLED(AUTOTEMP)
  3905. planner.autotemp_M109();
  3906. #endif
  3907. #if TEMP_RESIDENCY_TIME > 0
  3908. millis_t residency_start_ms = 0;
  3909. // Loop until the temperature has stabilized
  3910. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  3911. #else
  3912. // Loop until the temperature is very close target
  3913. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  3914. #endif //TEMP_RESIDENCY_TIME > 0
  3915. float theTarget = -1.0, old_temp = 9999.0;
  3916. bool wants_to_cool = false;
  3917. wait_for_heatup = true;
  3918. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  3919. KEEPALIVE_STATE(NOT_BUSY);
  3920. do {
  3921. // Target temperature might be changed during the loop
  3922. if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
  3923. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  3924. theTarget = thermalManager.degTargetHotend(target_extruder);
  3925. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  3926. if (no_wait_for_cooling && wants_to_cool) break;
  3927. }
  3928. now = millis();
  3929. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  3930. next_temp_ms = now + 1000UL;
  3931. print_heaterstates();
  3932. #if TEMP_RESIDENCY_TIME > 0
  3933. SERIAL_PROTOCOLPGM(" W:");
  3934. if (residency_start_ms) {
  3935. long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  3936. SERIAL_PROTOCOLLN(rem);
  3937. }
  3938. else {
  3939. SERIAL_PROTOCOLLNPGM("?");
  3940. }
  3941. #else
  3942. SERIAL_EOL;
  3943. #endif
  3944. }
  3945. idle();
  3946. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  3947. float temp = thermalManager.degHotend(target_extruder);
  3948. #if TEMP_RESIDENCY_TIME > 0
  3949. float temp_diff = fabs(theTarget - temp);
  3950. if (!residency_start_ms) {
  3951. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  3952. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  3953. }
  3954. else if (temp_diff > TEMP_HYSTERESIS) {
  3955. // Restart the timer whenever the temperature falls outside the hysteresis.
  3956. residency_start_ms = now;
  3957. }
  3958. #endif //TEMP_RESIDENCY_TIME > 0
  3959. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  3960. if (wants_to_cool) {
  3961. // break after MIN_COOLING_SLOPE_TIME seconds
  3962. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  3963. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  3964. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  3965. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  3966. old_temp = temp;
  3967. }
  3968. }
  3969. } while (wait_for_heatup && TEMP_CONDITIONS);
  3970. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  3971. KEEPALIVE_STATE(IN_HANDLER);
  3972. }
  3973. #if HAS_TEMP_BED
  3974. #ifndef MIN_COOLING_SLOPE_DEG_BED
  3975. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  3976. #endif
  3977. #ifndef MIN_COOLING_SLOPE_TIME_BED
  3978. #define MIN_COOLING_SLOPE_TIME_BED 60
  3979. #endif
  3980. /**
  3981. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  3982. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  3983. */
  3984. inline void gcode_M190() {
  3985. if (DEBUGGING(DRYRUN)) return;
  3986. LCD_MESSAGEPGM(MSG_BED_HEATING);
  3987. bool no_wait_for_cooling = code_seen('S');
  3988. if (no_wait_for_cooling || code_seen('R')) {
  3989. thermalManager.setTargetBed(code_value_temp_abs());
  3990. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  3991. if (code_value_temp_abs() > BED_MINTEMP) {
  3992. /**
  3993. * We start the timer when 'heating and waiting' command arrives, LCD
  3994. * functions never wait. Cooling down managed by extruders.
  3995. *
  3996. * We do not check if the timer is already running because this check will
  3997. * be done for us inside the Stopwatch::start() method thus a running timer
  3998. * will not restart.
  3999. */
  4000. print_job_timer.start();
  4001. }
  4002. #endif
  4003. }
  4004. #if TEMP_BED_RESIDENCY_TIME > 0
  4005. millis_t residency_start_ms = 0;
  4006. // Loop until the temperature has stabilized
  4007. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  4008. #else
  4009. // Loop until the temperature is very close target
  4010. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  4011. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4012. float theTarget = -1.0, old_temp = 9999.0;
  4013. bool wants_to_cool = false;
  4014. wait_for_heatup = true;
  4015. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  4016. KEEPALIVE_STATE(NOT_BUSY);
  4017. target_extruder = active_extruder; // for print_heaterstates
  4018. do {
  4019. // Target temperature might be changed during the loop
  4020. if (theTarget != thermalManager.degTargetBed()) {
  4021. wants_to_cool = thermalManager.isCoolingBed();
  4022. theTarget = thermalManager.degTargetBed();
  4023. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  4024. if (no_wait_for_cooling && wants_to_cool) break;
  4025. }
  4026. now = millis();
  4027. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  4028. next_temp_ms = now + 1000UL;
  4029. print_heaterstates();
  4030. #if TEMP_BED_RESIDENCY_TIME > 0
  4031. SERIAL_PROTOCOLPGM(" W:");
  4032. if (residency_start_ms) {
  4033. long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
  4034. SERIAL_PROTOCOLLN(rem);
  4035. }
  4036. else {
  4037. SERIAL_PROTOCOLLNPGM("?");
  4038. }
  4039. #else
  4040. SERIAL_EOL;
  4041. #endif
  4042. }
  4043. idle();
  4044. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  4045. float temp = thermalManager.degBed();
  4046. #if TEMP_BED_RESIDENCY_TIME > 0
  4047. float temp_diff = fabs(theTarget - temp);
  4048. if (!residency_start_ms) {
  4049. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  4050. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  4051. }
  4052. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  4053. // Restart the timer whenever the temperature falls outside the hysteresis.
  4054. residency_start_ms = now;
  4055. }
  4056. #endif //TEMP_BED_RESIDENCY_TIME > 0
  4057. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  4058. if (wants_to_cool) {
  4059. // break after MIN_COOLING_SLOPE_TIME_BED seconds
  4060. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  4061. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  4062. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  4063. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  4064. old_temp = temp;
  4065. }
  4066. }
  4067. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  4068. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  4069. KEEPALIVE_STATE(IN_HANDLER);
  4070. }
  4071. #endif // HAS_TEMP_BED
  4072. /**
  4073. * M110: Set Current Line Number
  4074. */
  4075. inline void gcode_M110() {
  4076. if (code_seen('N')) gcode_N = code_value_long();
  4077. }
  4078. /**
  4079. * M111: Set the debug level
  4080. */
  4081. inline void gcode_M111() {
  4082. marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  4083. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
  4084. const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
  4085. const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
  4086. const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
  4087. const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
  4088. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4089. const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
  4090. #endif
  4091. const static char* const debug_strings[] PROGMEM = {
  4092. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
  4093. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4094. str_debug_32
  4095. #endif
  4096. };
  4097. SERIAL_ECHO_START;
  4098. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  4099. if (marlin_debug_flags) {
  4100. uint8_t comma = 0;
  4101. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  4102. if (TEST(marlin_debug_flags, i)) {
  4103. if (comma++) SERIAL_CHAR(',');
  4104. serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
  4105. }
  4106. }
  4107. }
  4108. else {
  4109. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  4110. }
  4111. SERIAL_EOL;
  4112. }
  4113. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  4114. /**
  4115. * M113: Get or set Host Keepalive interval (0 to disable)
  4116. *
  4117. * S<seconds> Optional. Set the keepalive interval.
  4118. */
  4119. inline void gcode_M113() {
  4120. if (code_seen('S')) {
  4121. host_keepalive_interval = code_value_byte();
  4122. NOMORE(host_keepalive_interval, 60);
  4123. }
  4124. else {
  4125. SERIAL_ECHO_START;
  4126. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  4127. }
  4128. }
  4129. #endif
  4130. #if ENABLED(BARICUDA)
  4131. #if HAS_HEATER_1
  4132. /**
  4133. * M126: Heater 1 valve open
  4134. */
  4135. inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
  4136. /**
  4137. * M127: Heater 1 valve close
  4138. */
  4139. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  4140. #endif
  4141. #if HAS_HEATER_2
  4142. /**
  4143. * M128: Heater 2 valve open
  4144. */
  4145. inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
  4146. /**
  4147. * M129: Heater 2 valve close
  4148. */
  4149. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  4150. #endif
  4151. #endif //BARICUDA
  4152. /**
  4153. * M140: Set bed temperature
  4154. */
  4155. inline void gcode_M140() {
  4156. if (DEBUGGING(DRYRUN)) return;
  4157. if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  4158. }
  4159. #if ENABLED(ULTIPANEL)
  4160. /**
  4161. * M145: Set the heatup state for a material in the LCD menu
  4162. * S<material> (0=PLA, 1=ABS)
  4163. * H<hotend temp>
  4164. * B<bed temp>
  4165. * F<fan speed>
  4166. */
  4167. inline void gcode_M145() {
  4168. int8_t material = code_seen('S') ? (int8_t)code_value_int() : 0;
  4169. if (material < 0 || material > 1) {
  4170. SERIAL_ERROR_START;
  4171. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  4172. }
  4173. else {
  4174. int v;
  4175. switch (material) {
  4176. case 0:
  4177. if (code_seen('H')) {
  4178. v = code_value_int();
  4179. preheatHotendTemp1 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4180. }
  4181. if (code_seen('F')) {
  4182. v = code_value_int();
  4183. preheatFanSpeed1 = constrain(v, 0, 255);
  4184. }
  4185. #if TEMP_SENSOR_BED != 0
  4186. if (code_seen('B')) {
  4187. v = code_value_int();
  4188. preheatBedTemp1 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4189. }
  4190. #endif
  4191. break;
  4192. case 1:
  4193. if (code_seen('H')) {
  4194. v = code_value_int();
  4195. preheatHotendTemp2 = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  4196. }
  4197. if (code_seen('F')) {
  4198. v = code_value_int();
  4199. preheatFanSpeed2 = constrain(v, 0, 255);
  4200. }
  4201. #if TEMP_SENSOR_BED != 0
  4202. if (code_seen('B')) {
  4203. v = code_value_int();
  4204. preheatBedTemp2 = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  4205. }
  4206. #endif
  4207. break;
  4208. }
  4209. }
  4210. }
  4211. #endif // ULTIPANEL
  4212. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  4213. /**
  4214. * M149: Set temperature units
  4215. */
  4216. inline void gcode_M149() {
  4217. if (code_seen('C')) {
  4218. set_input_temp_units(TEMPUNIT_C);
  4219. } else if (code_seen('K')) {
  4220. set_input_temp_units(TEMPUNIT_K);
  4221. } else if (code_seen('F')) {
  4222. set_input_temp_units(TEMPUNIT_F);
  4223. }
  4224. }
  4225. #endif
  4226. #if HAS_POWER_SWITCH
  4227. /**
  4228. * M80: Turn on Power Supply
  4229. */
  4230. inline void gcode_M80() {
  4231. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
  4232. /**
  4233. * If you have a switch on suicide pin, this is useful
  4234. * if you want to start another print with suicide feature after
  4235. * a print without suicide...
  4236. */
  4237. #if HAS_SUICIDE
  4238. OUT_WRITE(SUICIDE_PIN, HIGH);
  4239. #endif
  4240. #if ENABLED(ULTIPANEL)
  4241. powersupply = true;
  4242. LCD_MESSAGEPGM(WELCOME_MSG);
  4243. lcd_update();
  4244. #endif
  4245. }
  4246. #endif // HAS_POWER_SWITCH
  4247. /**
  4248. * M81: Turn off Power, including Power Supply, if there is one.
  4249. *
  4250. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  4251. */
  4252. inline void gcode_M81() {
  4253. thermalManager.disable_all_heaters();
  4254. stepper.finish_and_disable();
  4255. #if FAN_COUNT > 0
  4256. #if FAN_COUNT > 1
  4257. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  4258. #else
  4259. fanSpeeds[0] = 0;
  4260. #endif
  4261. #endif
  4262. delay(1000); // Wait 1 second before switching off
  4263. #if HAS_SUICIDE
  4264. stepper.synchronize();
  4265. suicide();
  4266. #elif HAS_POWER_SWITCH
  4267. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  4268. #endif
  4269. #if ENABLED(ULTIPANEL)
  4270. #if HAS_POWER_SWITCH
  4271. powersupply = false;
  4272. #endif
  4273. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  4274. lcd_update();
  4275. #endif
  4276. }
  4277. /**
  4278. * M82: Set E codes absolute (default)
  4279. */
  4280. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  4281. /**
  4282. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  4283. */
  4284. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  4285. /**
  4286. * M18, M84: Disable all stepper motors
  4287. */
  4288. inline void gcode_M18_M84() {
  4289. if (code_seen('S')) {
  4290. stepper_inactive_time = code_value_millis_from_seconds();
  4291. }
  4292. else {
  4293. bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
  4294. if (all_axis) {
  4295. stepper.finish_and_disable();
  4296. }
  4297. else {
  4298. stepper.synchronize();
  4299. if (code_seen('X')) disable_x();
  4300. if (code_seen('Y')) disable_y();
  4301. if (code_seen('Z')) disable_z();
  4302. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  4303. if (code_seen('E')) {
  4304. disable_e0();
  4305. disable_e1();
  4306. disable_e2();
  4307. disable_e3();
  4308. }
  4309. #endif
  4310. }
  4311. }
  4312. }
  4313. /**
  4314. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  4315. */
  4316. inline void gcode_M85() {
  4317. if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
  4318. }
  4319. /**
  4320. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  4321. * (Follows the same syntax as G92)
  4322. */
  4323. inline void gcode_M92() {
  4324. LOOP_XYZE(i) {
  4325. if (code_seen(axis_codes[i])) {
  4326. if (i == E_AXIS) {
  4327. float value = code_value_per_axis_unit(i);
  4328. if (value < 20.0) {
  4329. float factor = planner.axis_steps_per_mm[i] / value; // increase e constants if M92 E14 is given for netfab.
  4330. planner.max_e_jerk *= factor;
  4331. planner.max_feedrate_mm_s[i] *= factor;
  4332. planner.max_acceleration_steps_per_s2[i] *= factor;
  4333. }
  4334. planner.axis_steps_per_mm[i] = value;
  4335. }
  4336. else {
  4337. planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
  4338. }
  4339. }
  4340. }
  4341. planner.refresh_positioning();
  4342. }
  4343. /**
  4344. * Output the current position to serial
  4345. */
  4346. static void report_current_position() {
  4347. SERIAL_PROTOCOLPGM("X:");
  4348. SERIAL_PROTOCOL(current_position[X_AXIS]);
  4349. SERIAL_PROTOCOLPGM(" Y:");
  4350. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  4351. SERIAL_PROTOCOLPGM(" Z:");
  4352. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  4353. SERIAL_PROTOCOLPGM(" E:");
  4354. SERIAL_PROTOCOL(current_position[E_AXIS]);
  4355. stepper.report_positions();
  4356. #if IS_SCARA
  4357. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_mm(A_AXIS));
  4358. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_mm(B_AXIS));
  4359. SERIAL_EOL;
  4360. #endif
  4361. }
  4362. /**
  4363. * M114: Output current position to serial port
  4364. */
  4365. inline void gcode_M114() { report_current_position(); }
  4366. /**
  4367. * M115: Capabilities string
  4368. */
  4369. inline void gcode_M115() {
  4370. SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
  4371. }
  4372. /**
  4373. * M117: Set LCD Status Message
  4374. */
  4375. inline void gcode_M117() {
  4376. lcd_setstatus(current_command_args);
  4377. }
  4378. /**
  4379. * M119: Output endstop states to serial output
  4380. */
  4381. inline void gcode_M119() { endstops.M119(); }
  4382. /**
  4383. * M120: Enable endstops and set non-homing endstop state to "enabled"
  4384. */
  4385. inline void gcode_M120() { endstops.enable_globally(true); }
  4386. /**
  4387. * M121: Disable endstops and set non-homing endstop state to "disabled"
  4388. */
  4389. inline void gcode_M121() { endstops.enable_globally(false); }
  4390. #if ENABLED(BLINKM)
  4391. /**
  4392. * M150: Set Status LED Color - Use R-U-B for R-G-B
  4393. */
  4394. inline void gcode_M150() {
  4395. SendColors(
  4396. code_seen('R') ? code_value_byte() : 0,
  4397. code_seen('U') ? code_value_byte() : 0,
  4398. code_seen('B') ? code_value_byte() : 0
  4399. );
  4400. }
  4401. #endif // BLINKM
  4402. #if ENABLED(EXPERIMENTAL_I2CBUS)
  4403. /**
  4404. * M155: Send data to a I2C slave device
  4405. *
  4406. * This is a PoC, the formating and arguments for the GCODE will
  4407. * change to be more compatible, the current proposal is:
  4408. *
  4409. * M155 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  4410. *
  4411. * M155 B<byte-1 value in base 10>
  4412. * M155 B<byte-2 value in base 10>
  4413. * M155 B<byte-3 value in base 10>
  4414. *
  4415. * M155 S1 ; Send the buffered data and reset the buffer
  4416. * M155 R1 ; Reset the buffer without sending data
  4417. *
  4418. */
  4419. inline void gcode_M155() {
  4420. // Set the target address
  4421. if (code_seen('A')) i2c.address(code_value_byte());
  4422. // Add a new byte to the buffer
  4423. if (code_seen('B')) i2c.addbyte(code_value_byte());
  4424. // Flush the buffer to the bus
  4425. if (code_seen('S')) i2c.send();
  4426. // Reset and rewind the buffer
  4427. else if (code_seen('R')) i2c.reset();
  4428. }
  4429. /**
  4430. * M156: Request X bytes from I2C slave device
  4431. *
  4432. * Usage: M156 A<slave device address base 10> B<number of bytes>
  4433. */
  4434. inline void gcode_M156() {
  4435. if (code_seen('A')) i2c.address(code_value_byte());
  4436. uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  4437. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  4438. i2c.relay(bytes);
  4439. }
  4440. else {
  4441. SERIAL_ERROR_START;
  4442. SERIAL_ERRORLN("Bad i2c request");
  4443. }
  4444. }
  4445. #endif // EXPERIMENTAL_I2CBUS
  4446. /**
  4447. * M200: Set filament diameter and set E axis units to cubic units
  4448. *
  4449. * T<extruder> - Optional extruder number. Current extruder if omitted.
  4450. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  4451. */
  4452. inline void gcode_M200() {
  4453. if (get_target_extruder_from_command(200)) return;
  4454. if (code_seen('D')) {
  4455. // setting any extruder filament size disables volumetric on the assumption that
  4456. // slicers either generate in extruder values as cubic mm or as as filament feeds
  4457. // for all extruders
  4458. volumetric_enabled = (code_value_linear_units() != 0.0);
  4459. if (volumetric_enabled) {
  4460. filament_size[target_extruder] = code_value_linear_units();
  4461. // make sure all extruders have some sane value for the filament size
  4462. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  4463. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  4464. }
  4465. }
  4466. else {
  4467. //reserved for setting filament diameter via UFID or filament measuring device
  4468. return;
  4469. }
  4470. calculate_volumetric_multipliers();
  4471. }
  4472. /**
  4473. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  4474. */
  4475. inline void gcode_M201() {
  4476. LOOP_XYZE(i) {
  4477. if (code_seen(axis_codes[i])) {
  4478. planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
  4479. }
  4480. }
  4481. // 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)
  4482. planner.reset_acceleration_rates();
  4483. }
  4484. #if 0 // Not used for Sprinter/grbl gen6
  4485. inline void gcode_M202() {
  4486. LOOP_XYZE(i) {
  4487. if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
  4488. }
  4489. }
  4490. #endif
  4491. /**
  4492. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  4493. */
  4494. inline void gcode_M203() {
  4495. LOOP_XYZE(i)
  4496. if (code_seen(axis_codes[i]))
  4497. planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
  4498. }
  4499. /**
  4500. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  4501. *
  4502. * P = Printing moves
  4503. * R = Retract only (no X, Y, Z) moves
  4504. * T = Travel (non printing) moves
  4505. *
  4506. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  4507. */
  4508. inline void gcode_M204() {
  4509. if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  4510. planner.travel_acceleration = planner.acceleration = code_value_linear_units();
  4511. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  4512. }
  4513. if (code_seen('P')) {
  4514. planner.acceleration = code_value_linear_units();
  4515. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  4516. }
  4517. if (code_seen('R')) {
  4518. planner.retract_acceleration = code_value_linear_units();
  4519. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  4520. }
  4521. if (code_seen('T')) {
  4522. planner.travel_acceleration = code_value_linear_units();
  4523. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  4524. }
  4525. }
  4526. /**
  4527. * M205: Set Advanced Settings
  4528. *
  4529. * S = Min Feed Rate (units/s)
  4530. * T = Min Travel Feed Rate (units/s)
  4531. * B = Min Segment Time (µs)
  4532. * X = Max XY Jerk (units/sec^2)
  4533. * Z = Max Z Jerk (units/sec^2)
  4534. * E = Max E Jerk (units/sec^2)
  4535. */
  4536. inline void gcode_M205() {
  4537. if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
  4538. if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
  4539. if (code_seen('B')) planner.min_segment_time = code_value_millis();
  4540. if (code_seen('X')) planner.max_xy_jerk = code_value_linear_units();
  4541. if (code_seen('Z')) planner.max_z_jerk = code_value_axis_units(Z_AXIS);
  4542. if (code_seen('E')) planner.max_e_jerk = code_value_axis_units(E_AXIS);
  4543. }
  4544. /**
  4545. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  4546. */
  4547. inline void gcode_M206() {
  4548. LOOP_XYZ(i)
  4549. if (code_seen(axis_codes[i]))
  4550. set_home_offset((AxisEnum)i, code_value_axis_units(i));
  4551. #if ENABLED(MORGAN_SCARA)
  4552. if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
  4553. if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
  4554. #endif
  4555. SYNC_PLAN_POSITION_KINEMATIC();
  4556. report_current_position();
  4557. }
  4558. #if ENABLED(DELTA)
  4559. /**
  4560. * M665: Set delta configurations
  4561. *
  4562. * L = diagonal rod
  4563. * R = delta radius
  4564. * S = segments per second
  4565. * A = Alpha (Tower 1) diagonal rod trim
  4566. * B = Beta (Tower 2) diagonal rod trim
  4567. * C = Gamma (Tower 3) diagonal rod trim
  4568. */
  4569. inline void gcode_M665() {
  4570. if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
  4571. if (code_seen('R')) delta_radius = code_value_linear_units();
  4572. if (code_seen('S')) delta_segments_per_second = code_value_float();
  4573. if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
  4574. if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
  4575. if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
  4576. recalc_delta_settings(delta_radius, delta_diagonal_rod);
  4577. }
  4578. /**
  4579. * M666: Set delta endstop adjustment
  4580. */
  4581. inline void gcode_M666() {
  4582. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4583. if (DEBUGGING(LEVELING)) {
  4584. SERIAL_ECHOLNPGM(">>> gcode_M666");
  4585. }
  4586. #endif
  4587. LOOP_XYZ(i) {
  4588. if (code_seen(axis_codes[i])) {
  4589. endstop_adj[i] = code_value_axis_units(i);
  4590. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4591. if (DEBUGGING(LEVELING)) {
  4592. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  4593. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  4594. }
  4595. #endif
  4596. }
  4597. }
  4598. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4599. if (DEBUGGING(LEVELING)) {
  4600. SERIAL_ECHOLNPGM("<<< gcode_M666");
  4601. }
  4602. #endif
  4603. }
  4604. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  4605. /**
  4606. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  4607. */
  4608. inline void gcode_M666() {
  4609. if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
  4610. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  4611. }
  4612. #endif // !DELTA && Z_DUAL_ENDSTOPS
  4613. #if ENABLED(FWRETRACT)
  4614. /**
  4615. * M207: Set firmware retraction values
  4616. *
  4617. * S[+units] retract_length
  4618. * W[+units] retract_length_swap (multi-extruder)
  4619. * F[units/min] retract_feedrate_mm_s
  4620. * Z[units] retract_zlift
  4621. */
  4622. inline void gcode_M207() {
  4623. if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
  4624. if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4625. if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
  4626. #if EXTRUDERS > 1
  4627. if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
  4628. #endif
  4629. }
  4630. /**
  4631. * M208: Set firmware un-retraction values
  4632. *
  4633. * S[+units] retract_recover_length (in addition to M207 S*)
  4634. * W[+units] retract_recover_length_swap (multi-extruder)
  4635. * F[units/min] retract_recover_feedrate_mm_s
  4636. */
  4637. inline void gcode_M208() {
  4638. if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
  4639. if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
  4640. #if EXTRUDERS > 1
  4641. if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
  4642. #endif
  4643. }
  4644. /**
  4645. * M209: Enable automatic retract (M209 S1)
  4646. * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
  4647. */
  4648. inline void gcode_M209() {
  4649. if (code_seen('S')) {
  4650. autoretract_enabled = code_value_bool();
  4651. for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  4652. }
  4653. }
  4654. #endif // FWRETRACT
  4655. /**
  4656. * M211: Enable, Disable, and/or Report software endstops
  4657. *
  4658. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  4659. */
  4660. inline void gcode_M211() {
  4661. SERIAL_ECHO_START;
  4662. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4663. if (code_seen('S')) soft_endstops_enabled = code_value_bool();
  4664. #endif
  4665. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  4666. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  4667. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  4668. #else
  4669. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  4670. SERIAL_ECHOPGM(MSG_OFF);
  4671. #endif
  4672. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  4673. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  4674. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  4675. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  4676. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  4677. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  4678. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  4679. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  4680. }
  4681. #if HOTENDS > 1
  4682. /**
  4683. * M218 - set hotend offset (in linear units)
  4684. *
  4685. * T<tool>
  4686. * X<xoffset>
  4687. * Y<yoffset>
  4688. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
  4689. */
  4690. inline void gcode_M218() {
  4691. if (get_target_extruder_from_command(218)) return;
  4692. if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
  4693. if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  4694. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4695. if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
  4696. #endif
  4697. SERIAL_ECHO_START;
  4698. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  4699. HOTEND_LOOP() {
  4700. SERIAL_CHAR(' ');
  4701. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  4702. SERIAL_CHAR(',');
  4703. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  4704. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
  4705. SERIAL_CHAR(',');
  4706. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  4707. #endif
  4708. }
  4709. SERIAL_EOL;
  4710. }
  4711. #endif // HOTENDS > 1
  4712. /**
  4713. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  4714. */
  4715. inline void gcode_M220() {
  4716. if (code_seen('S')) feedrate_percentage = code_value_int();
  4717. }
  4718. /**
  4719. * M221: Set extrusion percentage (M221 T0 S95)
  4720. */
  4721. inline void gcode_M221() {
  4722. if (get_target_extruder_from_command(221)) return;
  4723. if (code_seen('S'))
  4724. flow_percentage[target_extruder] = code_value_int();
  4725. }
  4726. /**
  4727. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  4728. */
  4729. inline void gcode_M226() {
  4730. if (code_seen('P')) {
  4731. int pin_number = code_value_int();
  4732. int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
  4733. if (pin_state >= -1 && pin_state <= 1) {
  4734. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
  4735. if (sensitive_pins[i] == pin_number) {
  4736. pin_number = -1;
  4737. break;
  4738. }
  4739. }
  4740. if (pin_number > -1) {
  4741. int target = LOW;
  4742. stepper.synchronize();
  4743. pinMode(pin_number, INPUT);
  4744. switch (pin_state) {
  4745. case 1:
  4746. target = HIGH;
  4747. break;
  4748. case 0:
  4749. target = LOW;
  4750. break;
  4751. case -1:
  4752. target = !digitalRead(pin_number);
  4753. break;
  4754. }
  4755. while (digitalRead(pin_number) != target) idle();
  4756. } // pin_number > -1
  4757. } // pin_state -1 0 1
  4758. } // code_seen('P')
  4759. }
  4760. #if HAS_SERVOS
  4761. /**
  4762. * M280: Get or set servo position. P<index> [S<angle>]
  4763. */
  4764. inline void gcode_M280() {
  4765. if (!code_seen('P')) return;
  4766. int servo_index = code_value_int();
  4767. if (servo_index >= 0 && servo_index < NUM_SERVOS) {
  4768. if (code_seen('S'))
  4769. MOVE_SERVO(servo_index, code_value_int());
  4770. else {
  4771. SERIAL_ECHO_START;
  4772. SERIAL_ECHOPAIR(" Servo ", servo_index);
  4773. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  4774. }
  4775. }
  4776. else {
  4777. SERIAL_ERROR_START;
  4778. SERIAL_ECHOPAIR("Servo ", servo_index);
  4779. SERIAL_ECHOLNPGM(" out of range");
  4780. }
  4781. }
  4782. #endif // HAS_SERVOS
  4783. #if HAS_BUZZER
  4784. /**
  4785. * M300: Play beep sound S<frequency Hz> P<duration ms>
  4786. */
  4787. inline void gcode_M300() {
  4788. uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
  4789. uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  4790. // Limits the tone duration to 0-5 seconds.
  4791. NOMORE(duration, 5000);
  4792. BUZZ(duration, frequency);
  4793. }
  4794. #endif // HAS_BUZZER
  4795. #if ENABLED(PIDTEMP)
  4796. /**
  4797. * M301: Set PID parameters P I D (and optionally C, L)
  4798. *
  4799. * P[float] Kp term
  4800. * I[float] Ki term (unscaled)
  4801. * D[float] Kd term (unscaled)
  4802. *
  4803. * With PID_EXTRUSION_SCALING:
  4804. *
  4805. * C[float] Kc term
  4806. * L[float] LPQ length
  4807. */
  4808. inline void gcode_M301() {
  4809. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  4810. // default behaviour (omitting E parameter) is to update for extruder 0 only
  4811. int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  4812. if (e < HOTENDS) { // catch bad input value
  4813. if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
  4814. if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
  4815. if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
  4816. #if ENABLED(PID_EXTRUSION_SCALING)
  4817. if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
  4818. if (code_seen('L')) lpq_len = code_value_float();
  4819. NOMORE(lpq_len, LPQ_MAX_LEN);
  4820. #endif
  4821. thermalManager.updatePID();
  4822. SERIAL_ECHO_START;
  4823. #if ENABLED(PID_PARAMS_PER_HOTEND)
  4824. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  4825. #endif // PID_PARAMS_PER_HOTEND
  4826. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  4827. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  4828. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  4829. #if ENABLED(PID_EXTRUSION_SCALING)
  4830. //Kc does not have scaling applied above, or in resetting defaults
  4831. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  4832. #endif
  4833. SERIAL_EOL;
  4834. }
  4835. else {
  4836. SERIAL_ERROR_START;
  4837. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  4838. }
  4839. }
  4840. #endif // PIDTEMP
  4841. #if ENABLED(PIDTEMPBED)
  4842. inline void gcode_M304() {
  4843. if (code_seen('P')) thermalManager.bedKp = code_value_float();
  4844. if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
  4845. if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  4846. thermalManager.updatePID();
  4847. SERIAL_ECHO_START;
  4848. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  4849. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  4850. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  4851. }
  4852. #endif // PIDTEMPBED
  4853. #if defined(CHDK) || HAS_PHOTOGRAPH
  4854. /**
  4855. * M240: Trigger a camera by emulating a Canon RC-1
  4856. * See http://www.doc-diy.net/photo/rc-1_hacked/
  4857. */
  4858. inline void gcode_M240() {
  4859. #ifdef CHDK
  4860. OUT_WRITE(CHDK, HIGH);
  4861. chdkHigh = millis();
  4862. chdkActive = true;
  4863. #elif HAS_PHOTOGRAPH
  4864. const uint8_t NUM_PULSES = 16;
  4865. const float PULSE_LENGTH = 0.01524;
  4866. for (int i = 0; i < NUM_PULSES; i++) {
  4867. WRITE(PHOTOGRAPH_PIN, HIGH);
  4868. _delay_ms(PULSE_LENGTH);
  4869. WRITE(PHOTOGRAPH_PIN, LOW);
  4870. _delay_ms(PULSE_LENGTH);
  4871. }
  4872. delay(7.33);
  4873. for (int i = 0; i < NUM_PULSES; i++) {
  4874. WRITE(PHOTOGRAPH_PIN, HIGH);
  4875. _delay_ms(PULSE_LENGTH);
  4876. WRITE(PHOTOGRAPH_PIN, LOW);
  4877. _delay_ms(PULSE_LENGTH);
  4878. }
  4879. #endif // !CHDK && HAS_PHOTOGRAPH
  4880. }
  4881. #endif // CHDK || PHOTOGRAPH_PIN
  4882. #if HAS_LCD_CONTRAST
  4883. /**
  4884. * M250: Read and optionally set the LCD contrast
  4885. */
  4886. inline void gcode_M250() {
  4887. if (code_seen('C')) set_lcd_contrast(code_value_int());
  4888. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  4889. SERIAL_PROTOCOL(lcd_contrast);
  4890. SERIAL_EOL;
  4891. }
  4892. #endif // HAS_LCD_CONTRAST
  4893. #if ENABLED(PREVENT_COLD_EXTRUSION)
  4894. /**
  4895. * M302: Allow cold extrudes, or set the minimum extrude temperature
  4896. *
  4897. * S<temperature> sets the minimum extrude temperature
  4898. * P<bool> enables (1) or disables (0) cold extrusion
  4899. *
  4900. * Examples:
  4901. *
  4902. * M302 ; report current cold extrusion state
  4903. * M302 P0 ; enable cold extrusion checking
  4904. * M302 P1 ; disables cold extrusion checking
  4905. * M302 S0 ; always allow extrusion (disables checking)
  4906. * M302 S170 ; only allow extrusion above 170
  4907. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  4908. */
  4909. inline void gcode_M302() {
  4910. bool seen_S = code_seen('S');
  4911. if (seen_S) {
  4912. thermalManager.extrude_min_temp = code_value_temp_abs();
  4913. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  4914. }
  4915. if (code_seen('P'))
  4916. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
  4917. else if (!seen_S) {
  4918. // Report current state
  4919. SERIAL_ECHO_START;
  4920. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  4921. SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
  4922. SERIAL_ECHOLNPGM("C)");
  4923. }
  4924. }
  4925. #endif // PREVENT_COLD_EXTRUSION
  4926. /**
  4927. * M303: PID relay autotune
  4928. *
  4929. * S<temperature> sets the target temperature. (default 150C)
  4930. * E<extruder> (-1 for the bed) (default 0)
  4931. * C<cycles>
  4932. * U<bool> with a non-zero value will apply the result to current settings
  4933. */
  4934. inline void gcode_M303() {
  4935. #if HAS_PID_HEATING
  4936. int e = code_seen('E') ? code_value_int() : 0;
  4937. int c = code_seen('C') ? code_value_int() : 5;
  4938. bool u = code_seen('U') && code_value_bool();
  4939. float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  4940. if (e >= 0 && e < HOTENDS)
  4941. target_extruder = e;
  4942. KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  4943. thermalManager.PID_autotune(temp, e, c, u);
  4944. KEEPALIVE_STATE(IN_HANDLER);
  4945. #else
  4946. SERIAL_ERROR_START;
  4947. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  4948. #endif
  4949. }
  4950. #if ENABLED(MORGAN_SCARA)
  4951. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  4952. if (IsRunning()) {
  4953. forward_kinematics_SCARA(delta_a, delta_b);
  4954. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  4955. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  4956. destination[Z_AXIS] = current_position[Z_AXIS];
  4957. prepare_move_to_destination();
  4958. return true;
  4959. }
  4960. return false;
  4961. }
  4962. /**
  4963. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  4964. */
  4965. inline bool gcode_M360() {
  4966. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  4967. return SCARA_move_to_cal(0, 120);
  4968. }
  4969. /**
  4970. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  4971. */
  4972. inline bool gcode_M361() {
  4973. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  4974. return SCARA_move_to_cal(90, 130);
  4975. }
  4976. /**
  4977. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  4978. */
  4979. inline bool gcode_M362() {
  4980. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  4981. return SCARA_move_to_cal(60, 180);
  4982. }
  4983. /**
  4984. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  4985. */
  4986. inline bool gcode_M363() {
  4987. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  4988. return SCARA_move_to_cal(50, 90);
  4989. }
  4990. /**
  4991. * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  4992. */
  4993. inline bool gcode_M364() {
  4994. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  4995. return SCARA_move_to_cal(45, 135);
  4996. }
  4997. #endif // SCARA
  4998. #if ENABLED(EXT_SOLENOID)
  4999. void enable_solenoid(uint8_t num) {
  5000. switch (num) {
  5001. case 0:
  5002. OUT_WRITE(SOL0_PIN, HIGH);
  5003. break;
  5004. #if HAS_SOLENOID_1
  5005. case 1:
  5006. OUT_WRITE(SOL1_PIN, HIGH);
  5007. break;
  5008. #endif
  5009. #if HAS_SOLENOID_2
  5010. case 2:
  5011. OUT_WRITE(SOL2_PIN, HIGH);
  5012. break;
  5013. #endif
  5014. #if HAS_SOLENOID_3
  5015. case 3:
  5016. OUT_WRITE(SOL3_PIN, HIGH);
  5017. break;
  5018. #endif
  5019. default:
  5020. SERIAL_ECHO_START;
  5021. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  5022. break;
  5023. }
  5024. }
  5025. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  5026. void disable_all_solenoids() {
  5027. OUT_WRITE(SOL0_PIN, LOW);
  5028. OUT_WRITE(SOL1_PIN, LOW);
  5029. OUT_WRITE(SOL2_PIN, LOW);
  5030. OUT_WRITE(SOL3_PIN, LOW);
  5031. }
  5032. /**
  5033. * M380: Enable solenoid on the active extruder
  5034. */
  5035. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  5036. /**
  5037. * M381: Disable all solenoids
  5038. */
  5039. inline void gcode_M381() { disable_all_solenoids(); }
  5040. #endif // EXT_SOLENOID
  5041. /**
  5042. * M400: Finish all moves
  5043. */
  5044. inline void gcode_M400() { stepper.synchronize(); }
  5045. #if HAS_BED_PROBE
  5046. /**
  5047. * M401: Engage Z Servo endstop if available
  5048. */
  5049. inline void gcode_M401() { DEPLOY_PROBE(); }
  5050. /**
  5051. * M402: Retract Z Servo endstop if enabled
  5052. */
  5053. inline void gcode_M402() { STOW_PROBE(); }
  5054. #endif // HAS_BED_PROBE
  5055. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  5056. /**
  5057. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  5058. */
  5059. inline void gcode_M404() {
  5060. if (code_seen('W')) {
  5061. filament_width_nominal = code_value_linear_units();
  5062. }
  5063. else {
  5064. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  5065. SERIAL_PROTOCOLLN(filament_width_nominal);
  5066. }
  5067. }
  5068. /**
  5069. * M405: Turn on filament sensor for control
  5070. */
  5071. inline void gcode_M405() {
  5072. // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
  5073. // everything else, it uses code_value_int() instead of code_value_linear_units().
  5074. if (code_seen('D')) meas_delay_cm = code_value_int();
  5075. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  5076. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  5077. int temp_ratio = thermalManager.widthFil_to_size_ratio();
  5078. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  5079. measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
  5080. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  5081. }
  5082. filament_sensor = true;
  5083. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5084. //SERIAL_PROTOCOL(filament_width_meas);
  5085. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  5086. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  5087. }
  5088. /**
  5089. * M406: Turn off filament sensor for control
  5090. */
  5091. inline void gcode_M406() { filament_sensor = false; }
  5092. /**
  5093. * M407: Get measured filament diameter on serial output
  5094. */
  5095. inline void gcode_M407() {
  5096. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  5097. SERIAL_PROTOCOLLN(filament_width_meas);
  5098. }
  5099. #endif // FILAMENT_WIDTH_SENSOR
  5100. void quickstop_stepper() {
  5101. stepper.quick_stop();
  5102. stepper.synchronize();
  5103. set_current_from_steppers_for_axis(ALL_AXES);
  5104. SYNC_PLAN_POSITION_KINEMATIC();
  5105. }
  5106. #if ENABLED(MESH_BED_LEVELING)
  5107. /**
  5108. * M420: Enable/Disable Mesh Bed Leveling
  5109. */
  5110. inline void gcode_M420() { if (code_seen('S')) mbl.set_has_mesh(code_value_bool()); }
  5111. /**
  5112. * M421: Set a single Mesh Bed Leveling Z coordinate
  5113. * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
  5114. */
  5115. inline void gcode_M421() {
  5116. int8_t px = 0, py = 0;
  5117. float z = 0;
  5118. bool hasX, hasY, hasZ, hasI, hasJ;
  5119. if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
  5120. if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
  5121. if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
  5122. if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
  5123. if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  5124. if (hasX && hasY && hasZ) {
  5125. if (px >= 0 && py >= 0)
  5126. mbl.set_z(px, py, z);
  5127. else {
  5128. SERIAL_ERROR_START;
  5129. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5130. }
  5131. }
  5132. else if (hasI && hasJ && hasZ) {
  5133. if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
  5134. mbl.set_z(px, py, z);
  5135. else {
  5136. SERIAL_ERROR_START;
  5137. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  5138. }
  5139. }
  5140. else {
  5141. SERIAL_ERROR_START;
  5142. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  5143. }
  5144. }
  5145. #endif
  5146. /**
  5147. * M428: Set home_offset based on the distance between the
  5148. * current_position and the nearest "reference point."
  5149. * If an axis is past center its endstop position
  5150. * is the reference-point. Otherwise it uses 0. This allows
  5151. * the Z offset to be set near the bed when using a max endstop.
  5152. *
  5153. * M428 can't be used more than 2cm away from 0 or an endstop.
  5154. *
  5155. * Use M206 to set these values directly.
  5156. */
  5157. inline void gcode_M428() {
  5158. bool err = false;
  5159. LOOP_XYZ(i) {
  5160. if (axis_homed[i]) {
  5161. float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
  5162. diff = current_position[i] - LOGICAL_POSITION(base, i);
  5163. if (diff > -20 && diff < 20) {
  5164. set_home_offset((AxisEnum)i, home_offset[i] - diff);
  5165. }
  5166. else {
  5167. SERIAL_ERROR_START;
  5168. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  5169. LCD_ALERTMESSAGEPGM("Err: Too far!");
  5170. BUZZ(200, 40);
  5171. err = true;
  5172. break;
  5173. }
  5174. }
  5175. }
  5176. if (!err) {
  5177. SYNC_PLAN_POSITION_KINEMATIC();
  5178. report_current_position();
  5179. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  5180. BUZZ(200, 659);
  5181. BUZZ(200, 698);
  5182. }
  5183. }
  5184. /**
  5185. * M500: Store settings in EEPROM
  5186. */
  5187. inline void gcode_M500() {
  5188. Config_StoreSettings();
  5189. }
  5190. /**
  5191. * M501: Read settings from EEPROM
  5192. */
  5193. inline void gcode_M501() {
  5194. Config_RetrieveSettings();
  5195. }
  5196. /**
  5197. * M502: Revert to default settings
  5198. */
  5199. inline void gcode_M502() {
  5200. Config_ResetDefault();
  5201. }
  5202. /**
  5203. * M503: print settings currently in memory
  5204. */
  5205. inline void gcode_M503() {
  5206. Config_PrintSettings(code_seen('S') && !code_value_bool());
  5207. }
  5208. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  5209. /**
  5210. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  5211. */
  5212. inline void gcode_M540() {
  5213. if (code_seen('S')) stepper.abort_on_endstop_hit = code_value_bool();
  5214. }
  5215. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  5216. #if HAS_BED_PROBE
  5217. inline void gcode_M851() {
  5218. SERIAL_ECHO_START;
  5219. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
  5220. SERIAL_CHAR(' ');
  5221. if (code_seen('Z')) {
  5222. float value = code_value_axis_units(Z_AXIS);
  5223. if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
  5224. zprobe_zoffset = value;
  5225. SERIAL_ECHO(zprobe_zoffset);
  5226. }
  5227. else {
  5228. SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
  5229. SERIAL_CHAR(' ');
  5230. SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
  5231. }
  5232. }
  5233. else {
  5234. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  5235. }
  5236. SERIAL_EOL;
  5237. }
  5238. #endif // HAS_BED_PROBE
  5239. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  5240. /**
  5241. * M600: Pause for filament change
  5242. *
  5243. * E[distance] - Retract the filament this far (negative value)
  5244. * Z[distance] - Move the Z axis by this distance
  5245. * X[position] - Move to this X position, with Y
  5246. * Y[position] - Move to this Y position, with X
  5247. * L[distance] - Retract distance for removal (manual reload)
  5248. *
  5249. * Default values are used for omitted arguments.
  5250. *
  5251. */
  5252. inline void gcode_M600() {
  5253. if (thermalManager.tooColdToExtrude(active_extruder)) {
  5254. SERIAL_ERROR_START;
  5255. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5256. return;
  5257. }
  5258. // Show initial message and wait for synchronize steppers
  5259. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
  5260. stepper.synchronize();
  5261. float lastpos[NUM_AXIS];
  5262. // Save current position of all axes
  5263. LOOP_XYZE(i)
  5264. lastpos[i] = destination[i] = current_position[i];
  5265. // Define runplan for move axes
  5266. #if IS_KINEMATIC
  5267. #define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
  5268. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
  5269. #else
  5270. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
  5271. #endif
  5272. KEEPALIVE_STATE(IN_HANDLER);
  5273. // Initial retract before move to filament change position
  5274. if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5275. #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
  5276. else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
  5277. #endif
  5278. RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  5279. // Lift Z axis
  5280. float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
  5281. #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
  5282. FILAMENT_CHANGE_Z_ADD
  5283. #else
  5284. 0
  5285. #endif
  5286. ;
  5287. if (z_lift > 0) {
  5288. destination[Z_AXIS] += z_lift;
  5289. NOMORE(destination[Z_AXIS], Z_MAX_POS);
  5290. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5291. }
  5292. // Move XY axes to filament exchange position
  5293. if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
  5294. #ifdef FILAMENT_CHANGE_X_POS
  5295. else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
  5296. #endif
  5297. if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
  5298. #ifdef FILAMENT_CHANGE_Y_POS
  5299. else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
  5300. #endif
  5301. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5302. stepper.synchronize();
  5303. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  5304. // Unload filament
  5305. if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
  5306. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  5307. else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
  5308. #endif
  5309. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5310. // Synchronize steppers and then disable extruders steppers for manual filament changing
  5311. stepper.synchronize();
  5312. disable_e0();
  5313. disable_e1();
  5314. disable_e2();
  5315. disable_e3();
  5316. delay(100);
  5317. #if HAS_BUZZER
  5318. millis_t next_tick = 0;
  5319. #endif
  5320. // Wait for filament insert by user and press button
  5321. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  5322. while (!lcd_clicked()) {
  5323. #if HAS_BUZZER
  5324. millis_t ms = millis();
  5325. if (ms >= next_tick) {
  5326. BUZZ(300, 2000);
  5327. next_tick = ms + 2500; // Beep every 2.5s while waiting
  5328. }
  5329. #endif
  5330. idle(true);
  5331. }
  5332. delay(100);
  5333. while (lcd_clicked()) idle(true);
  5334. delay(100);
  5335. // Show load message
  5336. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  5337. // Load filament
  5338. if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
  5339. #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
  5340. else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
  5341. #endif
  5342. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5343. stepper.synchronize();
  5344. #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
  5345. do {
  5346. // Extrude filament to get into hotend
  5347. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
  5348. destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
  5349. RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
  5350. stepper.synchronize();
  5351. // Ask user if more filament should be extruded
  5352. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5353. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
  5354. while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
  5355. KEEPALIVE_STATE(IN_HANDLER);
  5356. } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
  5357. #endif
  5358. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  5359. KEEPALIVE_STATE(IN_HANDLER);
  5360. // Set extruder to saved position
  5361. current_position[E_AXIS] = lastpos[E_AXIS];
  5362. destination[E_AXIS] = lastpos[E_AXIS];
  5363. planner.set_e_position_mm(current_position[E_AXIS]);
  5364. #if IS_KINEMATIC
  5365. // Move XYZ to starting position, then E
  5366. inverse_kinematics(lastpos);
  5367. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5368. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
  5369. #else
  5370. // Move XY to starting position, then Z, then E
  5371. destination[X_AXIS] = lastpos[X_AXIS];
  5372. destination[Y_AXIS] = lastpos[Y_AXIS];
  5373. RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  5374. destination[Z_AXIS] = lastpos[Z_AXIS];
  5375. RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
  5376. #endif
  5377. stepper.synchronize();
  5378. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5379. filament_ran_out = false;
  5380. #endif
  5381. // Show status screen
  5382. lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
  5383. }
  5384. #endif // FILAMENT_CHANGE_FEATURE
  5385. #if ENABLED(DUAL_X_CARRIAGE)
  5386. /**
  5387. * M605: Set dual x-carriage movement mode
  5388. *
  5389. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  5390. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  5391. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  5392. * units x-offset and an optional differential hotend temperature of
  5393. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  5394. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  5395. *
  5396. * Note: the X axis should be homed after changing dual x-carriage mode.
  5397. */
  5398. inline void gcode_M605() {
  5399. stepper.synchronize();
  5400. if (code_seen('S')) dual_x_carriage_mode = code_value_byte();
  5401. switch (dual_x_carriage_mode) {
  5402. case DXC_DUPLICATION_MODE:
  5403. if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
  5404. if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
  5405. SERIAL_ECHO_START;
  5406. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  5407. SERIAL_CHAR(' ');
  5408. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  5409. SERIAL_CHAR(',');
  5410. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  5411. SERIAL_CHAR(' ');
  5412. SERIAL_ECHO(duplicate_extruder_x_offset);
  5413. SERIAL_CHAR(',');
  5414. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  5415. break;
  5416. case DXC_FULL_CONTROL_MODE:
  5417. case DXC_AUTO_PARK_MODE:
  5418. break;
  5419. default:
  5420. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  5421. break;
  5422. }
  5423. active_extruder_parked = false;
  5424. extruder_duplication_enabled = false;
  5425. delayed_move_time = 0;
  5426. }
  5427. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  5428. inline void gcode_M605() {
  5429. stepper.synchronize();
  5430. extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
  5431. SERIAL_ECHO_START;
  5432. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  5433. }
  5434. #endif // M605
  5435. #if ENABLED(LIN_ADVANCE)
  5436. /**
  5437. * M905: Set advance factor
  5438. */
  5439. inline void gcode_M905() {
  5440. stepper.synchronize();
  5441. stepper.advance_M905(code_seen('K') ? code_value_float() : -1.0);
  5442. }
  5443. #endif
  5444. /**
  5445. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  5446. */
  5447. inline void gcode_M907() {
  5448. #if HAS_DIGIPOTSS
  5449. LOOP_XYZE(i)
  5450. if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
  5451. if (code_seen('B')) stepper.digipot_current(4, code_value_int());
  5452. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
  5453. #endif
  5454. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  5455. if (code_seen('X')) stepper.digipot_current(0, code_value_int());
  5456. #endif
  5457. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  5458. if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
  5459. #endif
  5460. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  5461. if (code_seen('E')) stepper.digipot_current(2, code_value_int());
  5462. #endif
  5463. #if ENABLED(DIGIPOT_I2C)
  5464. // this one uses actual amps in floating point
  5465. LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
  5466. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  5467. 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());
  5468. #endif
  5469. #if ENABLED(DAC_STEPPER_CURRENT)
  5470. if (code_seen('S')) {
  5471. float dac_percent = code_value_float();
  5472. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  5473. }
  5474. LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
  5475. #endif
  5476. }
  5477. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  5478. /**
  5479. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  5480. */
  5481. inline void gcode_M908() {
  5482. #if HAS_DIGIPOTSS
  5483. stepper.digitalPotWrite(
  5484. code_seen('P') ? code_value_int() : 0,
  5485. code_seen('S') ? code_value_int() : 0
  5486. );
  5487. #endif
  5488. #ifdef DAC_STEPPER_CURRENT
  5489. dac_current_raw(
  5490. code_seen('P') ? code_value_byte() : -1,
  5491. code_seen('S') ? code_value_ushort() : 0
  5492. );
  5493. #endif
  5494. }
  5495. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  5496. inline void gcode_M909() { dac_print_values(); }
  5497. inline void gcode_M910() { dac_commit_eeprom(); }
  5498. #endif
  5499. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  5500. #if HAS_MICROSTEPS
  5501. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  5502. inline void gcode_M350() {
  5503. if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
  5504. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
  5505. if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
  5506. stepper.microstep_readings();
  5507. }
  5508. /**
  5509. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  5510. * S# determines MS1 or MS2, X# sets the pin high/low.
  5511. */
  5512. inline void gcode_M351() {
  5513. if (code_seen('S')) switch (code_value_byte()) {
  5514. case 1:
  5515. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
  5516. if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
  5517. break;
  5518. case 2:
  5519. LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
  5520. if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
  5521. break;
  5522. }
  5523. stepper.microstep_readings();
  5524. }
  5525. #endif // HAS_MICROSTEPS
  5526. #if ENABLED(MIXING_EXTRUDER)
  5527. /**
  5528. * M163: Set a single mix factor for a mixing extruder
  5529. * This is called "weight" by some systems.
  5530. *
  5531. * S[index] The channel index to set
  5532. * P[float] The mix value
  5533. *
  5534. */
  5535. inline void gcode_M163() {
  5536. int mix_index = code_seen('S') ? code_value_int() : 0;
  5537. float mix_value = code_seen('P') ? code_value_float() : 0.0;
  5538. if (mix_index < MIXING_STEPPERS) mixing_factor[mix_index] = mix_value;
  5539. }
  5540. #if MIXING_VIRTUAL_TOOLS > 1
  5541. /**
  5542. * M164: Store the current mix factors as a virtual tool.
  5543. *
  5544. * S[index] The virtual tool to store
  5545. *
  5546. */
  5547. inline void gcode_M164() {
  5548. int tool_index = code_seen('S') ? code_value_int() : 0;
  5549. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  5550. normalize_mix();
  5551. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  5552. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  5553. }
  5554. }
  5555. #endif
  5556. #if ENABLED(DIRECT_MIXING_IN_G1)
  5557. /**
  5558. * M165: Set multiple mix factors for a mixing extruder.
  5559. * Factors that are left out will be set to 0.
  5560. * All factors together must add up to 1.0.
  5561. *
  5562. * A[factor] Mix factor for extruder stepper 1
  5563. * B[factor] Mix factor for extruder stepper 2
  5564. * C[factor] Mix factor for extruder stepper 3
  5565. * D[factor] Mix factor for extruder stepper 4
  5566. * H[factor] Mix factor for extruder stepper 5
  5567. * I[factor] Mix factor for extruder stepper 6
  5568. *
  5569. */
  5570. inline void gcode_M165() { gcode_get_mix(); }
  5571. #endif
  5572. #endif // MIXING_EXTRUDER
  5573. /**
  5574. * M999: Restart after being stopped
  5575. *
  5576. * Default behaviour is to flush the serial buffer and request
  5577. * a resend to the host starting on the last N line received.
  5578. *
  5579. * Sending "M999 S1" will resume printing without flushing the
  5580. * existing command buffer.
  5581. *
  5582. */
  5583. inline void gcode_M999() {
  5584. Running = true;
  5585. lcd_reset_alert_level();
  5586. if (code_seen('S') && code_value_bool()) return;
  5587. // gcode_LastN = Stopped_gcode_LastN;
  5588. FlushSerialRequestResend();
  5589. }
  5590. #if ENABLED(SWITCHING_EXTRUDER)
  5591. inline void move_extruder_servo(uint8_t e) {
  5592. const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  5593. MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
  5594. }
  5595. #endif
  5596. inline void invalid_extruder_error(const uint8_t &e) {
  5597. SERIAL_ECHO_START;
  5598. SERIAL_CHAR('T');
  5599. SERIAL_PROTOCOL_F(e, DEC);
  5600. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  5601. }
  5602. /**
  5603. * Perform a tool-change, which may result in moving the
  5604. * previous tool out of the way and the new tool into place.
  5605. */
  5606. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  5607. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  5608. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) {
  5609. invalid_extruder_error(tmp_extruder);
  5610. return;
  5611. }
  5612. // T0-Tnnn: Switch virtual tool by changing the mix
  5613. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  5614. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  5615. #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5616. #if HOTENDS > 1
  5617. if (tmp_extruder >= EXTRUDERS) {
  5618. invalid_extruder_error(tmp_extruder);
  5619. return;
  5620. }
  5621. float old_feedrate_mm_s = feedrate_mm_s;
  5622. feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S;
  5623. if (tmp_extruder != active_extruder) {
  5624. if (!no_move && axis_unhomed_error(true, true, true)) {
  5625. SERIAL_ECHOLNPGM("No move on toolchange");
  5626. no_move = true;
  5627. }
  5628. // Save current position to destination, for use later
  5629. set_destination_to_current();
  5630. #if ENABLED(DUAL_X_CARRIAGE)
  5631. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5632. if (DEBUGGING(LEVELING)) {
  5633. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  5634. switch (dual_x_carriage_mode) {
  5635. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  5636. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  5637. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  5638. }
  5639. }
  5640. #endif
  5641. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
  5642. (delayed_move_time || current_position[X_AXIS] != x_home_pos(active_extruder))
  5643. ) {
  5644. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5645. if (DEBUGGING(LEVELING)) {
  5646. SERIAL_ECHOPAIR("Raise to ", current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT); SERIAL_EOL;
  5647. SERIAL_ECHOPAIR("MoveX to ", x_home_pos(active_extruder)); SERIAL_EOL;
  5648. SERIAL_ECHOPAIR("Lower to ", current_position[Z_AXIS]); SERIAL_EOL;
  5649. }
  5650. #endif
  5651. // Park old head: 1) raise 2) move to park position 3) lower
  5652. for (uint8_t i = 0; i < 3; i++)
  5653. planner.buffer_line(
  5654. i == 0 ? current_position[X_AXIS] : x_home_pos(active_extruder),
  5655. current_position[Y_AXIS],
  5656. current_position[Z_AXIS] + (i == 2 ? 0 : TOOLCHANGE_PARK_ZLIFT),
  5657. current_position[E_AXIS],
  5658. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  5659. active_extruder
  5660. );
  5661. stepper.synchronize();
  5662. }
  5663. // apply Y & Z extruder offset (x offset is already used in determining home pos)
  5664. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  5665. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  5666. active_extruder = tmp_extruder;
  5667. // This function resets the max/min values - the current position may be overwritten below.
  5668. set_axis_is_at_home(X_AXIS);
  5669. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5670. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  5671. #endif
  5672. switch (dual_x_carriage_mode) {
  5673. case DXC_FULL_CONTROL_MODE:
  5674. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5675. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5676. break;
  5677. case DXC_DUPLICATION_MODE:
  5678. active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
  5679. if (active_extruder_parked)
  5680. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  5681. else
  5682. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  5683. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  5684. extruder_duplication_enabled = false;
  5685. break;
  5686. default:
  5687. // record raised toolhead position for use by unpark
  5688. memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
  5689. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  5690. active_extruder_parked = true;
  5691. delayed_move_time = 0;
  5692. break;
  5693. }
  5694. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5695. if (DEBUGGING(LEVELING)) {
  5696. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  5697. DEBUG_POS("New extruder (parked)", current_position);
  5698. }
  5699. #endif
  5700. // No extra case for AUTO_BED_LEVELING_FEATURE in DUAL_X_CARRIAGE. Does that mean they don't work together?
  5701. #else // !DUAL_X_CARRIAGE
  5702. #if ENABLED(SWITCHING_EXTRUDER)
  5703. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  5704. float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  5705. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  5706. // Always raise by some amount
  5707. planner.buffer_line(
  5708. current_position[X_AXIS],
  5709. current_position[Y_AXIS],
  5710. current_position[Z_AXIS] + z_raise,
  5711. current_position[E_AXIS],
  5712. planner.max_feedrate_mm_s[Z_AXIS],
  5713. active_extruder
  5714. );
  5715. stepper.synchronize();
  5716. move_extruder_servo(active_extruder);
  5717. delay(500);
  5718. // Move back down, if needed
  5719. if (z_raise != z_diff) {
  5720. planner.buffer_line(
  5721. current_position[X_AXIS],
  5722. current_position[Y_AXIS],
  5723. current_position[Z_AXIS] + z_diff,
  5724. current_position[E_AXIS],
  5725. planner.max_feedrate_mm_s[Z_AXIS],
  5726. active_extruder
  5727. );
  5728. stepper.synchronize();
  5729. }
  5730. #endif
  5731. /**
  5732. * Set current_position to the position of the new nozzle.
  5733. * Offsets are based on linear distance, so we need to get
  5734. * the resulting position in coordinate space.
  5735. *
  5736. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  5737. * - With mesh leveling, update Z for the new position
  5738. * - Otherwise, just use the raw linear distance
  5739. *
  5740. * Software endstops are altered here too. Consider a case where:
  5741. * E0 at X=0 ... E1 at X=10
  5742. * When we switch to E1 now X=10, but E1 can't move left.
  5743. * To express this we apply the change in XY to the software endstops.
  5744. * E1 can move farther right than E0, so the right limit is extended.
  5745. *
  5746. * Note that we don't adjust the Z software endstops. Why not?
  5747. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  5748. * because the bed is 1mm lower at the new position. As long as
  5749. * the first nozzle is out of the way, the carriage should be
  5750. * allowed to move 1mm lower. This technically "breaks" the
  5751. * Z software endstop. But this is technically correct (and
  5752. * there is no viable alternative).
  5753. */
  5754. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  5755. // Offset extruder, make sure to apply the bed level rotation matrix
  5756. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  5757. hotend_offset[Y_AXIS][tmp_extruder],
  5758. 0),
  5759. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  5760. hotend_offset[Y_AXIS][active_extruder],
  5761. 0),
  5762. offset_vec = tmp_offset_vec - act_offset_vec;
  5763. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5764. if (DEBUGGING(LEVELING)) {
  5765. tmp_offset_vec.debug("tmp_offset_vec");
  5766. act_offset_vec.debug("act_offset_vec");
  5767. offset_vec.debug("offset_vec (BEFORE)");
  5768. }
  5769. #endif
  5770. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  5771. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5772. if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
  5773. #endif
  5774. // Adjustments to the current position
  5775. float xydiff[2] = { offset_vec.x, offset_vec.y };
  5776. current_position[Z_AXIS] += offset_vec.z;
  5777. #else // !AUTO_BED_LEVELING_LINEAR
  5778. float xydiff[2] = {
  5779. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  5780. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  5781. };
  5782. #if ENABLED(MESH_BED_LEVELING)
  5783. if (mbl.active()) {
  5784. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5785. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  5786. #endif
  5787. float xpos = RAW_CURRENT_POSITION(X_AXIS),
  5788. ypos = RAW_CURRENT_POSITION(Y_AXIS);
  5789. current_position[Z_AXIS] += mbl.get_z(xpos + xydiff[X_AXIS], ypos + xydiff[Y_AXIS]) - mbl.get_z(xpos, ypos);
  5790. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5791. if (DEBUGGING(LEVELING))
  5792. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  5793. #endif
  5794. }
  5795. #endif // MESH_BED_LEVELING
  5796. #endif // !AUTO_BED_LEVELING_FEATURE
  5797. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5798. if (DEBUGGING(LEVELING)) {
  5799. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  5800. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  5801. SERIAL_ECHOLNPGM(" }");
  5802. }
  5803. #endif
  5804. // The newly-selected extruder XY is actually at...
  5805. current_position[X_AXIS] += xydiff[X_AXIS];
  5806. current_position[Y_AXIS] += xydiff[Y_AXIS];
  5807. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  5808. position_shift[i] += xydiff[i];
  5809. update_software_endstops((AxisEnum)i);
  5810. }
  5811. // Set the new active extruder
  5812. active_extruder = tmp_extruder;
  5813. #endif // !DUAL_X_CARRIAGE
  5814. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5815. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  5816. #endif
  5817. // Tell the planner the new "current position"
  5818. SYNC_PLAN_POSITION_KINEMATIC();
  5819. // Move to the "old position" (move the extruder into place)
  5820. if (!no_move && IsRunning()) {
  5821. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5822. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  5823. #endif
  5824. prepare_move_to_destination();
  5825. }
  5826. } // (tmp_extruder != active_extruder)
  5827. stepper.synchronize();
  5828. #if ENABLED(EXT_SOLENOID)
  5829. disable_all_solenoids();
  5830. enable_solenoid_on_active_extruder();
  5831. #endif // EXT_SOLENOID
  5832. feedrate_mm_s = old_feedrate_mm_s;
  5833. #else // HOTENDS <= 1
  5834. // Set the new active extruder
  5835. active_extruder = tmp_extruder;
  5836. UNUSED(fr_mm_s);
  5837. UNUSED(no_move);
  5838. #endif // HOTENDS <= 1
  5839. SERIAL_ECHO_START;
  5840. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  5841. #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  5842. }
  5843. /**
  5844. * T0-T3: Switch tool, usually switching extruders
  5845. *
  5846. * F[units/min] Set the movement feedrate
  5847. * S1 Don't move the tool in XY after change
  5848. */
  5849. inline void gcode_T(uint8_t tmp_extruder) {
  5850. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5851. if (DEBUGGING(LEVELING)) {
  5852. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  5853. SERIAL_ECHOLNPGM(")");
  5854. DEBUG_POS("BEFORE", current_position);
  5855. }
  5856. #endif
  5857. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  5858. tool_change(tmp_extruder);
  5859. #elif HOTENDS > 1
  5860. tool_change(
  5861. tmp_extruder,
  5862. code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
  5863. (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
  5864. );
  5865. #endif
  5866. #if ENABLED(DEBUG_LEVELING_FEATURE)
  5867. if (DEBUGGING(LEVELING)) {
  5868. DEBUG_POS("AFTER", current_position);
  5869. SERIAL_ECHOLNPGM("<<< gcode_T");
  5870. }
  5871. #endif
  5872. }
  5873. /**
  5874. * Process a single command and dispatch it to its handler
  5875. * This is called from the main loop()
  5876. */
  5877. void process_next_command() {
  5878. current_command = command_queue[cmd_queue_index_r];
  5879. if (DEBUGGING(ECHO)) {
  5880. SERIAL_ECHO_START;
  5881. SERIAL_ECHOLN(current_command);
  5882. }
  5883. // Sanitize the current command:
  5884. // - Skip leading spaces
  5885. // - Bypass N[-0-9][0-9]*[ ]*
  5886. // - Overwrite * with nul to mark the end
  5887. while (*current_command == ' ') ++current_command;
  5888. if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
  5889. current_command += 2; // skip N[-0-9]
  5890. while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
  5891. while (*current_command == ' ') ++current_command; // skip [ ]*
  5892. }
  5893. char* starpos = strchr(current_command, '*'); // * should always be the last parameter
  5894. if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  5895. char *cmd_ptr = current_command;
  5896. // Get the command code, which must be G, M, or T
  5897. char command_code = *cmd_ptr++;
  5898. // Skip spaces to get the numeric part
  5899. while (*cmd_ptr == ' ') cmd_ptr++;
  5900. uint16_t codenum = 0; // define ahead of goto
  5901. // Bail early if there's no code
  5902. bool code_is_good = NUMERIC(*cmd_ptr);
  5903. if (!code_is_good) goto ExitUnknownCommand;
  5904. // Get and skip the code number
  5905. do {
  5906. codenum = (codenum * 10) + (*cmd_ptr - '0');
  5907. cmd_ptr++;
  5908. } while (NUMERIC(*cmd_ptr));
  5909. // Skip all spaces to get to the first argument, or nul
  5910. while (*cmd_ptr == ' ') cmd_ptr++;
  5911. // The command's arguments (if any) start here, for sure!
  5912. current_command_args = cmd_ptr;
  5913. KEEPALIVE_STATE(IN_HANDLER);
  5914. // Handle a known G, M, or T
  5915. switch (command_code) {
  5916. case 'G': switch (codenum) {
  5917. // G0, G1
  5918. case 0:
  5919. case 1:
  5920. #if IS_SCARA
  5921. gcode_G0_G1(codenum == 0);
  5922. #else
  5923. gcode_G0_G1();
  5924. #endif
  5925. break;
  5926. // G2, G3
  5927. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  5928. case 2: // G2 - CW ARC
  5929. case 3: // G3 - CCW ARC
  5930. gcode_G2_G3(codenum == 2);
  5931. break;
  5932. #endif
  5933. // G4 Dwell
  5934. case 4:
  5935. gcode_G4();
  5936. break;
  5937. #if ENABLED(BEZIER_CURVE_SUPPORT)
  5938. // G5
  5939. case 5: // G5 - Cubic B_spline
  5940. gcode_G5();
  5941. break;
  5942. #endif // BEZIER_CURVE_SUPPORT
  5943. #if ENABLED(FWRETRACT)
  5944. case 10: // G10: retract
  5945. case 11: // G11: retract_recover
  5946. gcode_G10_G11(codenum == 10);
  5947. break;
  5948. #endif // FWRETRACT
  5949. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  5950. case 12:
  5951. gcode_G12(); // G12: Nozzle Clean
  5952. break;
  5953. #endif // NOZZLE_CLEAN_FEATURE
  5954. #if ENABLED(INCH_MODE_SUPPORT)
  5955. case 20: //G20: Inch Mode
  5956. gcode_G20();
  5957. break;
  5958. case 21: //G21: MM Mode
  5959. gcode_G21();
  5960. break;
  5961. #endif // INCH_MODE_SUPPORT
  5962. #if ENABLED(NOZZLE_PARK_FEATURE)
  5963. case 27: // G27: Nozzle Park
  5964. gcode_G27();
  5965. break;
  5966. #endif // NOZZLE_PARK_FEATURE
  5967. case 28: // G28: Home all axes, one at a time
  5968. gcode_G28();
  5969. break;
  5970. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  5971. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
  5972. gcode_G29();
  5973. break;
  5974. #endif // AUTO_BED_LEVELING_FEATURE
  5975. #if HAS_BED_PROBE
  5976. case 30: // G30 Single Z probe
  5977. gcode_G30();
  5978. break;
  5979. #if ENABLED(Z_PROBE_SLED)
  5980. case 31: // G31: dock the sled
  5981. gcode_G31();
  5982. break;
  5983. case 32: // G32: undock the sled
  5984. gcode_G32();
  5985. break;
  5986. #endif // Z_PROBE_SLED
  5987. #endif // HAS_BED_PROBE
  5988. case 90: // G90
  5989. relative_mode = false;
  5990. break;
  5991. case 91: // G91
  5992. relative_mode = true;
  5993. break;
  5994. case 92: // G92
  5995. gcode_G92();
  5996. break;
  5997. }
  5998. break;
  5999. case 'M': switch (codenum) {
  6000. #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
  6001. case 0: // M0 - Unconditional stop - Wait for user button press on LCD
  6002. case 1: // M1 - Conditional stop - Wait for user button press on LCD
  6003. gcode_M0_M1();
  6004. break;
  6005. #endif // ULTIPANEL
  6006. case 17:
  6007. gcode_M17();
  6008. break;
  6009. #if ENABLED(SDSUPPORT)
  6010. case 20: // M20 - list SD card
  6011. gcode_M20(); break;
  6012. case 21: // M21 - init SD card
  6013. gcode_M21(); break;
  6014. case 22: //M22 - release SD card
  6015. gcode_M22(); break;
  6016. case 23: //M23 - Select file
  6017. gcode_M23(); break;
  6018. case 24: //M24 - Start SD print
  6019. gcode_M24(); break;
  6020. case 25: //M25 - Pause SD print
  6021. gcode_M25(); break;
  6022. case 26: //M26 - Set SD index
  6023. gcode_M26(); break;
  6024. case 27: //M27 - Get SD status
  6025. gcode_M27(); break;
  6026. case 28: //M28 - Start SD write
  6027. gcode_M28(); break;
  6028. case 29: //M29 - Stop SD write
  6029. gcode_M29(); break;
  6030. case 30: //M30 <filename> Delete File
  6031. gcode_M30(); break;
  6032. case 32: //M32 - Select file and start SD print
  6033. gcode_M32(); break;
  6034. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  6035. case 33: //M33 - Get the long full path to a file or folder
  6036. gcode_M33(); break;
  6037. #endif // LONG_FILENAME_HOST_SUPPORT
  6038. case 928: //M928 - Start SD write
  6039. gcode_M928(); break;
  6040. #endif //SDSUPPORT
  6041. case 31: //M31 take time since the start of the SD print or an M109 command
  6042. gcode_M31();
  6043. break;
  6044. case 42: //M42 -Change pin status via gcode
  6045. gcode_M42();
  6046. break;
  6047. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  6048. case 48: // M48 Z probe repeatability
  6049. gcode_M48();
  6050. break;
  6051. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6052. case 75: // Start print timer
  6053. gcode_M75();
  6054. break;
  6055. case 76: // Pause print timer
  6056. gcode_M76();
  6057. break;
  6058. case 77: // Stop print timer
  6059. gcode_M77();
  6060. break;
  6061. #if ENABLED(PRINTCOUNTER)
  6062. case 78: // Show print statistics
  6063. gcode_M78();
  6064. break;
  6065. #endif
  6066. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  6067. case 100:
  6068. gcode_M100();
  6069. break;
  6070. #endif
  6071. case 104: // M104
  6072. gcode_M104();
  6073. break;
  6074. case 110: // M110: Set Current Line Number
  6075. gcode_M110();
  6076. break;
  6077. case 111: // M111: Set debug level
  6078. gcode_M111();
  6079. break;
  6080. #if DISABLED(EMERGENCY_PARSER)
  6081. case 108: // M108: Cancel Waiting
  6082. gcode_M108();
  6083. break;
  6084. case 112: // M112: Emergency Stop
  6085. gcode_M112();
  6086. break;
  6087. case 410: // M410 quickstop - Abort all the planned moves.
  6088. gcode_M410();
  6089. break;
  6090. #endif
  6091. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6092. case 113: // M113: Set Host Keepalive interval
  6093. gcode_M113();
  6094. break;
  6095. #endif
  6096. case 140: // M140: Set bed temp
  6097. gcode_M140();
  6098. break;
  6099. case 105: // M105: Read current temperature
  6100. gcode_M105();
  6101. KEEPALIVE_STATE(NOT_BUSY);
  6102. return; // "ok" already printed
  6103. case 109: // M109: Wait for temperature
  6104. gcode_M109();
  6105. break;
  6106. #if HAS_TEMP_BED
  6107. case 190: // M190: Wait for bed heater to reach target
  6108. gcode_M190();
  6109. break;
  6110. #endif // HAS_TEMP_BED
  6111. #if FAN_COUNT > 0
  6112. case 106: // M106: Fan On
  6113. gcode_M106();
  6114. break;
  6115. case 107: // M107: Fan Off
  6116. gcode_M107();
  6117. break;
  6118. #endif // FAN_COUNT > 0
  6119. #if ENABLED(BARICUDA)
  6120. // PWM for HEATER_1_PIN
  6121. #if HAS_HEATER_1
  6122. case 126: // M126: valve open
  6123. gcode_M126();
  6124. break;
  6125. case 127: // M127: valve closed
  6126. gcode_M127();
  6127. break;
  6128. #endif // HAS_HEATER_1
  6129. // PWM for HEATER_2_PIN
  6130. #if HAS_HEATER_2
  6131. case 128: // M128: valve open
  6132. gcode_M128();
  6133. break;
  6134. case 129: // M129: valve closed
  6135. gcode_M129();
  6136. break;
  6137. #endif // HAS_HEATER_2
  6138. #endif // BARICUDA
  6139. #if HAS_POWER_SWITCH
  6140. case 80: // M80: Turn on Power Supply
  6141. gcode_M80();
  6142. break;
  6143. #endif // HAS_POWER_SWITCH
  6144. case 81: // M81: Turn off Power, including Power Supply, if possible
  6145. gcode_M81();
  6146. break;
  6147. case 82:
  6148. gcode_M82();
  6149. break;
  6150. case 83:
  6151. gcode_M83();
  6152. break;
  6153. case 18: // (for compatibility)
  6154. case 84: // M84
  6155. gcode_M18_M84();
  6156. break;
  6157. case 85: // M85
  6158. gcode_M85();
  6159. break;
  6160. case 92: // M92: Set the steps-per-unit for one or more axes
  6161. gcode_M92();
  6162. break;
  6163. case 115: // M115: Report capabilities
  6164. gcode_M115();
  6165. break;
  6166. case 117: // M117: Set LCD message text, if possible
  6167. gcode_M117();
  6168. break;
  6169. case 114: // M114: Report current position
  6170. gcode_M114();
  6171. break;
  6172. case 120: // M120: Enable endstops
  6173. gcode_M120();
  6174. break;
  6175. case 121: // M121: Disable endstops
  6176. gcode_M121();
  6177. break;
  6178. case 119: // M119: Report endstop states
  6179. gcode_M119();
  6180. break;
  6181. #if ENABLED(ULTIPANEL)
  6182. case 145: // M145: Set material heatup parameters
  6183. gcode_M145();
  6184. break;
  6185. #endif
  6186. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6187. case 149:
  6188. gcode_M149();
  6189. break;
  6190. #endif
  6191. #if ENABLED(BLINKM)
  6192. case 150: // M150
  6193. gcode_M150();
  6194. break;
  6195. #endif //BLINKM
  6196. #if ENABLED(EXPERIMENTAL_I2CBUS)
  6197. case 155:
  6198. gcode_M155();
  6199. break;
  6200. case 156:
  6201. gcode_M156();
  6202. break;
  6203. #endif //EXPERIMENTAL_I2CBUS
  6204. #if ENABLED(MIXING_EXTRUDER)
  6205. case 163: // M163 S<int> P<float> set weight for a mixing extruder
  6206. gcode_M163();
  6207. break;
  6208. #if MIXING_VIRTUAL_TOOLS > 1
  6209. case 164: // M164 S<int> save current mix as a virtual extruder
  6210. gcode_M164();
  6211. break;
  6212. #endif
  6213. #if ENABLED(DIRECT_MIXING_IN_G1)
  6214. case 165: // M165 [ABCDHI]<float> set multiple mix weights
  6215. gcode_M165();
  6216. break;
  6217. #endif
  6218. #endif
  6219. case 200: // M200 D<diameter> Set filament diameter and set E axis units to cubic. (Use S0 to revert to linear units.)
  6220. gcode_M200();
  6221. break;
  6222. case 201: // M201
  6223. gcode_M201();
  6224. break;
  6225. #if 0 // Not used for Sprinter/grbl gen6
  6226. case 202: // M202
  6227. gcode_M202();
  6228. break;
  6229. #endif
  6230. case 203: // M203 max feedrate units/sec
  6231. gcode_M203();
  6232. break;
  6233. case 204: // M204 acclereration S normal moves T filmanent only moves
  6234. gcode_M204();
  6235. break;
  6236. 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
  6237. gcode_M205();
  6238. break;
  6239. case 206: // M206 additional homing offset
  6240. gcode_M206();
  6241. break;
  6242. #if ENABLED(DELTA)
  6243. case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
  6244. gcode_M665();
  6245. break;
  6246. #endif
  6247. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  6248. case 666: // M666 set delta / dual endstop adjustment
  6249. gcode_M666();
  6250. break;
  6251. #endif
  6252. #if ENABLED(FWRETRACT)
  6253. case 207: // M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>
  6254. gcode_M207();
  6255. break;
  6256. case 208: // M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
  6257. gcode_M208();
  6258. break;
  6259. 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.
  6260. gcode_M209();
  6261. break;
  6262. #endif // FWRETRACT
  6263. case 211: // M211 - Enable, Disable, and/or Report software endstops
  6264. gcode_M211();
  6265. break;
  6266. #if HOTENDS > 1
  6267. case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
  6268. gcode_M218();
  6269. break;
  6270. #endif
  6271. case 220: // M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  6272. gcode_M220();
  6273. break;
  6274. case 221: // M221 - Set Flow Percentage: S<percent>
  6275. gcode_M221();
  6276. break;
  6277. case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
  6278. gcode_M226();
  6279. break;
  6280. #if HAS_SERVOS
  6281. case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
  6282. gcode_M280();
  6283. break;
  6284. #endif // HAS_SERVOS
  6285. #if HAS_BUZZER
  6286. case 300: // M300 - Play beep tone
  6287. gcode_M300();
  6288. break;
  6289. #endif // HAS_BUZZER
  6290. #if ENABLED(PIDTEMP)
  6291. case 301: // M301
  6292. gcode_M301();
  6293. break;
  6294. #endif // PIDTEMP
  6295. #if ENABLED(PIDTEMPBED)
  6296. case 304: // M304
  6297. gcode_M304();
  6298. break;
  6299. #endif // PIDTEMPBED
  6300. #if defined(CHDK) || HAS_PHOTOGRAPH
  6301. case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  6302. gcode_M240();
  6303. break;
  6304. #endif // CHDK || PHOTOGRAPH_PIN
  6305. #if HAS_LCD_CONTRAST
  6306. case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
  6307. gcode_M250();
  6308. break;
  6309. #endif // HAS_LCD_CONTRAST
  6310. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6311. case 302: // allow cold extrudes, or set the minimum extrude temperature
  6312. gcode_M302();
  6313. break;
  6314. #endif // PREVENT_COLD_EXTRUSION
  6315. case 303: // M303 PID autotune
  6316. gcode_M303();
  6317. break;
  6318. #if ENABLED(MORGAN_SCARA)
  6319. case 360: // M360 SCARA Theta pos1
  6320. if (gcode_M360()) return;
  6321. break;
  6322. case 361: // M361 SCARA Theta pos2
  6323. if (gcode_M361()) return;
  6324. break;
  6325. case 362: // M362 SCARA Psi pos1
  6326. if (gcode_M362()) return;
  6327. break;
  6328. case 363: // M363 SCARA Psi pos2
  6329. if (gcode_M363()) return;
  6330. break;
  6331. case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
  6332. if (gcode_M364()) return;
  6333. break;
  6334. #endif // SCARA
  6335. case 400: // M400 finish all moves
  6336. gcode_M400();
  6337. break;
  6338. #if HAS_BED_PROBE
  6339. case 401:
  6340. gcode_M401();
  6341. break;
  6342. case 402:
  6343. gcode_M402();
  6344. break;
  6345. #endif // HAS_BED_PROBE
  6346. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  6347. case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  6348. gcode_M404();
  6349. break;
  6350. case 405: //M405 Turn on filament sensor for control
  6351. gcode_M405();
  6352. break;
  6353. case 406: //M406 Turn off filament sensor for control
  6354. gcode_M406();
  6355. break;
  6356. case 407: //M407 Display measured filament diameter
  6357. gcode_M407();
  6358. break;
  6359. #endif // ENABLED(FILAMENT_WIDTH_SENSOR)
  6360. #if ENABLED(MESH_BED_LEVELING)
  6361. case 420: // M420 Enable/Disable Mesh Bed Leveling
  6362. gcode_M420();
  6363. break;
  6364. case 421: // M421 Set a Mesh Bed Leveling Z coordinate
  6365. gcode_M421();
  6366. break;
  6367. #endif
  6368. case 428: // M428 Apply current_position to home_offset
  6369. gcode_M428();
  6370. break;
  6371. case 500: // M500 Store settings in EEPROM
  6372. gcode_M500();
  6373. break;
  6374. case 501: // M501 Read settings from EEPROM
  6375. gcode_M501();
  6376. break;
  6377. case 502: // M502 Revert to default settings
  6378. gcode_M502();
  6379. break;
  6380. case 503: // M503 print settings currently in memory
  6381. gcode_M503();
  6382. break;
  6383. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  6384. case 540:
  6385. gcode_M540();
  6386. break;
  6387. #endif
  6388. #if HAS_BED_PROBE
  6389. case 851:
  6390. gcode_M851();
  6391. break;
  6392. #endif // HAS_BED_PROBE
  6393. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  6394. case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
  6395. gcode_M600();
  6396. break;
  6397. #endif // FILAMENT_CHANGE_FEATURE
  6398. #if ENABLED(DUAL_X_CARRIAGE)
  6399. case 605:
  6400. gcode_M605();
  6401. break;
  6402. #endif // DUAL_X_CARRIAGE
  6403. #if ENABLED(LIN_ADVANCE)
  6404. case 905: // M905 Set advance factor.
  6405. gcode_M905();
  6406. break;
  6407. #endif
  6408. case 907: // M907 Set digital trimpot motor current using axis codes.
  6409. gcode_M907();
  6410. break;
  6411. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  6412. case 908: // M908 Control digital trimpot directly.
  6413. gcode_M908();
  6414. break;
  6415. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  6416. case 909: // M909 Print digipot/DAC current value
  6417. gcode_M909();
  6418. break;
  6419. case 910: // M910 Commit digipot/DAC value to external EEPROM
  6420. gcode_M910();
  6421. break;
  6422. #endif
  6423. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  6424. #if HAS_MICROSTEPS
  6425. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  6426. gcode_M350();
  6427. break;
  6428. case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  6429. gcode_M351();
  6430. break;
  6431. #endif // HAS_MICROSTEPS
  6432. case 999: // M999: Restart after being Stopped
  6433. gcode_M999();
  6434. break;
  6435. }
  6436. break;
  6437. case 'T':
  6438. gcode_T(codenum);
  6439. break;
  6440. default: code_is_good = false;
  6441. }
  6442. KEEPALIVE_STATE(NOT_BUSY);
  6443. ExitUnknownCommand:
  6444. // Still unknown command? Throw an error
  6445. if (!code_is_good) unknown_command_error();
  6446. ok_to_send();
  6447. }
  6448. /**
  6449. * Send a "Resend: nnn" message to the host to
  6450. * indicate that a command needs to be re-sent.
  6451. */
  6452. void FlushSerialRequestResend() {
  6453. //char command_queue[cmd_queue_index_r][100]="Resend:";
  6454. MYSERIAL.flush();
  6455. SERIAL_PROTOCOLPGM(MSG_RESEND);
  6456. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  6457. ok_to_send();
  6458. }
  6459. /**
  6460. * Send an "ok" message to the host, indicating
  6461. * that a command was successfully processed.
  6462. *
  6463. * If ADVANCED_OK is enabled also include:
  6464. * N<int> Line number of the command, if any
  6465. * P<int> Planner space remaining
  6466. * B<int> Block queue space remaining
  6467. */
  6468. void ok_to_send() {
  6469. refresh_cmd_timeout();
  6470. if (!send_ok[cmd_queue_index_r]) return;
  6471. SERIAL_PROTOCOLPGM(MSG_OK);
  6472. #if ENABLED(ADVANCED_OK)
  6473. char* p = command_queue[cmd_queue_index_r];
  6474. if (*p == 'N') {
  6475. SERIAL_PROTOCOL(' ');
  6476. SERIAL_ECHO(*p++);
  6477. while (NUMERIC_SIGNED(*p))
  6478. SERIAL_ECHO(*p++);
  6479. }
  6480. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  6481. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  6482. #endif
  6483. SERIAL_EOL;
  6484. }
  6485. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  6486. /**
  6487. * Constrain the given coordinates to the software endstops.
  6488. */
  6489. void clamp_to_software_endstops(float target[XYZ]) {
  6490. #if ENABLED(min_software_endstops)
  6491. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  6492. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  6493. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  6494. #endif
  6495. #if ENABLED(max_software_endstops)
  6496. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  6497. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  6498. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  6499. #endif
  6500. }
  6501. #endif
  6502. #if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
  6503. // Get the Z adjustment for non-linear bed leveling
  6504. float nonlinear_z_offset(float cartesian[XYZ]) {
  6505. if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done!
  6506. int half_x = (ABL_GRID_POINTS_X - 1) / 2,
  6507. half_y = (ABL_GRID_POINTS_Y - 1) / 2;
  6508. float hx2 = half_x - 0.001, hx1 = -hx2,
  6509. hy2 = half_y - 0.001, hy1 = -hy2,
  6510. grid_x = max(hx1, min(hx2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
  6511. grid_y = max(hy1, min(hy2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
  6512. int floor_x = floor(grid_x), floor_y = floor(grid_y);
  6513. float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
  6514. z1 = bed_level_grid[floor_x + half_x][floor_y + half_y],
  6515. z2 = bed_level_grid[floor_x + half_x][floor_y + half_y + 1],
  6516. z3 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y],
  6517. z4 = bed_level_grid[floor_x + half_x + 1][floor_y + half_y + 1],
  6518. left = (1 - ratio_y) * z1 + ratio_y * z2,
  6519. right = (1 - ratio_y) * z3 + ratio_y * z4;
  6520. /*
  6521. SERIAL_ECHOPAIR("grid_x=", grid_x);
  6522. SERIAL_ECHOPAIR(" grid_y=", grid_y);
  6523. SERIAL_ECHOPAIR(" floor_x=", floor_x);
  6524. SERIAL_ECHOPAIR(" floor_y=", floor_y);
  6525. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  6526. SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
  6527. SERIAL_ECHOPAIR(" z1=", z1);
  6528. SERIAL_ECHOPAIR(" z2=", z2);
  6529. SERIAL_ECHOPAIR(" z3=", z3);
  6530. SERIAL_ECHOPAIR(" z4=", z4);
  6531. SERIAL_ECHOPAIR(" left=", left);
  6532. SERIAL_ECHOPAIR(" right=", right);
  6533. SERIAL_ECHOPAIR(" offset=", (1 - ratio_x) * left + ratio_x * right);
  6534. //*/
  6535. return (1 - ratio_x) * left + ratio_x * right;
  6536. }
  6537. #endif // AUTO_BED_LEVELING_NONLINEAR
  6538. #if ENABLED(DELTA)
  6539. /**
  6540. * Recalculate factors used for delta kinematics whenever
  6541. * settings have been changed (e.g., by M665).
  6542. */
  6543. void recalc_delta_settings(float radius, float diagonal_rod) {
  6544. delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  6545. delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
  6546. delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  6547. delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
  6548. delta_tower3_x = 0.0; // back middle tower
  6549. delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
  6550. delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
  6551. delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
  6552. delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
  6553. }
  6554. #if ENABLED(DELTA_FAST_SQRT)
  6555. /**
  6556. * Fast inverse sqrt from Quake III Arena
  6557. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  6558. */
  6559. float Q_rsqrt(float number) {
  6560. long i;
  6561. float x2, y;
  6562. const float threehalfs = 1.5f;
  6563. x2 = number * 0.5f;
  6564. y = number;
  6565. i = * ( long * ) &y; // evil floating point bit level hacking
  6566. i = 0x5f3759df - ( i >> 1 ); // what the f***?
  6567. y = * ( float * ) &i;
  6568. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  6569. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  6570. return y;
  6571. }
  6572. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  6573. #else
  6574. #define _SQRT(n) sqrt(n)
  6575. #endif
  6576. /**
  6577. * Delta Inverse Kinematics
  6578. *
  6579. * Calculate the tower positions for a given logical
  6580. * position, storing the result in the delta[] array.
  6581. *
  6582. * This is an expensive calculation, requiring 3 square
  6583. * roots per segmented linear move, and strains the limits
  6584. * of a Mega2560 with a Graphical Display.
  6585. *
  6586. * Suggested optimizations include:
  6587. *
  6588. * - Disable the home_offset (M206) and/or position_shift (G92)
  6589. * features to remove up to 12 float additions.
  6590. *
  6591. * - Use a fast-inverse-sqrt function and add the reciprocal.
  6592. * (see above)
  6593. */
  6594. // Macro to obtain the Z position of an individual tower
  6595. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  6596. delta_diagonal_rod_2_tower_##T - HYPOT2( \
  6597. delta_tower##T##_x - raw[X_AXIS], \
  6598. delta_tower##T##_y - raw[Y_AXIS] \
  6599. ) \
  6600. )
  6601. #define DELTA_LOGICAL_IK() do { \
  6602. const float raw[XYZ] = { \
  6603. RAW_X_POSITION(logical[X_AXIS]), \
  6604. RAW_Y_POSITION(logical[Y_AXIS]), \
  6605. RAW_Z_POSITION(logical[Z_AXIS]) \
  6606. }; \
  6607. delta[A_AXIS] = DELTA_Z(1); \
  6608. delta[B_AXIS] = DELTA_Z(2); \
  6609. delta[C_AXIS] = DELTA_Z(3); \
  6610. } while(0)
  6611. #define DELTA_DEBUG() do { \
  6612. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  6613. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  6614. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  6615. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  6616. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  6617. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  6618. } while(0)
  6619. void inverse_kinematics(const float logical[XYZ]) {
  6620. DELTA_LOGICAL_IK();
  6621. // DELTA_DEBUG();
  6622. }
  6623. /**
  6624. * Calculate the highest Z position where the
  6625. * effector has the full range of XY motion.
  6626. */
  6627. float delta_safe_distance_from_top() {
  6628. float cartesian[XYZ] = {
  6629. LOGICAL_X_POSITION(0),
  6630. LOGICAL_Y_POSITION(0),
  6631. LOGICAL_Z_POSITION(0)
  6632. };
  6633. inverse_kinematics(cartesian);
  6634. float distance = delta[A_AXIS];
  6635. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  6636. inverse_kinematics(cartesian);
  6637. return abs(distance - delta[A_AXIS]);
  6638. }
  6639. /**
  6640. * Delta Forward Kinematics
  6641. *
  6642. * See the Wikipedia article "Trilateration"
  6643. * https://en.wikipedia.org/wiki/Trilateration
  6644. *
  6645. * Establish a new coordinate system in the plane of the
  6646. * three carriage points. This system has its origin at
  6647. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  6648. * plane with a Z component of zero.
  6649. * We will define unit vectors in this coordinate system
  6650. * in our original coordinate system. Then when we calculate
  6651. * the 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. *
  6655. * Variable names matched to Marlin, c-version, and avoid the
  6656. * use of any vector library.
  6657. *
  6658. * by Andreas Hardtung 2016-06-07
  6659. * based on a Java function from "Delta Robot Kinematics V3"
  6660. * by Steve Graves
  6661. *
  6662. * The result is stored in the cartes[] array.
  6663. */
  6664. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  6665. // Create a vector in old coordinates along x axis of new coordinate
  6666. float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  6667. // Get the Magnitude of vector.
  6668. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  6669. // Create unit vector by dividing by magnitude.
  6670. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  6671. // Get the vector from the origin of the new system to the third point.
  6672. float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  6673. // Use the dot product to find the component of this vector on the X axis.
  6674. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  6675. // Create a vector along the x axis that represents the x component of p13.
  6676. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  6677. // Subtract the X component from the original vector leaving only Y. We use the
  6678. // variable that will be the unit vector after we scale it.
  6679. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  6680. // The magnitude of Y component
  6681. float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  6682. // Convert to a unit vector
  6683. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  6684. // The cross product of the unit x and y is the unit z
  6685. // float[] ez = vectorCrossProd(ex, ey);
  6686. float ez[3] = {
  6687. ex[1] * ey[2] - ex[2] * ey[1],
  6688. ex[2] * ey[0] - ex[0] * ey[2],
  6689. ex[0] * ey[1] - ex[1] * ey[0]
  6690. };
  6691. // We now have the d, i and j values defined in Wikipedia.
  6692. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  6693. float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
  6694. Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  6695. Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
  6696. // Start from the origin of the old coordinates and add vectors in the
  6697. // old coords that represent the Xnew, Ynew and Znew to find the point
  6698. // in the old system.
  6699. cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  6700. cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  6701. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  6702. };
  6703. void forward_kinematics_DELTA(float point[ABC]) {
  6704. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  6705. }
  6706. #endif // DELTA
  6707. /**
  6708. * Get the stepper positions in the cartes[] array.
  6709. * Forward kinematics are applied for DELTA and SCARA.
  6710. *
  6711. * The result is in the current coordinate space with
  6712. * leveling applied. The coordinates need to be run through
  6713. * unapply_leveling to obtain the "ideal" coordinates
  6714. * suitable for current_position, etc.
  6715. */
  6716. void get_cartesian_from_steppers() {
  6717. #if ENABLED(DELTA)
  6718. forward_kinematics_DELTA(
  6719. stepper.get_axis_position_mm(A_AXIS),
  6720. stepper.get_axis_position_mm(B_AXIS),
  6721. stepper.get_axis_position_mm(C_AXIS)
  6722. );
  6723. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  6724. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  6725. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  6726. #elif IS_SCARA
  6727. forward_kinematics_SCARA(
  6728. stepper.get_axis_position_degrees(A_AXIS),
  6729. stepper.get_axis_position_degrees(B_AXIS)
  6730. );
  6731. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  6732. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  6733. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  6734. #else
  6735. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  6736. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  6737. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  6738. #endif
  6739. }
  6740. /**
  6741. * Set the current_position for an axis based on
  6742. * the stepper positions, removing any leveling that
  6743. * may have been applied.
  6744. */
  6745. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  6746. get_cartesian_from_steppers();
  6747. #if PLANNER_LEVELING
  6748. planner.unapply_leveling(cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS]);
  6749. #endif
  6750. if (axis == ALL_AXES)
  6751. memcpy(current_position, cartes, sizeof(cartes));
  6752. else
  6753. current_position[axis] = cartes[axis];
  6754. }
  6755. #if ENABLED(MESH_BED_LEVELING)
  6756. /**
  6757. * Prepare a mesh-leveled linear move in a Cartesian setup,
  6758. * splitting the move where it crosses mesh borders.
  6759. */
  6760. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  6761. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
  6762. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
  6763. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  6764. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  6765. NOMORE(cx1, MESH_NUM_X_POINTS - 2);
  6766. NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
  6767. NOMORE(cx2, MESH_NUM_X_POINTS - 2);
  6768. NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  6769. if (cx1 == cx2 && cy1 == cy2) {
  6770. // Start and end on same mesh square
  6771. line_to_destination(fr_mm_s);
  6772. set_current_to_destination();
  6773. return;
  6774. }
  6775. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  6776. float normalized_dist, end[NUM_AXIS];
  6777. // Split at the left/front border of the right/top square
  6778. int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  6779. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  6780. memcpy(end, destination, sizeof(end));
  6781. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
  6782. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  6783. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  6784. CBI(x_splits, gcx);
  6785. }
  6786. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  6787. memcpy(end, destination, sizeof(end));
  6788. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
  6789. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  6790. destination[X_AXIS] = MBL_SEGMENT_END(X);
  6791. CBI(y_splits, gcy);
  6792. }
  6793. else {
  6794. // Already split on a border
  6795. line_to_destination(fr_mm_s);
  6796. set_current_to_destination();
  6797. return;
  6798. }
  6799. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  6800. destination[E_AXIS] = MBL_SEGMENT_END(E);
  6801. // Do the split and look for more borders
  6802. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6803. // Restore destination from stack
  6804. memcpy(destination, end, sizeof(end));
  6805. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  6806. }
  6807. #endif // MESH_BED_LEVELING
  6808. #if IS_KINEMATIC
  6809. /**
  6810. * Prepare a linear move in a DELTA or SCARA setup.
  6811. *
  6812. * This calls planner.buffer_line several times, adding
  6813. * small incremental moves for DELTA or SCARA.
  6814. */
  6815. inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) {
  6816. // Get the top feedrate of the move in the XY plane
  6817. float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  6818. // If the move is only in Z don't split up the move.
  6819. // This shortcut cannot be used if planar bed leveling
  6820. // is in use, but is fine with mesh-based bed leveling
  6821. if (logical[X_AXIS] == current_position[X_AXIS] && logical[Y_AXIS] == current_position[Y_AXIS]) {
  6822. inverse_kinematics(logical);
  6823. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
  6824. return true;
  6825. }
  6826. // Get the distance moved in XYZ
  6827. float difference[NUM_AXIS];
  6828. LOOP_XYZE(i) difference[i] = logical[i] - current_position[i];
  6829. float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  6830. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  6831. if (UNEAR_ZERO(cartesian_mm)) return false;
  6832. // Minimum number of seconds to move the given distance
  6833. float seconds = cartesian_mm / _feedrate_mm_s;
  6834. // The number of segments-per-second times the duration
  6835. // gives the number of segments we should produce
  6836. uint16_t segments = delta_segments_per_second * seconds;
  6837. #if IS_SCARA
  6838. NOMORE(segments, cartesian_mm * 2);
  6839. #endif
  6840. NOLESS(segments, 1);
  6841. // Each segment produces this much of the move
  6842. float inv_segments = 1.0 / segments,
  6843. segment_distance[XYZE] = {
  6844. difference[X_AXIS] * inv_segments,
  6845. difference[Y_AXIS] * inv_segments,
  6846. difference[Z_AXIS] * inv_segments,
  6847. difference[E_AXIS] * inv_segments
  6848. };
  6849. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  6850. // SERIAL_ECHOPAIR(" seconds=", seconds);
  6851. // SERIAL_ECHOLNPAIR(" segments=", segments);
  6852. // Send all the segments to the planner
  6853. #if ENABLED(DELTA) && ENABLED(USE_RAW_KINEMATICS)
  6854. #define DELTA_E raw[E_AXIS]
  6855. #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) raw[i] += ADDEND;
  6856. #define DELTA_IK() do { \
  6857. delta[A_AXIS] = DELTA_Z(1); \
  6858. delta[B_AXIS] = DELTA_Z(2); \
  6859. delta[C_AXIS] = DELTA_Z(3); \
  6860. } while(0)
  6861. // Get the raw current position as starting point
  6862. float raw[ABC] = {
  6863. RAW_CURRENT_POSITION(X_AXIS),
  6864. RAW_CURRENT_POSITION(Y_AXIS),
  6865. RAW_CURRENT_POSITION(Z_AXIS)
  6866. };
  6867. #else
  6868. #define DELTA_E logical[E_AXIS]
  6869. #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
  6870. #if ENABLED(DELTA)
  6871. #define DELTA_IK() DELTA_LOGICAL_IK()
  6872. #else
  6873. #define DELTA_IK() inverse_kinematics(logical)
  6874. #endif
  6875. // Get the logical current position as starting point
  6876. LOOP_XYZE(i) logical[i] = current_position[i];
  6877. #endif
  6878. #if ENABLED(USE_DELTA_IK_INTERPOLATION)
  6879. // Get the starting delta for interpolation
  6880. if (segments >= 2) inverse_kinematics(logical);
  6881. for (uint16_t s = segments + 1; --s;) {
  6882. if (s > 1) {
  6883. // Save the previous delta for interpolation
  6884. float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
  6885. // Get the delta 2 segments ahead (rather than the next)
  6886. DELTA_NEXT(segment_distance[i] + segment_distance[i]);
  6887. DELTA_IK();
  6888. // Move to the interpolated delta position first
  6889. planner.buffer_line(
  6890. (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
  6891. (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
  6892. (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
  6893. logical[E_AXIS], _feedrate_mm_s, active_extruder
  6894. );
  6895. // Do an extra decrement of the loop
  6896. --s;
  6897. }
  6898. else {
  6899. // Get the last segment delta (only when segments is odd)
  6900. DELTA_NEXT(segment_distance[i])
  6901. DELTA_IK();
  6902. }
  6903. // Move to the non-interpolated position
  6904. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_E, _feedrate_mm_s, active_extruder);
  6905. }
  6906. #else
  6907. // For non-interpolated delta calculate every segment
  6908. for (uint16_t s = segments + 1; --s;) {
  6909. DELTA_NEXT(segment_distance[i])
  6910. DELTA_IK();
  6911. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
  6912. }
  6913. #endif
  6914. return true;
  6915. }
  6916. #else
  6917. /**
  6918. * Prepare a linear move in a Cartesian setup.
  6919. * If Mesh Bed Leveling is enabled, perform a mesh move.
  6920. */
  6921. inline bool prepare_move_to_destination_cartesian() {
  6922. // Do not use feedrate_percentage for E or Z only moves
  6923. if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
  6924. line_to_destination();
  6925. }
  6926. else {
  6927. #if ENABLED(MESH_BED_LEVELING)
  6928. if (mbl.active()) {
  6929. mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
  6930. return false;
  6931. }
  6932. else
  6933. #endif
  6934. line_to_destination(MMS_SCALED(feedrate_mm_s));
  6935. }
  6936. return true;
  6937. }
  6938. #endif // !IS_KINEMATIC
  6939. #if ENABLED(DUAL_X_CARRIAGE)
  6940. /**
  6941. * Prepare a linear move in a dual X axis setup
  6942. */
  6943. inline bool prepare_move_to_destination_dualx() {
  6944. if (active_extruder_parked) {
  6945. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
  6946. // move duplicate extruder into correct duplication position.
  6947. planner.set_position_mm(
  6948. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  6949. current_position[Y_AXIS],
  6950. current_position[Z_AXIS],
  6951. current_position[E_AXIS]
  6952. );
  6953. planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
  6954. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate_mm_s[X_AXIS], 1);
  6955. SYNC_PLAN_POSITION_KINEMATIC();
  6956. stepper.synchronize();
  6957. extruder_duplication_enabled = true;
  6958. active_extruder_parked = false;
  6959. }
  6960. else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
  6961. if (current_position[E_AXIS] == destination[E_AXIS]) {
  6962. // This is a travel move (with no extrusion)
  6963. // Skip it, but keep track of the current position
  6964. // (so it can be used as the start of the next non-travel move)
  6965. if (delayed_move_time != 0xFFFFFFFFUL) {
  6966. set_current_to_destination();
  6967. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  6968. delayed_move_time = millis();
  6969. return false;
  6970. }
  6971. }
  6972. delayed_move_time = 0;
  6973. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  6974. 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);
  6975. 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);
  6976. 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);
  6977. active_extruder_parked = false;
  6978. }
  6979. }
  6980. return true;
  6981. }
  6982. #endif // DUAL_X_CARRIAGE
  6983. /**
  6984. * Prepare a single move and get ready for the next one
  6985. *
  6986. * This may result in several calls to planner.buffer_line to
  6987. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  6988. */
  6989. void prepare_move_to_destination() {
  6990. clamp_to_software_endstops(destination);
  6991. refresh_cmd_timeout();
  6992. #if ENABLED(PREVENT_COLD_EXTRUSION)
  6993. if (!DEBUGGING(DRYRUN)) {
  6994. if (destination[E_AXIS] != current_position[E_AXIS]) {
  6995. if (thermalManager.tooColdToExtrude(active_extruder)) {
  6996. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  6997. SERIAL_ECHO_START;
  6998. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  6999. }
  7000. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  7001. if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
  7002. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  7003. SERIAL_ECHO_START;
  7004. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  7005. }
  7006. #endif
  7007. }
  7008. }
  7009. #endif
  7010. #if IS_KINEMATIC
  7011. if (!prepare_kinematic_move_to(destination)) return;
  7012. #else
  7013. #if ENABLED(DUAL_X_CARRIAGE)
  7014. if (!prepare_move_to_destination_dualx()) return;
  7015. #endif
  7016. if (!prepare_move_to_destination_cartesian()) return;
  7017. #endif
  7018. set_current_to_destination();
  7019. }
  7020. #if ENABLED(ARC_SUPPORT)
  7021. /**
  7022. * Plan an arc in 2 dimensions
  7023. *
  7024. * The arc is approximated by generating many small linear segments.
  7025. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  7026. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  7027. * larger segments will tend to be more efficient. Your slicer should have
  7028. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  7029. */
  7030. void plan_arc(
  7031. float logical[NUM_AXIS], // Destination position
  7032. float* offset, // Center of rotation relative to current_position
  7033. uint8_t clockwise // Clockwise?
  7034. ) {
  7035. float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
  7036. center_X = current_position[X_AXIS] + offset[X_AXIS],
  7037. center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
  7038. linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
  7039. extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
  7040. r_X = -offset[X_AXIS], // Radius vector from center to current location
  7041. r_Y = -offset[Y_AXIS],
  7042. rt_X = logical[X_AXIS] - center_X,
  7043. rt_Y = logical[Y_AXIS] - center_Y;
  7044. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  7045. float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
  7046. if (angular_travel < 0) angular_travel += RADIANS(360);
  7047. if (clockwise) angular_travel -= RADIANS(360);
  7048. // Make a circle if the angular rotation is 0
  7049. if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
  7050. angular_travel += RADIANS(360);
  7051. float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
  7052. if (mm_of_travel < 0.001) return;
  7053. uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  7054. if (segments == 0) segments = 1;
  7055. float theta_per_segment = angular_travel / segments;
  7056. float linear_per_segment = linear_travel / segments;
  7057. float extruder_per_segment = extruder_travel / segments;
  7058. /**
  7059. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  7060. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  7061. * r_T = [cos(phi) -sin(phi);
  7062. * sin(phi) cos(phi] * r ;
  7063. *
  7064. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  7065. * defined from the circle center to the initial position. Each line segment is formed by successive
  7066. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  7067. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  7068. * all double numbers are single precision on the Arduino. (True double precision will not have
  7069. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  7070. * tool precision in some cases. Therefore, arc path correction is implemented.
  7071. *
  7072. * Small angle approximation may be used to reduce computation overhead further. This approximation
  7073. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  7074. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  7075. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  7076. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  7077. * issue for CNC machines with the single precision Arduino calculations.
  7078. *
  7079. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  7080. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  7081. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  7082. * This is important when there are successive arc motions.
  7083. */
  7084. // Vector rotation matrix values
  7085. float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  7086. float sin_T = theta_per_segment;
  7087. float arc_target[NUM_AXIS];
  7088. float sin_Ti, cos_Ti, r_new_Y;
  7089. uint16_t i;
  7090. int8_t count = 0;
  7091. // Initialize the linear axis
  7092. arc_target[Z_AXIS] = current_position[Z_AXIS];
  7093. // Initialize the extruder axis
  7094. arc_target[E_AXIS] = current_position[E_AXIS];
  7095. float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  7096. millis_t next_idle_ms = millis() + 200UL;
  7097. for (i = 1; i < segments; i++) { // Iterate (segments-1) times
  7098. thermalManager.manage_heater();
  7099. millis_t now = millis();
  7100. if (ELAPSED(now, next_idle_ms)) {
  7101. next_idle_ms = now + 200UL;
  7102. idle();
  7103. }
  7104. if (++count < N_ARC_CORRECTION) {
  7105. // Apply vector rotation matrix to previous r_X / 1
  7106. r_new_Y = r_X * sin_T + r_Y * cos_T;
  7107. r_X = r_X * cos_T - r_Y * sin_T;
  7108. r_Y = r_new_Y;
  7109. }
  7110. else {
  7111. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  7112. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  7113. // To reduce stuttering, the sin and cos could be computed at different times.
  7114. // For now, compute both at the same time.
  7115. cos_Ti = cos(i * theta_per_segment);
  7116. sin_Ti = sin(i * theta_per_segment);
  7117. r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
  7118. r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
  7119. count = 0;
  7120. }
  7121. // Update arc_target location
  7122. arc_target[X_AXIS] = center_X + r_X;
  7123. arc_target[Y_AXIS] = center_Y + r_Y;
  7124. arc_target[Z_AXIS] += linear_per_segment;
  7125. arc_target[E_AXIS] += extruder_per_segment;
  7126. clamp_to_software_endstops(arc_target);
  7127. #if IS_KINEMATIC
  7128. inverse_kinematics(arc_target);
  7129. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7130. #else
  7131. planner.buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
  7132. #endif
  7133. }
  7134. // Ensure last segment arrives at target location.
  7135. #if IS_KINEMATIC
  7136. inverse_kinematics(logical);
  7137. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
  7138. #else
  7139. planner.buffer_line(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], logical[E_AXIS], fr_mm_s, active_extruder);
  7140. #endif
  7141. // As far as the parser is concerned, the position is now == target. In reality the
  7142. // motion control system might still be processing the action and the real tool position
  7143. // in any intermediate location.
  7144. set_current_to_destination();
  7145. }
  7146. #endif
  7147. #if ENABLED(BEZIER_CURVE_SUPPORT)
  7148. void plan_cubic_move(const float offset[4]) {
  7149. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  7150. // As far as the parser is concerned, the position is now == destination. In reality the
  7151. // motion control system might still be processing the action and the real tool position
  7152. // in any intermediate location.
  7153. set_current_to_destination();
  7154. }
  7155. #endif // BEZIER_CURVE_SUPPORT
  7156. #if HAS_CONTROLLERFAN
  7157. void controllerFan() {
  7158. static millis_t lastMotorOn = 0; // Last time a motor was turned on
  7159. static millis_t nextMotorCheck = 0; // Last time the state was checked
  7160. millis_t ms = millis();
  7161. if (ELAPSED(ms, nextMotorCheck)) {
  7162. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  7163. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
  7164. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  7165. #if E_STEPPERS > 1
  7166. || E1_ENABLE_READ == E_ENABLE_ON
  7167. #if HAS_X2_ENABLE
  7168. || X2_ENABLE_READ == X_ENABLE_ON
  7169. #endif
  7170. #if E_STEPPERS > 2
  7171. || E2_ENABLE_READ == E_ENABLE_ON
  7172. #if E_STEPPERS > 3
  7173. || E3_ENABLE_READ == E_ENABLE_ON
  7174. #endif
  7175. #endif
  7176. #endif
  7177. ) {
  7178. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  7179. }
  7180. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  7181. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  7182. // allows digital or PWM fan output to be used (see M42 handling)
  7183. digitalWrite(CONTROLLERFAN_PIN, speed);
  7184. analogWrite(CONTROLLERFAN_PIN, speed);
  7185. }
  7186. }
  7187. #endif // HAS_CONTROLLERFAN
  7188. #if ENABLED(MORGAN_SCARA)
  7189. /**
  7190. * Morgan SCARA Forward Kinematics. Results in cartes[].
  7191. * Maths and first version by QHARLEY.
  7192. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  7193. */
  7194. void forward_kinematics_SCARA(const float &a, const float &b) {
  7195. float a_sin = sin(RADIANS(a)) * L1,
  7196. a_cos = cos(RADIANS(a)) * L1,
  7197. b_sin = sin(RADIANS(b)) * L2,
  7198. b_cos = cos(RADIANS(b)) * L2;
  7199. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  7200. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  7201. /*
  7202. SERIAL_ECHOPAIR("Angle a=", a);
  7203. SERIAL_ECHOPAIR(" b=", b);
  7204. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  7205. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  7206. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  7207. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  7208. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  7209. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  7210. //*/
  7211. }
  7212. /**
  7213. * Morgan SCARA Inverse Kinematics. Results in delta[].
  7214. *
  7215. * See http://forums.reprap.org/read.php?185,283327
  7216. *
  7217. * Maths and first version by QHARLEY.
  7218. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  7219. */
  7220. void inverse_kinematics(const float logical[XYZ]) {
  7221. static float C2, S2, SK1, SK2, THETA, PSI;
  7222. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  7223. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  7224. if (L1 == L2)
  7225. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  7226. else
  7227. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  7228. S2 = sqrt(sq(C2) - 1);
  7229. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  7230. SK1 = L1 + L2 * C2;
  7231. // Rotated Arm2 gives the distance from Arm1 to Arm2
  7232. SK2 = L2 * S2;
  7233. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  7234. THETA = atan2(SK1, SK2) - atan2(sx, sy);
  7235. // Angle of Arm2
  7236. PSI = atan2(S2, C2);
  7237. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  7238. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  7239. delta[C_AXIS] = logical[Z_AXIS];
  7240. /*
  7241. DEBUG_POS("SCARA IK", logical);
  7242. DEBUG_POS("SCARA IK", delta);
  7243. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  7244. SERIAL_ECHOPAIR(",", sy);
  7245. SERIAL_ECHOPAIR(" C2=", C2);
  7246. SERIAL_ECHOPAIR(" S2=", S2);
  7247. SERIAL_ECHOPAIR(" Theta=", THETA);
  7248. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  7249. //*/
  7250. }
  7251. #endif // MORGAN_SCARA
  7252. #if ENABLED(TEMP_STAT_LEDS)
  7253. static bool red_led = false;
  7254. static millis_t next_status_led_update_ms = 0;
  7255. void handle_status_leds(void) {
  7256. if (ELAPSED(millis(), next_status_led_update_ms)) {
  7257. next_status_led_update_ms += 500; // Update every 0.5s
  7258. float max_temp = 0.0;
  7259. #if HAS_TEMP_BED
  7260. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  7261. #endif
  7262. HOTEND_LOOP() {
  7263. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  7264. }
  7265. bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  7266. if (new_led != red_led) {
  7267. red_led = new_led;
  7268. digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
  7269. digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
  7270. }
  7271. }
  7272. }
  7273. #endif
  7274. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7275. void handle_filament_runout() {
  7276. if (!filament_ran_out) {
  7277. filament_ran_out = true;
  7278. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  7279. stepper.synchronize();
  7280. }
  7281. }
  7282. #endif // FILAMENT_RUNOUT_SENSOR
  7283. #if ENABLED(FAST_PWM_FAN)
  7284. void setPwmFrequency(uint8_t pin, int val) {
  7285. val &= 0x07;
  7286. switch (digitalPinToTimer(pin)) {
  7287. #if defined(TCCR0A)
  7288. case TIMER0A:
  7289. case TIMER0B:
  7290. // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
  7291. // TCCR0B |= val;
  7292. break;
  7293. #endif
  7294. #if defined(TCCR1A)
  7295. case TIMER1A:
  7296. case TIMER1B:
  7297. // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7298. // TCCR1B |= val;
  7299. break;
  7300. #endif
  7301. #if defined(TCCR2)
  7302. case TIMER2:
  7303. case TIMER2:
  7304. TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
  7305. TCCR2 |= val;
  7306. break;
  7307. #endif
  7308. #if defined(TCCR2A)
  7309. case TIMER2A:
  7310. case TIMER2B:
  7311. TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
  7312. TCCR2B |= val;
  7313. break;
  7314. #endif
  7315. #if defined(TCCR3A)
  7316. case TIMER3A:
  7317. case TIMER3B:
  7318. case TIMER3C:
  7319. TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
  7320. TCCR3B |= val;
  7321. break;
  7322. #endif
  7323. #if defined(TCCR4A)
  7324. case TIMER4A:
  7325. case TIMER4B:
  7326. case TIMER4C:
  7327. TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
  7328. TCCR4B |= val;
  7329. break;
  7330. #endif
  7331. #if defined(TCCR5A)
  7332. case TIMER5A:
  7333. case TIMER5B:
  7334. case TIMER5C:
  7335. TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
  7336. TCCR5B |= val;
  7337. break;
  7338. #endif
  7339. }
  7340. }
  7341. #endif // FAST_PWM_FAN
  7342. float calculate_volumetric_multiplier(float diameter) {
  7343. if (!volumetric_enabled || diameter == 0) return 1.0;
  7344. float d2 = diameter * 0.5;
  7345. return 1.0 / (M_PI * d2 * d2);
  7346. }
  7347. void calculate_volumetric_multipliers() {
  7348. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7349. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  7350. }
  7351. void enable_all_steppers() {
  7352. enable_x();
  7353. enable_y();
  7354. enable_z();
  7355. enable_e0();
  7356. enable_e1();
  7357. enable_e2();
  7358. enable_e3();
  7359. }
  7360. void disable_all_steppers() {
  7361. disable_x();
  7362. disable_y();
  7363. disable_z();
  7364. disable_e0();
  7365. disable_e1();
  7366. disable_e2();
  7367. disable_e3();
  7368. }
  7369. /**
  7370. * Manage several activities:
  7371. * - Check for Filament Runout
  7372. * - Keep the command buffer full
  7373. * - Check for maximum inactive time between commands
  7374. * - Check for maximum inactive time between stepper commands
  7375. * - Check if pin CHDK needs to go LOW
  7376. * - Check for KILL button held down
  7377. * - Check for HOME button held down
  7378. * - Check if cooling fan needs to be switched on
  7379. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  7380. */
  7381. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  7382. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7383. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && !(READ(FIL_RUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
  7384. handle_filament_runout();
  7385. #endif
  7386. if (commands_in_queue < BUFSIZE) get_available_commands();
  7387. millis_t ms = millis();
  7388. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  7389. if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  7390. && !ignore_stepper_queue && !planner.blocks_queued()) {
  7391. #if ENABLED(DISABLE_INACTIVE_X)
  7392. disable_x();
  7393. #endif
  7394. #if ENABLED(DISABLE_INACTIVE_Y)
  7395. disable_y();
  7396. #endif
  7397. #if ENABLED(DISABLE_INACTIVE_Z)
  7398. disable_z();
  7399. #endif
  7400. #if ENABLED(DISABLE_INACTIVE_E)
  7401. disable_e0();
  7402. disable_e1();
  7403. disable_e2();
  7404. disable_e3();
  7405. #endif
  7406. }
  7407. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  7408. if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
  7409. chdkActive = false;
  7410. WRITE(CHDK, LOW);
  7411. }
  7412. #endif
  7413. #if HAS_KILL
  7414. // Check if the kill button was pressed and wait just in case it was an accidental
  7415. // key kill key press
  7416. // -------------------------------------------------------------------------------
  7417. static int killCount = 0; // make the inactivity button a bit less responsive
  7418. const int KILL_DELAY = 750;
  7419. if (!READ(KILL_PIN))
  7420. killCount++;
  7421. else if (killCount > 0)
  7422. killCount--;
  7423. // Exceeded threshold and we can confirm that it was not accidental
  7424. // KILL the machine
  7425. // ----------------------------------------------------------------
  7426. if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  7427. #endif
  7428. #if HAS_HOME
  7429. // Check to see if we have to home, use poor man's debouncer
  7430. // ---------------------------------------------------------
  7431. static int homeDebounceCount = 0; // poor man's debouncing count
  7432. const int HOME_DEBOUNCE_DELAY = 2500;
  7433. if (!READ(HOME_PIN)) {
  7434. if (!homeDebounceCount) {
  7435. enqueue_and_echo_commands_P(PSTR("G28"));
  7436. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  7437. }
  7438. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  7439. homeDebounceCount++;
  7440. else
  7441. homeDebounceCount = 0;
  7442. }
  7443. #endif
  7444. #if HAS_CONTROLLERFAN
  7445. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  7446. #endif
  7447. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  7448. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  7449. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  7450. bool oldstatus;
  7451. #if ENABLED(SWITCHING_EXTRUDER)
  7452. oldstatus = E0_ENABLE_READ;
  7453. enable_e0();
  7454. #else // !SWITCHING_EXTRUDER
  7455. switch (active_extruder) {
  7456. case 0:
  7457. oldstatus = E0_ENABLE_READ;
  7458. enable_e0();
  7459. break;
  7460. #if E_STEPPERS > 1
  7461. case 1:
  7462. oldstatus = E1_ENABLE_READ;
  7463. enable_e1();
  7464. break;
  7465. #if E_STEPPERS > 2
  7466. case 2:
  7467. oldstatus = E2_ENABLE_READ;
  7468. enable_e2();
  7469. break;
  7470. #if E_STEPPERS > 3
  7471. case 3:
  7472. oldstatus = E3_ENABLE_READ;
  7473. enable_e3();
  7474. break;
  7475. #endif
  7476. #endif
  7477. #endif
  7478. }
  7479. #endif // !SWITCHING_EXTRUDER
  7480. previous_cmd_ms = ms; // refresh_cmd_timeout()
  7481. planner.buffer_line(
  7482. current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  7483. current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
  7484. MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
  7485. );
  7486. stepper.synchronize();
  7487. planner.set_e_position_mm(current_position[E_AXIS]);
  7488. #if ENABLED(SWITCHING_EXTRUDER)
  7489. E0_ENABLE_WRITE(oldstatus);
  7490. #else
  7491. switch (active_extruder) {
  7492. case 0:
  7493. E0_ENABLE_WRITE(oldstatus);
  7494. break;
  7495. #if E_STEPPERS > 1
  7496. case 1:
  7497. E1_ENABLE_WRITE(oldstatus);
  7498. break;
  7499. #if E_STEPPERS > 2
  7500. case 2:
  7501. E2_ENABLE_WRITE(oldstatus);
  7502. break;
  7503. #if E_STEPPERS > 3
  7504. case 3:
  7505. E3_ENABLE_WRITE(oldstatus);
  7506. break;
  7507. #endif
  7508. #endif
  7509. #endif
  7510. }
  7511. #endif // !SWITCHING_EXTRUDER
  7512. }
  7513. #endif // EXTRUDER_RUNOUT_PREVENT
  7514. #if ENABLED(DUAL_X_CARRIAGE)
  7515. // handle delayed move timeout
  7516. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  7517. // travel moves have been received so enact them
  7518. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  7519. set_destination_to_current();
  7520. prepare_move_to_destination();
  7521. }
  7522. #endif
  7523. #if ENABLED(TEMP_STAT_LEDS)
  7524. handle_status_leds();
  7525. #endif
  7526. planner.check_axes_activity();
  7527. }
  7528. /**
  7529. * Standard idle routine keeps the machine alive
  7530. */
  7531. void idle(
  7532. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7533. bool no_stepper_sleep/*=false*/
  7534. #endif
  7535. ) {
  7536. lcd_update();
  7537. host_keepalive();
  7538. manage_inactivity(
  7539. #if ENABLED(FILAMENT_CHANGE_FEATURE)
  7540. no_stepper_sleep
  7541. #endif
  7542. );
  7543. thermalManager.manage_heater();
  7544. #if ENABLED(PRINTCOUNTER)
  7545. print_job_timer.tick();
  7546. #endif
  7547. #if HAS_BUZZER && PIN_EXISTS(BEEPER)
  7548. buzzer.tick();
  7549. #endif
  7550. }
  7551. /**
  7552. * Kill all activity and lock the machine.
  7553. * After this the machine will need to be reset.
  7554. */
  7555. void kill(const char* lcd_msg) {
  7556. SERIAL_ERROR_START;
  7557. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  7558. #if ENABLED(ULTRA_LCD)
  7559. kill_screen(lcd_msg);
  7560. #else
  7561. UNUSED(lcd_msg);
  7562. #endif
  7563. delay(500); // Wait a short time
  7564. cli(); // Stop interrupts
  7565. thermalManager.disable_all_heaters();
  7566. disable_all_steppers();
  7567. #if HAS_POWER_SWITCH
  7568. pinMode(PS_ON_PIN, INPUT);
  7569. #endif
  7570. suicide();
  7571. while (1) {
  7572. #if ENABLED(USE_WATCHDOG)
  7573. watchdog_reset();
  7574. #endif
  7575. } // Wait for reset
  7576. }
  7577. /**
  7578. * Turn off heaters and stop the print in progress
  7579. * After a stop the machine may be resumed with M999
  7580. */
  7581. void stop() {
  7582. thermalManager.disable_all_heaters();
  7583. if (IsRunning()) {
  7584. Running = false;
  7585. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  7586. SERIAL_ERROR_START;
  7587. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  7588. LCD_MESSAGEPGM(MSG_STOPPED);
  7589. }
  7590. }
  7591. /**
  7592. * Marlin entry-point: Set up before the program loop
  7593. * - Set up the kill pin, filament runout, power hold
  7594. * - Start the serial port
  7595. * - Print startup messages and diagnostics
  7596. * - Get EEPROM or default settings
  7597. * - Initialize managers for:
  7598. * • temperature
  7599. * • planner
  7600. * • watchdog
  7601. * • stepper
  7602. * • photo pin
  7603. * • servos
  7604. * • LCD controller
  7605. * • Digipot I2C
  7606. * • Z probe sled
  7607. * • status LEDs
  7608. */
  7609. void setup() {
  7610. #ifdef DISABLE_JTAG
  7611. // Disable JTAG on AT90USB chips to free up pins for IO
  7612. MCUCR = 0x80;
  7613. MCUCR = 0x80;
  7614. #endif
  7615. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  7616. setup_filrunoutpin();
  7617. #endif
  7618. setup_killpin();
  7619. setup_powerhold();
  7620. #if HAS_STEPPER_RESET
  7621. disableStepperDrivers();
  7622. #endif
  7623. MYSERIAL.begin(BAUDRATE);
  7624. SERIAL_PROTOCOLLNPGM("start");
  7625. SERIAL_ECHO_START;
  7626. // Check startup - does nothing if bootloader sets MCUSR to 0
  7627. byte mcu = MCUSR;
  7628. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  7629. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  7630. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  7631. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  7632. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  7633. MCUSR = 0;
  7634. SERIAL_ECHOPGM(MSG_MARLIN);
  7635. SERIAL_CHAR(' ');
  7636. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  7637. SERIAL_EOL;
  7638. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  7639. SERIAL_ECHO_START;
  7640. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  7641. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  7642. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  7643. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  7644. #endif
  7645. SERIAL_ECHO_START;
  7646. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  7647. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  7648. // Send "ok" after commands by default
  7649. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  7650. // Load data from EEPROM if available (or use defaults)
  7651. // This also updates variables in the planner, elsewhere
  7652. Config_RetrieveSettings();
  7653. // Initialize current position based on home_offset
  7654. memcpy(current_position, home_offset, sizeof(home_offset));
  7655. // Vital to init stepper/planner equivalent for current_position
  7656. SYNC_PLAN_POSITION_KINEMATIC();
  7657. thermalManager.init(); // Initialize temperature loop
  7658. #if ENABLED(USE_WATCHDOG)
  7659. watchdog_init();
  7660. #endif
  7661. stepper.init(); // Initialize stepper, this enables interrupts!
  7662. setup_photpin();
  7663. servo_init();
  7664. #if HAS_BED_PROBE
  7665. endstops.enable_z_probe(false);
  7666. #endif
  7667. #if HAS_CONTROLLERFAN
  7668. SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  7669. #endif
  7670. #if HAS_STEPPER_RESET
  7671. enableStepperDrivers();
  7672. #endif
  7673. #if ENABLED(DIGIPOT_I2C)
  7674. digipot_i2c_init();
  7675. #endif
  7676. #if ENABLED(DAC_STEPPER_CURRENT)
  7677. dac_init();
  7678. #endif
  7679. #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
  7680. pinMode(SLED_PIN, OUTPUT);
  7681. digitalWrite(SLED_PIN, LOW); // turn it off
  7682. #endif // Z_PROBE_SLED
  7683. setup_homepin();
  7684. #ifdef STAT_LED_RED
  7685. pinMode(STAT_LED_RED, OUTPUT);
  7686. digitalWrite(STAT_LED_RED, LOW); // turn it off
  7687. #endif
  7688. #ifdef STAT_LED_BLUE
  7689. pinMode(STAT_LED_BLUE, OUTPUT);
  7690. digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  7691. #endif
  7692. lcd_init();
  7693. #if ENABLED(SHOW_BOOTSCREEN)
  7694. #if ENABLED(DOGLCD)
  7695. safe_delay(BOOTSCREEN_TIMEOUT);
  7696. #elif ENABLED(ULTRA_LCD)
  7697. bootscreen();
  7698. lcd_init();
  7699. #endif
  7700. #endif
  7701. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  7702. // Initialize mixing to 100% color 1
  7703. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7704. mixing_factor[i] = (i == 0) ? 1 : 0;
  7705. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  7706. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  7707. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  7708. #endif
  7709. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  7710. i2c.onReceive(i2c_on_receive);
  7711. i2c.onRequest(i2c_on_request);
  7712. #endif
  7713. }
  7714. /**
  7715. * The main Marlin program loop
  7716. *
  7717. * - Save or log commands to SD
  7718. * - Process available commands (if not saving)
  7719. * - Call heater manager
  7720. * - Call inactivity manager
  7721. * - Call endstop manager
  7722. * - Call LCD update
  7723. */
  7724. void loop() {
  7725. if (commands_in_queue < BUFSIZE) get_available_commands();
  7726. #if ENABLED(SDSUPPORT)
  7727. card.checkautostart(false);
  7728. #endif
  7729. if (commands_in_queue) {
  7730. #if ENABLED(SDSUPPORT)
  7731. if (card.saving) {
  7732. char* command = command_queue[cmd_queue_index_r];
  7733. if (strstr_P(command, PSTR("M29"))) {
  7734. // M29 closes the file
  7735. card.closefile();
  7736. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  7737. ok_to_send();
  7738. }
  7739. else {
  7740. // Write the string from the read buffer to SD
  7741. card.write_command(command);
  7742. if (card.logging)
  7743. process_next_command(); // The card is saving because it's logging
  7744. else
  7745. ok_to_send();
  7746. }
  7747. }
  7748. else
  7749. process_next_command();
  7750. #else
  7751. process_next_command();
  7752. #endif // SDSUPPORT
  7753. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  7754. if (commands_in_queue) {
  7755. --commands_in_queue;
  7756. cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  7757. }
  7758. }
  7759. endstops.report_state();
  7760. idle();
  7761. }