My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Вы не можете выбрать более 25 тем Темы должны начинаться с буквы или цифры, могут содержать дефисы(-) и должны содержать не более 35 символов.

Marlin_main.cpp 440KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * About Marlin
  24. *
  25. * This firmware is a mashup between Sprinter and grbl.
  26. * - https://github.com/kliment/Sprinter
  27. * - https://github.com/simen/grbl/tree
  28. */
  29. /**
  30. * -----------------
  31. * G-Codes in Marlin
  32. * -----------------
  33. *
  34. * Helpful G-code references:
  35. * - http://linuxcnc.org/handbook/gcode/g-code.html
  36. * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  37. *
  38. * Help to document Marlin's G-codes online:
  39. * - http://reprap.org/wiki/G-code
  40. * - https://github.com/MarlinFirmware/MarlinDocumentation
  41. *
  42. * -----------------
  43. *
  44. * "G" Codes
  45. *
  46. * G0 -> G1
  47. * G1 - Coordinated Movement X Y Z E
  48. * G2 - CW ARC
  49. * G3 - CCW ARC
  50. * G4 - Dwell S<seconds> or P<milliseconds>
  51. * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
  52. * G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
  53. * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
  54. * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
  55. * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
  56. * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
  57. * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
  58. * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
  59. * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
  60. * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
  61. * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
  62. * G28 - Home one or more axes
  63. * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
  64. * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
  65. * G31 - Dock sled (Z_PROBE_SLED only)
  66. * G32 - Undock sled (Z_PROBE_SLED only)
  67. * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
  68. * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
  69. * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL)
  70. * G90 - Use Absolute Coordinates
  71. * G91 - Use Relative Coordinates
  72. * G92 - Set current position to coordinates given
  73. *
  74. * "M" Codes
  75. *
  76. * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
  77. * M1 -> M0
  78. * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
  79. * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
  80. * M5 - Turn laser/spindle off
  81. * M17 - Enable/Power all stepper motors
  82. * M18 - Disable all stepper motors; same as M84
  83. * M20 - List SD card. (Requires SDSUPPORT)
  84. * M21 - Init SD card. (Requires SDSUPPORT)
  85. * M22 - Release SD card. (Requires SDSUPPORT)
  86. * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
  87. * M24 - Start/resume SD print. (Requires SDSUPPORT)
  88. * M25 - Pause SD print. (Requires SDSUPPORT)
  89. * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
  90. * M27 - Report SD print status. (Requires SDSUPPORT)
  91. * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
  92. * M29 - Stop SD write. (Requires SDSUPPORT)
  93. * M30 - Delete file from SD: "M30 /path/file.gco"
  94. * M31 - Report time since last M109 or SD card start to serial.
  95. * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
  96. * Use P to run other files as sub-programs: "M32 P !filename#"
  97. * The '#' is necessary when calling from within sd files, as it stops buffer prereading
  98. * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
  99. * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
  100. * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
  101. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
  102. * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
  103. * M75 - Start the print job timer.
  104. * M76 - Pause the print job timer.
  105. * M77 - Stop the print job timer.
  106. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
  107. * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
  108. * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
  109. * M82 - Set E codes absolute (default).
  110. * M83 - Set E codes relative while in Absolute (G90) mode.
  111. * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
  112. * duration after which steppers should turn off. S0 disables the timeout.
  113. * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  114. * M92 - Set planner.axis_steps_per_mm for one or more axes.
  115. * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
  116. * M104 - Set extruder target temp.
  117. * M105 - Report current temperatures.
  118. * M106 - Set print fan speed.
  119. * M107 - Print fan off.
  120. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
  121. * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
  122. * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
  123. * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  124. * M110 - Set the current line number. (Used by host printing)
  125. * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
  126. * M112 - Emergency stop.
  127. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  128. * M114 - Report current position.
  129. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
  130. * M117 - Display a message on the controller screen. (Requires an LCD)
  131. * M118 - Display a message in the host console.
  132. * M119 - Report endstops status.
  133. * M120 - Enable endstops detection.
  134. * M121 - Disable endstops detection.
  135. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
  136. * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
  137. * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
  138. * M128 - EtoP Open. (Requires BARICUDA)
  139. * M129 - EtoP Closed. (Requires BARICUDA)
  140. * M140 - Set bed target temp. S<temp>
  141. * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
  142. * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
  143. * M150 - Set Status LED Color as R<red> U<green> B<blue> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, or PCA9632).
  144. * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
  145. * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
  146. * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
  147. * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
  148. * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! **
  149. * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. **
  150. * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
  151. * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
  152. * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
  153. * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
  154. * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
  155. * M205 - Set advanced settings. Current units apply:
  156. S<print> T<travel> minimum speeds
  157. B<minimum segment time>
  158. X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
  159. * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  160. * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
  161. * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
  162. * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
  163. Every normal extrude-only move will be classified as retract depending on the direction.
  164. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
  165. * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
  166. * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
  167. * M221 - Set Flow Percentage: "M221 S<percent>"
  168. * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
  169. * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
  170. * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
  171. * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
  172. * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
  173. * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
  174. * M290 - Babystepping (Requires BABYSTEPPING)
  175. * M300 - Play beep sound S<frequency Hz> P<duration ms>
  176. * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
  177. * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
  178. * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
  179. * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
  180. * M350 - Set microstepping mode. (Requires digital microstepping pins.)
  181. * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
  182. * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
  183. * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
  184. * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
  185. * M400 - Finish all moves.
  186. * M401 - Lower Z probe. (Requires a probe)
  187. * M402 - Raise Z probe. (Requires a probe)
  188. * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
  189. * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
  190. * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
  191. * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
  192. * M410 - Quickstop. Abort all planned moves.
  193. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
  194. * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
  195. * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
  196. * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
  197. * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
  198. * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
  199. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
  200. * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  201. * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
  202. * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
  203. * M666 - Set delta endstop adjustment. (Requires DELTA)
  204. * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
  205. * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
  206. * M860 - Report the position of position encoder modules.
  207. * M861 - Report the status of position encoder modules.
  208. * M862 - Perform an axis continuity test for position encoder modules.
  209. * M863 - Perform steps-per-mm calibration for position encoder modules.
  210. * M864 - Change position encoder module I2C address.
  211. * M865 - Check position encoder module firmware version.
  212. * M866 - Report or reset position encoder module error count.
  213. * M867 - Enable/disable or toggle error correction for position encoder modules.
  214. * M868 - Report or set position encoder module error correction threshold.
  215. * M869 - Report position encoder module error.
  216. * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
  217. * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
  218. * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
  219. * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
  220. * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
  221. * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
  222. * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
  223. * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
  224. * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
  225. * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
  226. *
  227. * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  228. * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  229. * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  230. * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  231. * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
  232. *
  233. * ************ Custom codes - This can change to suit future G-code regulations
  234. * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
  235. * M999 - Restart after being stopped by error
  236. *
  237. * "T" Codes
  238. *
  239. * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
  240. *
  241. */
  242. #include "Marlin.h"
  243. #include "ultralcd.h"
  244. #include "planner.h"
  245. #include "stepper.h"
  246. #include "endstops.h"
  247. #include "temperature.h"
  248. #include "cardreader.h"
  249. #include "configuration_store.h"
  250. #include "language.h"
  251. #include "pins_arduino.h"
  252. #include "math.h"
  253. #include "nozzle.h"
  254. #include "duration_t.h"
  255. #include "types.h"
  256. #include "gcode.h"
  257. #if HAS_ABL
  258. #include "vector_3.h"
  259. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  260. #include "least_squares_fit.h"
  261. #endif
  262. #elif ENABLED(MESH_BED_LEVELING)
  263. #include "mesh_bed_leveling.h"
  264. #endif
  265. #if ENABLED(BEZIER_CURVE_SUPPORT)
  266. #include "planner_bezier.h"
  267. #endif
  268. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  269. #include "buzzer.h"
  270. #endif
  271. #if ENABLED(USE_WATCHDOG)
  272. #include "watchdog.h"
  273. #endif
  274. #if ENABLED(MAX7219_DEBUG)
  275. #include "Max7219_Debug_LEDs.h"
  276. #endif
  277. #if ENABLED(NEOPIXEL_LED)
  278. #include <Adafruit_NeoPixel.h>
  279. #endif
  280. #if ENABLED(BLINKM)
  281. #include "blinkm.h"
  282. #include "Wire.h"
  283. #endif
  284. #if ENABLED(PCA9632)
  285. #include "pca9632.h"
  286. #endif
  287. #if HAS_SERVOS
  288. #include "servo.h"
  289. #endif
  290. #if HAS_DIGIPOTSS
  291. #include <SPI.h>
  292. #endif
  293. #if ENABLED(DAC_STEPPER_CURRENT)
  294. #include "stepper_dac.h"
  295. #endif
  296. #if ENABLED(EXPERIMENTAL_I2CBUS)
  297. #include "twibus.h"
  298. #endif
  299. #if ENABLED(I2C_POSITION_ENCODERS)
  300. #include "I2CPositionEncoder.h"
  301. #endif
  302. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  303. #include "endstop_interrupts.h"
  304. #endif
  305. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  306. void gcode_M100();
  307. void M100_dump_routine(const char * const title, const char *start, const char *end);
  308. #endif
  309. #if ENABLED(SDSUPPORT)
  310. CardReader card;
  311. #endif
  312. #if ENABLED(EXPERIMENTAL_I2CBUS)
  313. TWIBus i2c;
  314. #endif
  315. #if ENABLED(G38_PROBE_TARGET)
  316. bool G38_move = false,
  317. G38_endstop_hit = false;
  318. #endif
  319. #if ENABLED(AUTO_BED_LEVELING_UBL)
  320. #include "ubl.h"
  321. extern bool defer_return_to_status;
  322. unified_bed_leveling ubl;
  323. #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \
  324. && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \
  325. && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \
  326. && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \
  327. || isnan(ubl.z_values[0][0]))
  328. #endif
  329. #if ENABLED(NEOPIXEL_LED)
  330. #if NEOPIXEL_TYPE == NEO_RGB || NEOPIXEL_TYPE == NEO_RBG || NEOPIXEL_TYPE == NEO_GRB || NEOPIXEL_TYPE == NEO_GBR || NEOPIXEL_TYPE == NEO_BRG || NEOPIXEL_TYPE == NEO_BGR
  331. #define NEO_WHITE 255, 255, 255
  332. #else
  333. #define NEO_WHITE 0, 0, 0, 255
  334. #endif
  335. #endif
  336. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632)
  337. #define LED_WHITE 255, 255, 255
  338. #elif ENABLED(RGBW_LED)
  339. #define LED_WHITE 0, 0, 0, 255
  340. #endif
  341. bool Running = true;
  342. uint8_t marlin_debug_flags = DEBUG_NONE;
  343. /**
  344. * Cartesian Current Position
  345. * Used to track the logical position as moves are queued.
  346. * Used by 'line_to_current_position' to do a move after changing it.
  347. * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
  348. */
  349. float current_position[XYZE] = { 0.0 };
  350. /**
  351. * Cartesian Destination
  352. * A temporary position, usually applied to 'current_position'.
  353. * Set with 'gcode_get_destination' or 'set_destination_from_current'.
  354. * 'line_to_destination' sets 'current_position' to 'destination'.
  355. */
  356. float destination[XYZE] = { 0.0 };
  357. /**
  358. * axis_homed
  359. * Flags that each linear axis was homed.
  360. * XYZ on cartesian, ABC on delta, ABZ on SCARA.
  361. *
  362. * axis_known_position
  363. * Flags that the position is known in each linear axis. Set when homed.
  364. * Cleared whenever a stepper powers off, potentially losing its position.
  365. */
  366. bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  367. /**
  368. * GCode line number handling. Hosts may opt to include line numbers when
  369. * sending commands to Marlin, and lines will be checked for sequentiality.
  370. * M110 N<int> sets the current line number.
  371. */
  372. static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  373. /**
  374. * GCode Command Queue
  375. * A simple ring buffer of BUFSIZE command strings.
  376. *
  377. * Commands are copied into this buffer by the command injectors
  378. * (immediate, serial, sd card) and they are processed sequentially by
  379. * the main loop. The process_next_command function parses the next
  380. * command and hands off execution to individual handler functions.
  381. */
  382. uint8_t commands_in_queue = 0; // Count of commands in the queue
  383. static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
  384. cmd_queue_index_w = 0; // Ring buffer write position
  385. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  386. char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
  387. #else // This can be collapsed back to the way it was soon.
  388. static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  389. #endif
  390. /**
  391. * Next Injected Command pointer. NULL if no commands are being injected.
  392. * Used by Marlin internally to ensure that commands initiated from within
  393. * are enqueued ahead of any pending serial or sd card commands.
  394. */
  395. static const char *injected_commands_P = NULL;
  396. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  397. TempUnit input_temp_units = TEMPUNIT_C;
  398. #endif
  399. /**
  400. * Feed rates are often configured with mm/m
  401. * but the planner and stepper like mm/s units.
  402. */
  403. static const float homing_feedrate_mm_s[] PROGMEM = {
  404. #if ENABLED(DELTA)
  405. MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
  406. #else
  407. MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
  408. #endif
  409. MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  410. };
  411. FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
  412. float feedrate_mm_s = MMM_TO_MMS(1500.0);
  413. static float saved_feedrate_mm_s;
  414. int16_t feedrate_percentage = 100, saved_feedrate_percentage,
  415. flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  416. // Initialized by settings.load()
  417. bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
  418. volumetric_enabled;
  419. float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
  420. #if HAS_WORKSPACE_OFFSET
  421. #if HAS_POSITION_SHIFT
  422. // The distance that XYZ has been offset by G92. Reset by G28.
  423. float position_shift[XYZ] = { 0 };
  424. #endif
  425. #if HAS_HOME_OFFSET
  426. // This offset is added to the configured home position.
  427. // Set by M206, M428, or menu item. Saved to EEPROM.
  428. float home_offset[XYZ] = { 0 };
  429. #endif
  430. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  431. // The above two are combined to save on computes
  432. float workspace_offset[XYZ] = { 0 };
  433. #endif
  434. #endif
  435. // Software Endstops are based on the configured limits.
  436. #if HAS_SOFTWARE_ENDSTOPS
  437. bool soft_endstops_enabled = true;
  438. #endif
  439. float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
  440. soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
  441. #if FAN_COUNT > 0
  442. int16_t fanSpeeds[FAN_COUNT] = { 0 };
  443. #if ENABLED(EXTRA_FAN_SPEED)
  444. int16_t old_fanSpeeds[FAN_COUNT],
  445. new_fanSpeeds[FAN_COUNT];
  446. #endif
  447. #if ENABLED(PROBING_FANS_OFF)
  448. bool fans_paused = false;
  449. int16_t paused_fanSpeeds[FAN_COUNT] = { 0 };
  450. #endif
  451. #endif
  452. // The active extruder (tool). Set with T<extruder> command.
  453. uint8_t active_extruder = 0;
  454. // Relative Mode. Enable with G91, disable with G90.
  455. static bool relative_mode = false;
  456. // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  457. volatile bool wait_for_heatup = true;
  458. // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  459. #if HAS_RESUME_CONTINUE
  460. volatile bool wait_for_user = false;
  461. #endif
  462. const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
  463. // Number of characters read in the current line of serial input
  464. static int serial_count = 0;
  465. // Inactivity shutdown
  466. millis_t previous_cmd_ms = 0;
  467. static millis_t max_inactive_time = 0;
  468. static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL;
  469. // Print Job Timer
  470. #if ENABLED(PRINTCOUNTER)
  471. PrintCounter print_job_timer = PrintCounter();
  472. #else
  473. Stopwatch print_job_timer = Stopwatch();
  474. #endif
  475. // Buzzer - I2C on the LCD or a BEEPER_PIN
  476. #if ENABLED(LCD_USE_I2C_BUZZER)
  477. #define BUZZ(d,f) lcd_buzz(d, f)
  478. #elif PIN_EXISTS(BEEPER)
  479. Buzzer buzzer;
  480. #define BUZZ(d,f) buzzer.tone(d, f)
  481. #else
  482. #define BUZZ(d,f) NOOP
  483. #endif
  484. static uint8_t target_extruder;
  485. #if HAS_BED_PROBE
  486. float zprobe_zoffset; // Initialized by settings.load()
  487. #endif
  488. #if HAS_ABL
  489. float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  490. #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  491. #elif defined(XY_PROBE_SPEED)
  492. #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  493. #else
  494. #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  495. #endif
  496. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  497. #if ENABLED(DELTA)
  498. #define ADJUST_DELTA(V) \
  499. if (planner.leveling_active) { \
  500. const float zadj = bilinear_z_offset(V); \
  501. delta[A_AXIS] += zadj; \
  502. delta[B_AXIS] += zadj; \
  503. delta[C_AXIS] += zadj; \
  504. }
  505. #else
  506. #define ADJUST_DELTA(V) if (planner.leveling_active) { delta[Z_AXIS] += bilinear_z_offset(V); }
  507. #endif
  508. #elif IS_KINEMATIC
  509. #define ADJUST_DELTA(V) NOOP
  510. #endif
  511. #if ENABLED(Z_DUAL_ENDSTOPS)
  512. float z_endstop_adj;
  513. #endif
  514. // Extruder offsets
  515. #if HOTENDS > 1
  516. float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
  517. #endif
  518. #if HAS_Z_SERVO_ENDSTOP
  519. const int z_servo_angle[2] = Z_SERVO_ANGLES;
  520. #endif
  521. #if ENABLED(BARICUDA)
  522. uint8_t baricuda_valve_pressure = 0,
  523. baricuda_e_to_p_pressure = 0;
  524. #endif
  525. #if ENABLED(FWRETRACT) // Initialized by settings.load()...
  526. bool autoretract_enabled, // M209 S - Autoretract switch
  527. retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted
  528. float retract_length, // M207 S - G10 Retract length
  529. retract_feedrate_mm_s, // M207 F - G10 Retract feedrate
  530. retract_zlift, // M207 Z - G10 Retract hop size
  531. retract_recover_length, // M208 S - G11 Recover length
  532. retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate
  533. swap_retract_length, // M207 W - G10 Swap Retract length
  534. swap_retract_recover_length, // M208 W - G11 Swap Recover length
  535. swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
  536. #if EXTRUDERS > 1
  537. bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted
  538. #else
  539. constexpr bool retracted_swap[1] = { false };
  540. #endif
  541. #endif // FWRETRACT
  542. #if HAS_POWER_SWITCH
  543. bool powersupply_on =
  544. #if ENABLED(PS_DEFAULT_OFF)
  545. false
  546. #else
  547. true
  548. #endif
  549. ;
  550. #endif
  551. #if ENABLED(DELTA)
  552. float delta[ABC],
  553. endstop_adj[ABC] = { 0 };
  554. // Initialized by settings.load()
  555. float delta_radius,
  556. delta_tower_angle_trim[ABC],
  557. delta_tower[ABC][2],
  558. delta_diagonal_rod,
  559. delta_calibration_radius,
  560. delta_diagonal_rod_2_tower[ABC],
  561. delta_segments_per_second,
  562. delta_clip_start_height = Z_MAX_POS;
  563. float delta_safe_distance_from_top();
  564. #endif
  565. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  566. int bilinear_grid_spacing[2], bilinear_start[2];
  567. float bilinear_grid_factor[2],
  568. z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  569. #endif
  570. #if IS_SCARA
  571. // Float constants for SCARA calculations
  572. const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
  573. L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
  574. L2_2 = sq(float(L2));
  575. float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
  576. delta[ABC];
  577. #endif
  578. float cartes[XYZ] = { 0 };
  579. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  580. bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off.
  581. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404.
  582. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter
  583. uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM, // Distance delay setting
  584. measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
  585. int8_t filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer
  586. #endif
  587. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  588. static bool filament_ran_out = false;
  589. #endif
  590. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  591. AdvancedPauseMenuResponse advanced_pause_menu_response;
  592. #endif
  593. #if ENABLED(MIXING_EXTRUDER)
  594. float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
  595. #if MIXING_VIRTUAL_TOOLS > 1
  596. float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
  597. #endif
  598. #endif
  599. static bool send_ok[BUFSIZE];
  600. #if HAS_SERVOS
  601. Servo servo[NUM_SERVOS];
  602. #define MOVE_SERVO(I, P) servo[I].move(P)
  603. #if HAS_Z_SERVO_ENDSTOP
  604. #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
  605. #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
  606. #endif
  607. #endif
  608. #ifdef CHDK
  609. millis_t chdkHigh = 0;
  610. bool chdkActive = false;
  611. #endif
  612. #ifdef AUTOMATIC_CURRENT_CONTROL
  613. bool auto_current_control = 0;
  614. #endif
  615. #if ENABLED(PID_EXTRUSION_SCALING)
  616. int lpq_len = 20;
  617. #endif
  618. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  619. MarlinBusyState busy_state = NOT_BUSY;
  620. static millis_t next_busy_signal_ms = 0;
  621. uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
  622. #else
  623. #define host_keepalive() NOOP
  624. #endif
  625. #if ENABLED(I2C_POSITION_ENCODERS)
  626. I2CPositionEncodersMgr I2CPEM;
  627. uint8_t blockBufferIndexRef = 0;
  628. millis_t lastUpdateMillis;
  629. #endif
  630. #if ENABLED(CNC_WORKSPACE_PLANES)
  631. static WorkspacePlane workspace_plane = PLANE_XY;
  632. #endif
  633. FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
  634. FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
  635. #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
  636. static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
  637. static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
  638. typedef void __void_##CONFIG##__
  639. XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
  640. XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
  641. XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  642. XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
  643. XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
  644. XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
  645. /**
  646. * ***************************************************************************
  647. * ******************************** FUNCTIONS ********************************
  648. * ***************************************************************************
  649. */
  650. void stop();
  651. void get_available_commands();
  652. void process_next_command();
  653. void prepare_move_to_destination();
  654. void get_cartesian_from_steppers();
  655. void set_current_from_steppers_for_axis(const AxisEnum axis);
  656. #if ENABLED(ARC_SUPPORT)
  657. void plan_arc(float target[XYZE], float* offset, uint8_t clockwise);
  658. #endif
  659. #if ENABLED(BEZIER_CURVE_SUPPORT)
  660. void plan_cubic_move(const float offset[4]);
  661. #endif
  662. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  663. void report_current_position();
  664. void report_current_position_detail();
  665. #if ENABLED(DEBUG_LEVELING_FEATURE)
  666. void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
  667. serialprintPGM(prefix);
  668. SERIAL_CHAR('(');
  669. SERIAL_ECHO(x);
  670. SERIAL_ECHOPAIR(", ", y);
  671. SERIAL_ECHOPAIR(", ", z);
  672. SERIAL_CHAR(')');
  673. if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
  674. }
  675. void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
  676. print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  677. }
  678. #if HAS_ABL
  679. void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
  680. print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
  681. }
  682. #endif
  683. #define DEBUG_POS(SUFFIX,VAR) do { \
  684. print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
  685. #endif
  686. /**
  687. * sync_plan_position
  688. *
  689. * Set the planner/stepper positions directly from current_position with
  690. * no kinematic translation. Used for homing axes and cartesian/core syncing.
  691. */
  692. void sync_plan_position() {
  693. #if ENABLED(DEBUG_LEVELING_FEATURE)
  694. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
  695. #endif
  696. planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  697. }
  698. inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  699. #if IS_KINEMATIC
  700. inline void sync_plan_position_kinematic() {
  701. #if ENABLED(DEBUG_LEVELING_FEATURE)
  702. if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
  703. #endif
  704. planner.set_position_mm_kinematic(current_position);
  705. }
  706. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  707. #else
  708. #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  709. #endif
  710. #if ENABLED(SDSUPPORT)
  711. #include "SdFatUtil.h"
  712. int freeMemory() { return SdFatUtil::FreeRam(); }
  713. #else
  714. extern "C" {
  715. extern char __bss_end;
  716. extern char __heap_start;
  717. extern void* __brkval;
  718. int freeMemory() {
  719. int free_memory;
  720. if ((int)__brkval == 0)
  721. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  722. else
  723. free_memory = ((int)&free_memory) - ((int)__brkval);
  724. return free_memory;
  725. }
  726. }
  727. #endif // !SDSUPPORT
  728. #if ENABLED(DIGIPOT_I2C)
  729. extern void digipot_i2c_set_current(uint8_t channel, float current);
  730. extern void digipot_i2c_init();
  731. #endif
  732. /**
  733. * Inject the next "immediate" command, when possible, onto the front of the queue.
  734. * Return true if any immediate commands remain to inject.
  735. */
  736. static bool drain_injected_commands_P() {
  737. if (injected_commands_P != NULL) {
  738. size_t i = 0;
  739. char c, cmd[30];
  740. strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
  741. cmd[sizeof(cmd) - 1] = '\0';
  742. while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  743. cmd[i] = '\0';
  744. if (enqueue_and_echo_command(cmd)) // success?
  745. injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
  746. }
  747. return (injected_commands_P != NULL); // return whether any more remain
  748. }
  749. /**
  750. * Record one or many commands to run from program memory.
  751. * Aborts the current queue, if any.
  752. * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
  753. */
  754. void enqueue_and_echo_commands_P(const char * const pgcode) {
  755. injected_commands_P = pgcode;
  756. drain_injected_commands_P(); // first command executed asap (when possible)
  757. }
  758. /**
  759. * Clear the Marlin command queue
  760. */
  761. void clear_command_queue() {
  762. cmd_queue_index_r = cmd_queue_index_w;
  763. commands_in_queue = 0;
  764. }
  765. /**
  766. * Once a new command is in the ring buffer, call this to commit it
  767. */
  768. inline void _commit_command(bool say_ok) {
  769. send_ok[cmd_queue_index_w] = say_ok;
  770. if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
  771. commands_in_queue++;
  772. }
  773. /**
  774. * Copy a command from RAM into the main command buffer.
  775. * Return true if the command was successfully added.
  776. * Return false for a full buffer, or if the 'command' is a comment.
  777. */
  778. inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
  779. if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
  780. strcpy(command_queue[cmd_queue_index_w], cmd);
  781. _commit_command(say_ok);
  782. return true;
  783. }
  784. /**
  785. * Enqueue with Serial Echo
  786. */
  787. bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
  788. if (_enqueuecommand(cmd, say_ok)) {
  789. SERIAL_ECHO_START();
  790. SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
  791. SERIAL_CHAR('"');
  792. SERIAL_EOL();
  793. return true;
  794. }
  795. return false;
  796. }
  797. void setup_killpin() {
  798. #if HAS_KILL
  799. SET_INPUT_PULLUP(KILL_PIN);
  800. #endif
  801. }
  802. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  803. void setup_filrunoutpin() {
  804. #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
  805. SET_INPUT_PULLUP(FIL_RUNOUT_PIN);
  806. #else
  807. SET_INPUT(FIL_RUNOUT_PIN);
  808. #endif
  809. }
  810. #endif
  811. void setup_powerhold() {
  812. #if HAS_SUICIDE
  813. OUT_WRITE(SUICIDE_PIN, HIGH);
  814. #endif
  815. #if HAS_POWER_SWITCH
  816. #if ENABLED(PS_DEFAULT_OFF)
  817. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  818. #else
  819. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
  820. #endif
  821. #endif
  822. }
  823. void suicide() {
  824. #if HAS_SUICIDE
  825. OUT_WRITE(SUICIDE_PIN, LOW);
  826. #endif
  827. }
  828. void servo_init() {
  829. #if NUM_SERVOS >= 1 && HAS_SERVO_0
  830. servo[0].attach(SERVO0_PIN);
  831. servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  832. #endif
  833. #if NUM_SERVOS >= 2 && HAS_SERVO_1
  834. servo[1].attach(SERVO1_PIN);
  835. servo[1].detach();
  836. #endif
  837. #if NUM_SERVOS >= 3 && HAS_SERVO_2
  838. servo[2].attach(SERVO2_PIN);
  839. servo[2].detach();
  840. #endif
  841. #if NUM_SERVOS >= 4 && HAS_SERVO_3
  842. servo[3].attach(SERVO3_PIN);
  843. servo[3].detach();
  844. #endif
  845. #if HAS_Z_SERVO_ENDSTOP
  846. /**
  847. * Set position of Z Servo Endstop
  848. *
  849. * The servo might be deployed and positioned too low to stow
  850. * when starting up the machine or rebooting the board.
  851. * There's no way to know where the nozzle is positioned until
  852. * homing has been done - no homing with z-probe without init!
  853. *
  854. */
  855. STOW_Z_SERVO();
  856. #endif
  857. }
  858. /**
  859. * Stepper Reset (RigidBoard, et.al.)
  860. */
  861. #if HAS_STEPPER_RESET
  862. void disableStepperDrivers() {
  863. OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
  864. }
  865. void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups
  866. #endif
  867. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  868. void i2c_on_receive(int bytes) { // just echo all bytes received to serial
  869. i2c.receive(bytes);
  870. }
  871. void i2c_on_request() { // just send dummy data for now
  872. i2c.reply("Hello World!\n");
  873. }
  874. #endif
  875. #if HAS_COLOR_LEDS
  876. #if ENABLED(NEOPIXEL_LED)
  877. Adafruit_NeoPixel pixels(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800);
  878. void set_neopixel_color(const uint32_t color) {
  879. for (uint16_t i = 0; i < pixels.numPixels(); ++i)
  880. pixels.setPixelColor(i, color);
  881. pixels.show();
  882. }
  883. void setup_neopixel() {
  884. pixels.setBrightness(NEOPIXEL_BRIGHTNESS); // 0 - 255 range
  885. pixels.begin();
  886. pixels.show(); // initialize to all off
  887. #if ENABLED(NEOPIXEL_STARTUP_TEST)
  888. delay(2000);
  889. set_neopixel_color(pixels.Color(255, 0, 0, 0)); // red
  890. delay(2000);
  891. set_neopixel_color(pixels.Color(0, 255, 0, 0)); // green
  892. delay(2000);
  893. set_neopixel_color(pixels.Color(0, 0, 255, 0)); // blue
  894. delay(2000);
  895. #endif
  896. set_neopixel_color(pixels.Color(NEO_WHITE)); // white
  897. }
  898. #endif // NEOPIXEL_LED
  899. void set_led_color(
  900. const uint8_t r, const uint8_t g, const uint8_t b
  901. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  902. , const uint8_t w = 0
  903. #if ENABLED(NEOPIXEL_LED)
  904. , const uint8_t p = NEOPIXEL_BRIGHTNESS
  905. , bool isSequence = false
  906. #endif
  907. #endif
  908. ) {
  909. #if ENABLED(NEOPIXEL_LED)
  910. const uint32_t color = pixels.Color(r, g, b, w);
  911. static uint16_t nextLed = 0;
  912. pixels.setBrightness(p);
  913. if (!isSequence)
  914. set_neopixel_color(color);
  915. else {
  916. pixels.setPixelColor(nextLed, color);
  917. pixels.show();
  918. if (++nextLed >= pixels.numPixels()) nextLed = 0;
  919. return;
  920. }
  921. #endif
  922. #if ENABLED(BLINKM)
  923. // This variant uses i2c to send the RGB components to the device.
  924. SendColors(r, g, b);
  925. #endif
  926. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  927. // This variant uses 3 separate pins for the RGB components.
  928. // If the pins can do PWM then their intensity will be set.
  929. WRITE(RGB_LED_R_PIN, r ? HIGH : LOW);
  930. WRITE(RGB_LED_G_PIN, g ? HIGH : LOW);
  931. WRITE(RGB_LED_B_PIN, b ? HIGH : LOW);
  932. analogWrite(RGB_LED_R_PIN, r);
  933. analogWrite(RGB_LED_G_PIN, g);
  934. analogWrite(RGB_LED_B_PIN, b);
  935. #if ENABLED(RGBW_LED)
  936. WRITE(RGB_LED_W_PIN, w ? HIGH : LOW);
  937. analogWrite(RGB_LED_W_PIN, w);
  938. #endif
  939. #endif
  940. #if ENABLED(PCA9632)
  941. // Update I2C LED driver
  942. PCA9632_SetColor(r, g, b);
  943. #endif
  944. }
  945. #endif // HAS_COLOR_LEDS
  946. void gcode_line_error(const char* err, bool doFlush = true) {
  947. SERIAL_ERROR_START();
  948. serialprintPGM(err);
  949. SERIAL_ERRORLN(gcode_LastN);
  950. //Serial.println(gcode_N);
  951. if (doFlush) FlushSerialRequestResend();
  952. serial_count = 0;
  953. }
  954. /**
  955. * Get all commands waiting on the serial port and queue them.
  956. * Exit when the buffer is full or when no more characters are
  957. * left on the serial port.
  958. */
  959. inline void get_serial_commands() {
  960. static char serial_line_buffer[MAX_CMD_SIZE];
  961. static bool serial_comment_mode = false;
  962. // If the command buffer is empty for too long,
  963. // send "wait" to indicate Marlin is still waiting.
  964. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  965. static millis_t last_command_time = 0;
  966. const millis_t ms = millis();
  967. if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
  968. SERIAL_ECHOLNPGM(MSG_WAIT);
  969. last_command_time = ms;
  970. }
  971. #endif
  972. /**
  973. * Loop while serial characters are incoming and the queue is not full
  974. */
  975. int c;
  976. while (commands_in_queue < BUFSIZE && (c = MYSERIAL.read()) >= 0) {
  977. char serial_char = c;
  978. /**
  979. * If the character ends the line
  980. */
  981. if (serial_char == '\n' || serial_char == '\r') {
  982. serial_comment_mode = false; // end of line == end of comment
  983. if (!serial_count) continue; // skip empty lines
  984. serial_line_buffer[serial_count] = 0; // terminate string
  985. serial_count = 0; //reset buffer
  986. char* command = serial_line_buffer;
  987. while (*command == ' ') command++; // skip any leading spaces
  988. char *npos = (*command == 'N') ? command : NULL, // Require the N parameter to start the line
  989. *apos = strchr(command, '*');
  990. if (npos) {
  991. bool M110 = strstr_P(command, PSTR("M110")) != NULL;
  992. if (M110) {
  993. char* n2pos = strchr(command + 4, 'N');
  994. if (n2pos) npos = n2pos;
  995. }
  996. gcode_N = strtol(npos + 1, NULL, 10);
  997. if (gcode_N != gcode_LastN + 1 && !M110) {
  998. gcode_line_error(PSTR(MSG_ERR_LINE_NO));
  999. return;
  1000. }
  1001. if (apos) {
  1002. byte checksum = 0, count = 0;
  1003. while (command[count] != '*') checksum ^= command[count++];
  1004. if (strtol(apos + 1, NULL, 10) != checksum) {
  1005. gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
  1006. return;
  1007. }
  1008. // if no errors, continue parsing
  1009. }
  1010. else {
  1011. gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
  1012. return;
  1013. }
  1014. gcode_LastN = gcode_N;
  1015. // if no errors, continue parsing
  1016. }
  1017. else if (apos) { // No '*' without 'N'
  1018. gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
  1019. return;
  1020. }
  1021. // Movement commands alert when stopped
  1022. if (IsStopped()) {
  1023. char* gpos = strchr(command, 'G');
  1024. if (gpos) {
  1025. const int codenum = strtol(gpos + 1, NULL, 10);
  1026. switch (codenum) {
  1027. case 0:
  1028. case 1:
  1029. case 2:
  1030. case 3:
  1031. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  1032. LCD_MESSAGEPGM(MSG_STOPPED);
  1033. break;
  1034. }
  1035. }
  1036. }
  1037. #if DISABLED(EMERGENCY_PARSER)
  1038. // If command was e-stop process now
  1039. if (strcmp(command, "M108") == 0) {
  1040. wait_for_heatup = false;
  1041. #if ENABLED(ULTIPANEL)
  1042. wait_for_user = false;
  1043. #endif
  1044. }
  1045. if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
  1046. if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
  1047. #endif
  1048. #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
  1049. last_command_time = ms;
  1050. #endif
  1051. // Add the command to the queue
  1052. _enqueuecommand(serial_line_buffer, true);
  1053. }
  1054. else if (serial_count >= MAX_CMD_SIZE - 1) {
  1055. // Keep fetching, but ignore normal characters beyond the max length
  1056. // The command will be injected when EOL is reached
  1057. }
  1058. else if (serial_char == '\\') { // Handle escapes
  1059. if ((c = MYSERIAL.read()) >= 0) {
  1060. // if we have one more character, copy it over
  1061. serial_char = c;
  1062. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1063. }
  1064. // otherwise do nothing
  1065. }
  1066. else { // it's not a newline, carriage return or escape char
  1067. if (serial_char == ';') serial_comment_mode = true;
  1068. if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
  1069. }
  1070. } // queue has space, serial has data
  1071. }
  1072. #if ENABLED(SDSUPPORT)
  1073. /**
  1074. * Get commands from the SD Card until the command buffer is full
  1075. * or until the end of the file is reached. The special character '#'
  1076. * can also interrupt buffering.
  1077. */
  1078. inline void get_sdcard_commands() {
  1079. static bool stop_buffering = false,
  1080. sd_comment_mode = false;
  1081. if (!card.sdprinting) return;
  1082. /**
  1083. * '#' stops reading from SD to the buffer prematurely, so procedural
  1084. * macro calls are possible. If it occurs, stop_buffering is triggered
  1085. * and the buffer is run dry; this character _can_ occur in serial com
  1086. * due to checksums, however, no checksums are used in SD printing.
  1087. */
  1088. if (commands_in_queue == 0) stop_buffering = false;
  1089. uint16_t sd_count = 0;
  1090. bool card_eof = card.eof();
  1091. while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
  1092. const int16_t n = card.get();
  1093. char sd_char = (char)n;
  1094. card_eof = card.eof();
  1095. if (card_eof || n == -1
  1096. || sd_char == '\n' || sd_char == '\r'
  1097. || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
  1098. ) {
  1099. if (card_eof) {
  1100. SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
  1101. card.printingHasFinished();
  1102. #if ENABLED(PRINTER_EVENT_LEDS)
  1103. LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
  1104. set_led_color(0, 255, 0); // Green
  1105. #if HAS_RESUME_CONTINUE
  1106. enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
  1107. #else
  1108. safe_delay(1000);
  1109. #endif
  1110. set_led_color(0, 0, 0); // OFF
  1111. #endif
  1112. card.checkautostart(true);
  1113. }
  1114. else if (n == -1) {
  1115. SERIAL_ERROR_START();
  1116. SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
  1117. }
  1118. if (sd_char == '#') stop_buffering = true;
  1119. sd_comment_mode = false; // for new command
  1120. if (!sd_count) continue; // skip empty lines (and comment lines)
  1121. command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
  1122. sd_count = 0; // clear sd line buffer
  1123. _commit_command(false);
  1124. }
  1125. else if (sd_count >= MAX_CMD_SIZE - 1) {
  1126. /**
  1127. * Keep fetching, but ignore normal characters beyond the max length
  1128. * The command will be injected when EOL is reached
  1129. */
  1130. }
  1131. else {
  1132. if (sd_char == ';') sd_comment_mode = true;
  1133. if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
  1134. }
  1135. }
  1136. }
  1137. #endif // SDSUPPORT
  1138. /**
  1139. * Add to the circular command queue the next command from:
  1140. * - The command-injection queue (injected_commands_P)
  1141. * - The active serial input (usually USB)
  1142. * - The SD card file being actively printed
  1143. */
  1144. void get_available_commands() {
  1145. // if any immediate commands remain, don't get other commands yet
  1146. if (drain_injected_commands_P()) return;
  1147. get_serial_commands();
  1148. #if ENABLED(SDSUPPORT)
  1149. get_sdcard_commands();
  1150. #endif
  1151. }
  1152. /**
  1153. * Set target_extruder from the T parameter or the active_extruder
  1154. *
  1155. * Returns TRUE if the target is invalid
  1156. */
  1157. bool get_target_extruder_from_command(const uint16_t code) {
  1158. if (parser.seenval('T')) {
  1159. const int8_t e = parser.value_byte();
  1160. if (e >= EXTRUDERS) {
  1161. SERIAL_ECHO_START();
  1162. SERIAL_CHAR('M');
  1163. SERIAL_ECHO(code);
  1164. SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
  1165. return true;
  1166. }
  1167. target_extruder = e;
  1168. }
  1169. else
  1170. target_extruder = active_extruder;
  1171. return false;
  1172. }
  1173. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  1174. bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  1175. #endif
  1176. #if ENABLED(DUAL_X_CARRIAGE)
  1177. static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  1178. static float x_home_pos(const int extruder) {
  1179. if (extruder == 0)
  1180. return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
  1181. else
  1182. /**
  1183. * In dual carriage mode the extruder offset provides an override of the
  1184. * second X-carriage position when homed - otherwise X2_HOME_POS is used.
  1185. * This allows soft recalibration of the second extruder home position
  1186. * without firmware reflash (through the M218 command).
  1187. */
  1188. return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
  1189. }
  1190. static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
  1191. static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  1192. static bool active_extruder_parked = false; // used in mode 1 & 2
  1193. static float raised_parked_position[XYZE]; // used in mode 1
  1194. static millis_t delayed_move_time = 0; // used in mode 1
  1195. static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  1196. static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
  1197. #endif // DUAL_X_CARRIAGE
  1198. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
  1199. /**
  1200. * Software endstops can be used to monitor the open end of
  1201. * an axis that has a hardware endstop on the other end. Or
  1202. * they can prevent axes from moving past endstops and grinding.
  1203. *
  1204. * To keep doing their job as the coordinate system changes,
  1205. * the software endstop positions must be refreshed to remain
  1206. * at the same positions relative to the machine.
  1207. */
  1208. void update_software_endstops(const AxisEnum axis) {
  1209. const float offs = 0.0
  1210. #if HAS_HOME_OFFSET
  1211. + home_offset[axis]
  1212. #endif
  1213. #if HAS_POSITION_SHIFT
  1214. + position_shift[axis]
  1215. #endif
  1216. ;
  1217. #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
  1218. workspace_offset[axis] = offs;
  1219. #endif
  1220. #if ENABLED(DUAL_X_CARRIAGE)
  1221. if (axis == X_AXIS) {
  1222. // In Dual X mode hotend_offset[X] is T1's home position
  1223. float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  1224. if (active_extruder != 0) {
  1225. // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
  1226. soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
  1227. soft_endstop_max[X_AXIS] = dual_max_x + offs;
  1228. }
  1229. else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
  1230. // In Duplication Mode, T0 can move as far left as X_MIN_POS
  1231. // but not so far to the right that T1 would move past the end
  1232. soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
  1233. soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
  1234. }
  1235. else {
  1236. // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
  1237. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1238. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1239. }
  1240. }
  1241. #elif ENABLED(DELTA)
  1242. soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs);
  1243. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1244. #else
  1245. soft_endstop_min[axis] = base_min_pos(axis) + offs;
  1246. soft_endstop_max[axis] = base_max_pos(axis) + offs;
  1247. #endif
  1248. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1249. if (DEBUGGING(LEVELING)) {
  1250. SERIAL_ECHOPAIR("For ", axis_codes[axis]);
  1251. #if HAS_HOME_OFFSET
  1252. SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
  1253. #endif
  1254. #if HAS_POSITION_SHIFT
  1255. SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
  1256. #endif
  1257. SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
  1258. SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
  1259. }
  1260. #endif
  1261. #if ENABLED(DELTA)
  1262. if (axis == Z_AXIS)
  1263. delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
  1264. #endif
  1265. }
  1266. #endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE
  1267. #if HAS_M206_COMMAND
  1268. /**
  1269. * Change the home offset for an axis, update the current
  1270. * position and the software endstops to retain the same
  1271. * relative distance to the new home.
  1272. *
  1273. * Since this changes the current_position, code should
  1274. * call sync_plan_position soon after this.
  1275. */
  1276. static void set_home_offset(const AxisEnum axis, const float v) {
  1277. current_position[axis] += v - home_offset[axis];
  1278. home_offset[axis] = v;
  1279. update_software_endstops(axis);
  1280. }
  1281. #endif // HAS_M206_COMMAND
  1282. /**
  1283. * Set an axis' current position to its home position (after homing).
  1284. *
  1285. * For Core and Cartesian robots this applies one-to-one when an
  1286. * individual axis has been homed.
  1287. *
  1288. * DELTA should wait until all homing is done before setting the XYZ
  1289. * current_position to home, because homing is a single operation.
  1290. * In the case where the axis positions are already known and previously
  1291. * homed, DELTA could home to X or Y individually by moving either one
  1292. * to the center. However, homing Z always homes XY and Z.
  1293. *
  1294. * SCARA should wait until all XY homing is done before setting the XY
  1295. * current_position to home, because neither X nor Y is at home until
  1296. * both are at home. Z can however be homed individually.
  1297. *
  1298. * Callers must sync the planner position after calling this!
  1299. */
  1300. static void set_axis_is_at_home(const AxisEnum axis) {
  1301. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1302. if (DEBUGGING(LEVELING)) {
  1303. SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
  1304. SERIAL_CHAR(')');
  1305. SERIAL_EOL();
  1306. }
  1307. #endif
  1308. axis_known_position[axis] = axis_homed[axis] = true;
  1309. #if HAS_POSITION_SHIFT
  1310. position_shift[axis] = 0;
  1311. update_software_endstops(axis);
  1312. #endif
  1313. #if ENABLED(DUAL_X_CARRIAGE)
  1314. if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
  1315. current_position[X_AXIS] = x_home_pos(active_extruder);
  1316. return;
  1317. }
  1318. #endif
  1319. #if ENABLED(MORGAN_SCARA)
  1320. /**
  1321. * Morgan SCARA homes XY at the same time
  1322. */
  1323. if (axis == X_AXIS || axis == Y_AXIS) {
  1324. float homeposition[XYZ];
  1325. LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
  1326. // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
  1327. // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  1328. /**
  1329. * Get Home position SCARA arm angles using inverse kinematics,
  1330. * and calculate homing offset using forward kinematics
  1331. */
  1332. inverse_kinematics(homeposition);
  1333. forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  1334. // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
  1335. // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  1336. current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  1337. /**
  1338. * SCARA home positions are based on configuration since the actual
  1339. * limits are determined by the inverse kinematic transform.
  1340. */
  1341. soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1342. soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
  1343. }
  1344. else
  1345. #endif
  1346. {
  1347. current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
  1348. }
  1349. /**
  1350. * Z Probe Z Homing? Account for the probe's Z offset.
  1351. */
  1352. #if HAS_BED_PROBE && Z_HOME_DIR < 0
  1353. if (axis == Z_AXIS) {
  1354. #if HOMING_Z_WITH_PROBE
  1355. current_position[Z_AXIS] -= zprobe_zoffset;
  1356. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1357. if (DEBUGGING(LEVELING)) {
  1358. SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
  1359. SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
  1360. }
  1361. #endif
  1362. #elif ENABLED(DEBUG_LEVELING_FEATURE)
  1363. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  1364. #endif
  1365. }
  1366. #endif
  1367. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1368. if (DEBUGGING(LEVELING)) {
  1369. #if HAS_HOME_OFFSET
  1370. SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
  1371. SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
  1372. #endif
  1373. DEBUG_POS("", current_position);
  1374. SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
  1375. SERIAL_CHAR(')');
  1376. SERIAL_EOL();
  1377. }
  1378. #endif
  1379. #if ENABLED(I2C_POSITION_ENCODERS)
  1380. I2CPEM.homed(axis);
  1381. #endif
  1382. }
  1383. /**
  1384. * Some planner shorthand inline functions
  1385. */
  1386. inline float get_homing_bump_feedrate(const AxisEnum axis) {
  1387. static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR;
  1388. uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]);
  1389. if (hbd < 1) {
  1390. hbd = 10;
  1391. SERIAL_ECHO_START();
  1392. SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
  1393. }
  1394. return homing_feedrate(axis) / hbd;
  1395. }
  1396. /**
  1397. * Move the planner to the current position from wherever it last moved
  1398. * (or from wherever it has been told it is located).
  1399. */
  1400. inline void line_to_current_position() {
  1401. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  1402. }
  1403. /**
  1404. * Move the planner to the position stored in the destination array, which is
  1405. * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
  1406. */
  1407. inline void line_to_destination(const float fr_mm_s) {
  1408. planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  1409. }
  1410. inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  1411. inline void set_current_from_destination() { COPY(current_position, destination); }
  1412. inline void set_destination_from_current() { COPY(destination, current_position); }
  1413. #if IS_KINEMATIC
  1414. /**
  1415. * Calculate delta, start a line, and set current_position to destination
  1416. */
  1417. void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
  1418. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1419. if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
  1420. #endif
  1421. refresh_cmd_timeout();
  1422. #if UBL_DELTA
  1423. // ubl segmented line will do z-only moves in single segment
  1424. ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
  1425. #else
  1426. if ( current_position[X_AXIS] == destination[X_AXIS]
  1427. && current_position[Y_AXIS] == destination[Y_AXIS]
  1428. && current_position[Z_AXIS] == destination[Z_AXIS]
  1429. && current_position[E_AXIS] == destination[E_AXIS]
  1430. ) return;
  1431. planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
  1432. #endif
  1433. set_current_from_destination();
  1434. }
  1435. #endif // IS_KINEMATIC
  1436. /**
  1437. * Plan a move to (X, Y, Z) and set the current_position
  1438. * The final current_position may not be the one that was requested
  1439. */
  1440. void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) {
  1441. const float old_feedrate_mm_s = feedrate_mm_s;
  1442. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1443. if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz);
  1444. #endif
  1445. #if ENABLED(DELTA)
  1446. if (!position_is_reachable_xy(lx, ly)) return;
  1447. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1448. set_destination_from_current(); // sync destination at the start
  1449. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1450. if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_from_current", destination);
  1451. #endif
  1452. // when in the danger zone
  1453. if (current_position[Z_AXIS] > delta_clip_start_height) {
  1454. if (lz > delta_clip_start_height) { // staying in the danger zone
  1455. destination[X_AXIS] = lx; // move directly (uninterpolated)
  1456. destination[Y_AXIS] = ly;
  1457. destination[Z_AXIS] = lz;
  1458. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1459. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1460. if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
  1461. #endif
  1462. return;
  1463. }
  1464. else {
  1465. destination[Z_AXIS] = delta_clip_start_height;
  1466. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1467. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1468. if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
  1469. #endif
  1470. }
  1471. }
  1472. if (lz > current_position[Z_AXIS]) { // raising?
  1473. destination[Z_AXIS] = lz;
  1474. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1475. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1476. if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
  1477. #endif
  1478. }
  1479. destination[X_AXIS] = lx;
  1480. destination[Y_AXIS] = ly;
  1481. prepare_move_to_destination(); // set_current_from_destination
  1482. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1483. if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
  1484. #endif
  1485. if (lz < current_position[Z_AXIS]) { // lowering?
  1486. destination[Z_AXIS] = lz;
  1487. prepare_uninterpolated_move_to_destination(); // set_current_from_destination
  1488. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1489. if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
  1490. #endif
  1491. }
  1492. #elif IS_SCARA
  1493. if (!position_is_reachable_xy(lx, ly)) return;
  1494. set_destination_from_current();
  1495. // If Z needs to raise, do it before moving XY
  1496. if (destination[Z_AXIS] < lz) {
  1497. destination[Z_AXIS] = lz;
  1498. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1499. }
  1500. destination[X_AXIS] = lx;
  1501. destination[Y_AXIS] = ly;
  1502. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  1503. // If Z needs to lower, do it after moving XY
  1504. if (destination[Z_AXIS] > lz) {
  1505. destination[Z_AXIS] = lz;
  1506. prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS));
  1507. }
  1508. #else
  1509. // If Z needs to raise, do it before moving XY
  1510. if (current_position[Z_AXIS] < lz) {
  1511. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1512. current_position[Z_AXIS] = lz;
  1513. line_to_current_position();
  1514. }
  1515. feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  1516. current_position[X_AXIS] = lx;
  1517. current_position[Y_AXIS] = ly;
  1518. line_to_current_position();
  1519. // If Z needs to lower, do it after moving XY
  1520. if (current_position[Z_AXIS] > lz) {
  1521. feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS);
  1522. current_position[Z_AXIS] = lz;
  1523. line_to_current_position();
  1524. }
  1525. #endif
  1526. stepper.synchronize();
  1527. feedrate_mm_s = old_feedrate_mm_s;
  1528. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1529. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
  1530. #endif
  1531. }
  1532. void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) {
  1533. do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  1534. }
  1535. void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) {
  1536. do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s);
  1537. }
  1538. void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) {
  1539. do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s);
  1540. }
  1541. //
  1542. // Prepare to do endstop or probe moves
  1543. // with custom feedrates.
  1544. //
  1545. // - Save current feedrates
  1546. // - Reset the rate multiplier
  1547. // - Reset the command timeout
  1548. // - Enable the endstops (for endstop moves)
  1549. //
  1550. static void setup_for_endstop_or_probe_move() {
  1551. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1552. if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
  1553. #endif
  1554. saved_feedrate_mm_s = feedrate_mm_s;
  1555. saved_feedrate_percentage = feedrate_percentage;
  1556. feedrate_percentage = 100;
  1557. refresh_cmd_timeout();
  1558. }
  1559. static void clean_up_after_endstop_or_probe_move() {
  1560. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1561. if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
  1562. #endif
  1563. feedrate_mm_s = saved_feedrate_mm_s;
  1564. feedrate_percentage = saved_feedrate_percentage;
  1565. refresh_cmd_timeout();
  1566. }
  1567. #if HAS_BED_PROBE
  1568. /**
  1569. * Raise Z to a minimum height to make room for a probe to move
  1570. */
  1571. inline void do_probe_raise(const float z_raise) {
  1572. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1573. if (DEBUGGING(LEVELING)) {
  1574. SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
  1575. SERIAL_CHAR(')');
  1576. SERIAL_EOL();
  1577. }
  1578. #endif
  1579. float z_dest = z_raise;
  1580. if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  1581. if (z_dest > current_position[Z_AXIS])
  1582. do_blocking_move_to_z(z_dest);
  1583. }
  1584. #endif // HAS_BED_PROBE
  1585. #if HAS_AXIS_UNHOMED_ERR
  1586. bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) {
  1587. #if ENABLED(HOME_AFTER_DEACTIVATE)
  1588. const bool xx = x && !axis_known_position[X_AXIS],
  1589. yy = y && !axis_known_position[Y_AXIS],
  1590. zz = z && !axis_known_position[Z_AXIS];
  1591. #else
  1592. const bool xx = x && !axis_homed[X_AXIS],
  1593. yy = y && !axis_homed[Y_AXIS],
  1594. zz = z && !axis_homed[Z_AXIS];
  1595. #endif
  1596. if (xx || yy || zz) {
  1597. SERIAL_ECHO_START();
  1598. SERIAL_ECHOPGM(MSG_HOME " ");
  1599. if (xx) SERIAL_ECHOPGM(MSG_X);
  1600. if (yy) SERIAL_ECHOPGM(MSG_Y);
  1601. if (zz) SERIAL_ECHOPGM(MSG_Z);
  1602. SERIAL_ECHOLNPGM(" " MSG_FIRST);
  1603. #if ENABLED(ULTRA_LCD)
  1604. lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : "");
  1605. #endif
  1606. return true;
  1607. }
  1608. return false;
  1609. }
  1610. #endif // HAS_AXIS_UNHOMED_ERR
  1611. #if ENABLED(Z_PROBE_SLED)
  1612. #ifndef SLED_DOCKING_OFFSET
  1613. #define SLED_DOCKING_OFFSET 0
  1614. #endif
  1615. /**
  1616. * Method to dock/undock a sled designed by Charles Bell.
  1617. *
  1618. * stow[in] If false, move to MAX_X and engage the solenoid
  1619. * If true, move to MAX_X and release the solenoid
  1620. */
  1621. static void dock_sled(bool stow) {
  1622. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1623. if (DEBUGGING(LEVELING)) {
  1624. SERIAL_ECHOPAIR("dock_sled(", stow);
  1625. SERIAL_CHAR(')');
  1626. SERIAL_EOL();
  1627. }
  1628. #endif
  1629. // Dock sled a bit closer to ensure proper capturing
  1630. do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  1631. #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID)
  1632. WRITE(SOL1_PIN, !stow); // switch solenoid
  1633. #endif
  1634. }
  1635. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1636. FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) {
  1637. do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s);
  1638. }
  1639. void run_deploy_moves_script() {
  1640. #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)
  1641. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
  1642. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
  1643. #endif
  1644. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
  1645. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
  1646. #endif
  1647. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
  1648. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
  1649. #endif
  1650. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
  1651. #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
  1652. #endif
  1653. const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z };
  1654. do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
  1655. #endif
  1656. #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)
  1657. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
  1658. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
  1659. #endif
  1660. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
  1661. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
  1662. #endif
  1663. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
  1664. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
  1665. #endif
  1666. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
  1667. #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
  1668. #endif
  1669. const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z };
  1670. do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
  1671. #endif
  1672. #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)
  1673. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
  1674. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
  1675. #endif
  1676. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
  1677. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
  1678. #endif
  1679. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
  1680. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
  1681. #endif
  1682. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
  1683. #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
  1684. #endif
  1685. const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z };
  1686. do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
  1687. #endif
  1688. #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)
  1689. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
  1690. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
  1691. #endif
  1692. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
  1693. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
  1694. #endif
  1695. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
  1696. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
  1697. #endif
  1698. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
  1699. #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
  1700. #endif
  1701. const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z };
  1702. do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
  1703. #endif
  1704. #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)
  1705. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
  1706. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
  1707. #endif
  1708. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
  1709. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
  1710. #endif
  1711. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
  1712. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
  1713. #endif
  1714. #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
  1715. #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
  1716. #endif
  1717. const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z };
  1718. do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
  1719. #endif
  1720. }
  1721. void run_stow_moves_script() {
  1722. #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)
  1723. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
  1724. #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
  1725. #endif
  1726. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
  1727. #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
  1728. #endif
  1729. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
  1730. #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
  1731. #endif
  1732. #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
  1733. #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
  1734. #endif
  1735. const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z };
  1736. do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
  1737. #endif
  1738. #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)
  1739. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
  1740. #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
  1741. #endif
  1742. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
  1743. #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
  1744. #endif
  1745. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
  1746. #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
  1747. #endif
  1748. #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
  1749. #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
  1750. #endif
  1751. const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z };
  1752. do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
  1753. #endif
  1754. #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)
  1755. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
  1756. #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
  1757. #endif
  1758. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
  1759. #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
  1760. #endif
  1761. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
  1762. #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
  1763. #endif
  1764. #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
  1765. #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
  1766. #endif
  1767. const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z };
  1768. do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
  1769. #endif
  1770. #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)
  1771. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
  1772. #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
  1773. #endif
  1774. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
  1775. #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
  1776. #endif
  1777. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
  1778. #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
  1779. #endif
  1780. #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
  1781. #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
  1782. #endif
  1783. const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z };
  1784. do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
  1785. #endif
  1786. #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)
  1787. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
  1788. #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
  1789. #endif
  1790. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
  1791. #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
  1792. #endif
  1793. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
  1794. #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
  1795. #endif
  1796. #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
  1797. #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
  1798. #endif
  1799. const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z };
  1800. do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
  1801. #endif
  1802. }
  1803. #endif // Z_PROBE_ALLEN_KEY
  1804. #if ENABLED(PROBING_FANS_OFF)
  1805. void fans_pause(const bool p) {
  1806. if (p != fans_paused) {
  1807. fans_paused = p;
  1808. if (p)
  1809. for (uint8_t x = 0; x < FAN_COUNT; x++) {
  1810. paused_fanSpeeds[x] = fanSpeeds[x];
  1811. fanSpeeds[x] = 0;
  1812. }
  1813. else
  1814. for (uint8_t x = 0; x < FAN_COUNT; x++)
  1815. fanSpeeds[x] = paused_fanSpeeds[x];
  1816. }
  1817. }
  1818. #endif // PROBING_FANS_OFF
  1819. #if HAS_BED_PROBE
  1820. // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
  1821. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
  1822. #if ENABLED(Z_MIN_PROBE_ENDSTOP)
  1823. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
  1824. #else
  1825. #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
  1826. #endif
  1827. #endif
  1828. #if QUIET_PROBING
  1829. void probing_pause(const bool p) {
  1830. #if ENABLED(PROBING_HEATERS_OFF)
  1831. thermalManager.pause(p);
  1832. #endif
  1833. #if ENABLED(PROBING_FANS_OFF)
  1834. fans_pause(p);
  1835. #endif
  1836. if (p) safe_delay(
  1837. #if DELAY_BEFORE_PROBING > 25
  1838. DELAY_BEFORE_PROBING
  1839. #else
  1840. 25
  1841. #endif
  1842. );
  1843. }
  1844. #endif // QUIET_PROBING
  1845. #if ENABLED(BLTOUCH)
  1846. void bltouch_command(int angle) {
  1847. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait
  1848. safe_delay(BLTOUCH_DELAY);
  1849. }
  1850. bool set_bltouch_deployed(const bool deploy) {
  1851. if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered
  1852. bltouch_command(BLTOUCH_RESET); // try to reset it.
  1853. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to
  1854. bltouch_command(BLTOUCH_STOW); // clear the triggered condition.
  1855. safe_delay(1500); // Wait for internal self-test to complete.
  1856. // (Measured completion time was 0.65 seconds
  1857. // after reset, deploy, and stow sequence)
  1858. if (TEST_BLTOUCH()) { // If it still claims to be triggered...
  1859. SERIAL_ERROR_START();
  1860. SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH);
  1861. stop(); // punt!
  1862. return true;
  1863. }
  1864. }
  1865. bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
  1866. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1867. if (DEBUGGING(LEVELING)) {
  1868. SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
  1869. SERIAL_CHAR(')');
  1870. SERIAL_EOL();
  1871. }
  1872. #endif
  1873. return false;
  1874. }
  1875. #endif // BLTOUCH
  1876. // returns false for ok and true for failure
  1877. bool set_probe_deployed(bool deploy) {
  1878. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1879. if (DEBUGGING(LEVELING)) {
  1880. DEBUG_POS("set_probe_deployed", current_position);
  1881. SERIAL_ECHOLNPAIR("deploy: ", deploy);
  1882. }
  1883. #endif
  1884. if (endstops.z_probe_enabled == deploy) return false;
  1885. // Make room for probe
  1886. do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  1887. #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY)
  1888. #if ENABLED(Z_PROBE_SLED)
  1889. #define _AUE_ARGS true, false, false
  1890. #else
  1891. #define _AUE_ARGS
  1892. #endif
  1893. if (axis_unhomed_error(_AUE_ARGS)) {
  1894. SERIAL_ERROR_START();
  1895. SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED);
  1896. stop();
  1897. return true;
  1898. }
  1899. #endif
  1900. const float oldXpos = current_position[X_AXIS],
  1901. oldYpos = current_position[Y_AXIS];
  1902. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1903. // If endstop is already false, the Z probe is deployed
  1904. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions.
  1905. // Would a goto be less ugly?
  1906. //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
  1907. // for a triggered when stowed manual probe.
  1908. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
  1909. // otherwise an Allen-Key probe can't be stowed.
  1910. #endif
  1911. #if ENABLED(SOLENOID_PROBE)
  1912. #if HAS_SOLENOID_1
  1913. WRITE(SOL1_PIN, deploy);
  1914. #endif
  1915. #elif ENABLED(Z_PROBE_SLED)
  1916. dock_sled(!deploy);
  1917. #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  1918. MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]);
  1919. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  1920. deploy ? run_deploy_moves_script() : run_stow_moves_script();
  1921. #endif
  1922. #ifdef _TRIGGERED_WHEN_STOWED_TEST
  1923. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1924. if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  1925. if (IsRunning()) {
  1926. SERIAL_ERROR_START();
  1927. SERIAL_ERRORLNPGM("Z-Probe failed");
  1928. LCD_ALERTMESSAGEPGM("Err: ZPROBE");
  1929. }
  1930. stop();
  1931. return true;
  1932. } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  1933. #endif
  1934. do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
  1935. endstops.enable_z_probe(deploy);
  1936. return false;
  1937. }
  1938. /**
  1939. * @brief Used by run_z_probe to do a single Z probe move.
  1940. *
  1941. * @param z Z destination
  1942. * @param fr_mm_s Feedrate in mm/s
  1943. * @return true to indicate an error
  1944. */
  1945. static bool do_probe_move(const float z, const float fr_mm_m) {
  1946. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1947. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
  1948. #endif
  1949. // Deploy BLTouch at the start of any probe
  1950. #if ENABLED(BLTOUCH)
  1951. if (set_bltouch_deployed(true)) return true;
  1952. #endif
  1953. #if QUIET_PROBING
  1954. probing_pause(true);
  1955. #endif
  1956. // Move down until probe triggered
  1957. do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m));
  1958. // Check to see if the probe was triggered
  1959. const bool probe_triggered = TEST(Endstops::endstop_hit_bits,
  1960. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  1961. Z_MIN
  1962. #else
  1963. Z_MIN_PROBE
  1964. #endif
  1965. );
  1966. #if QUIET_PROBING
  1967. probing_pause(false);
  1968. #endif
  1969. // Retract BLTouch immediately after a probe if it was triggered
  1970. #if ENABLED(BLTOUCH)
  1971. if (probe_triggered && set_bltouch_deployed(false)) return true;
  1972. #endif
  1973. // Clear endstop flags
  1974. endstops.hit_on_purpose();
  1975. // Get Z where the steppers were interrupted
  1976. set_current_from_steppers_for_axis(Z_AXIS);
  1977. // Tell the planner where we actually are
  1978. SYNC_PLAN_POSITION_KINEMATIC();
  1979. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1980. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
  1981. #endif
  1982. return !probe_triggered;
  1983. }
  1984. /**
  1985. * @details Used by probe_pt to do a single Z probe.
  1986. * Leaves current_position[Z_AXIS] at the height where the probe triggered.
  1987. *
  1988. * @param short_move Flag for a shorter probe move towards the bed
  1989. * @return The raw Z position where the probe was triggered
  1990. */
  1991. static float run_z_probe(const bool short_move=true) {
  1992. #if ENABLED(DEBUG_LEVELING_FEATURE)
  1993. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
  1994. #endif
  1995. // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
  1996. refresh_cmd_timeout();
  1997. #if ENABLED(PROBE_DOUBLE_TOUCH)
  1998. // Do a first probe at the fast speed
  1999. if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN;
  2000. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2001. float first_probe_z = current_position[Z_AXIS];
  2002. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
  2003. #endif
  2004. // move up to make clearance for the probe
  2005. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2006. #else
  2007. // If the nozzle is above the travel height then
  2008. // move down quickly before doing the slow probe
  2009. float z = Z_CLEARANCE_DEPLOY_PROBE;
  2010. if (zprobe_zoffset < 0) z -= zprobe_zoffset;
  2011. if (z < current_position[Z_AXIS]) {
  2012. // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe
  2013. if (!do_probe_move(z, Z_PROBE_SPEED_FAST))
  2014. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2015. }
  2016. #endif
  2017. // move down slowly to find bed
  2018. if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN;
  2019. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2020. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
  2021. #endif
  2022. // Debug: compare probe heights
  2023. #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
  2024. if (DEBUGGING(LEVELING)) {
  2025. SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
  2026. SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
  2027. }
  2028. #endif
  2029. return RAW_CURRENT_POSITION(Z) + zprobe_zoffset
  2030. #if ENABLED(DELTA)
  2031. + home_offset[Z_AXIS] // Account for delta height adjustment
  2032. #endif
  2033. ;
  2034. }
  2035. /**
  2036. * - Move to the given XY
  2037. * - Deploy the probe, if not already deployed
  2038. * - Probe the bed, get the Z position
  2039. * - Depending on the 'stow' flag
  2040. * - Stow the probe, or
  2041. * - Raise to the BETWEEN height
  2042. * - Return the probed Z position
  2043. */
  2044. float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable=true) {
  2045. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2046. if (DEBUGGING(LEVELING)) {
  2047. SERIAL_ECHOPAIR(">>> probe_pt(", lx);
  2048. SERIAL_ECHOPAIR(", ", ly);
  2049. SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
  2050. SERIAL_ECHOLNPGM("stow)");
  2051. DEBUG_POS("", current_position);
  2052. }
  2053. #endif
  2054. const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER);
  2055. if (printable
  2056. ? !position_is_reachable_xy(nx, ny)
  2057. : !position_is_reachable_by_probe_xy(lx, ly)
  2058. ) return NAN;
  2059. const float old_feedrate_mm_s = feedrate_mm_s;
  2060. #if ENABLED(DELTA)
  2061. if (current_position[Z_AXIS] > delta_clip_start_height)
  2062. do_blocking_move_to_z(delta_clip_start_height);
  2063. #endif
  2064. #if HAS_SOFTWARE_ENDSTOPS
  2065. // Store the status of the soft endstops and disable if we're probing a non-printable location
  2066. static bool enable_soft_endstops = soft_endstops_enabled;
  2067. if (!printable) soft_endstops_enabled = false;
  2068. #endif
  2069. feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  2070. // Move the probe to the given XY
  2071. do_blocking_move_to_xy(nx, ny);
  2072. float measured_z = NAN;
  2073. if (!DEPLOY_PROBE()) {
  2074. measured_z = run_z_probe(printable);
  2075. if (!stow)
  2076. do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  2077. else
  2078. if (STOW_PROBE()) measured_z = NAN;
  2079. }
  2080. #if HAS_SOFTWARE_ENDSTOPS
  2081. // Restore the soft endstop status
  2082. soft_endstops_enabled = enable_soft_endstops;
  2083. #endif
  2084. if (verbose_level > 2) {
  2085. SERIAL_PROTOCOLPGM("Bed X: ");
  2086. SERIAL_PROTOCOL_F(lx, 3);
  2087. SERIAL_PROTOCOLPGM(" Y: ");
  2088. SERIAL_PROTOCOL_F(ly, 3);
  2089. SERIAL_PROTOCOLPGM(" Z: ");
  2090. SERIAL_PROTOCOL_F(measured_z, 3);
  2091. SERIAL_EOL();
  2092. }
  2093. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2094. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
  2095. #endif
  2096. feedrate_mm_s = old_feedrate_mm_s;
  2097. if (isnan(measured_z)) {
  2098. LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED);
  2099. SERIAL_ERROR_START();
  2100. SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED);
  2101. }
  2102. return measured_z;
  2103. }
  2104. #endif // HAS_BED_PROBE
  2105. #if HAS_LEVELING
  2106. bool leveling_is_valid() {
  2107. return
  2108. #if ENABLED(MESH_BED_LEVELING)
  2109. mbl.has_mesh
  2110. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2111. !!bilinear_grid_spacing[X_AXIS]
  2112. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2113. true
  2114. #else // 3POINT, LINEAR
  2115. true
  2116. #endif
  2117. ;
  2118. }
  2119. /**
  2120. * Turn bed leveling on or off, fixing the current
  2121. * position as-needed.
  2122. *
  2123. * Disable: Current position = physical position
  2124. * Enable: Current position = "unleveled" physical position
  2125. */
  2126. void set_bed_leveling_enabled(const bool enable/*=true*/) {
  2127. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2128. const bool can_change = (!enable || leveling_is_valid());
  2129. #else
  2130. constexpr bool can_change = true;
  2131. #endif
  2132. if (can_change && enable != planner.leveling_active) {
  2133. #if ENABLED(MESH_BED_LEVELING)
  2134. if (!enable)
  2135. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2136. const bool enabling = enable && leveling_is_valid();
  2137. planner.leveling_active = enabling;
  2138. if (enabling) planner.unapply_leveling(current_position);
  2139. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2140. #if PLANNER_LEVELING
  2141. if (planner.leveling_active) { // leveling from on to off
  2142. // change unleveled current_position to physical current_position without moving steppers.
  2143. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  2144. planner.leveling_active = false; // disable only AFTER calling apply_leveling
  2145. }
  2146. else { // leveling from off to on
  2147. planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored
  2148. // change physical current_position to unleveled current_position without moving steppers.
  2149. planner.unapply_leveling(current_position);
  2150. }
  2151. #else
  2152. planner.leveling_active = enable; // just flip the bit, current_position will be wrong until next move.
  2153. #endif
  2154. #else // ABL
  2155. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2156. // Force bilinear_z_offset to re-calculate next time
  2157. const float reset[XYZ] = { -9999.999, -9999.999, 0 };
  2158. (void)bilinear_z_offset(reset);
  2159. #endif
  2160. // Enable or disable leveling compensation in the planner
  2161. planner.leveling_active = enable;
  2162. if (!enable)
  2163. // When disabling just get the current position from the steppers.
  2164. // This will yield the smallest error when first converted back to steps.
  2165. set_current_from_steppers_for_axis(
  2166. #if ABL_PLANAR
  2167. ALL_AXES
  2168. #else
  2169. Z_AXIS
  2170. #endif
  2171. );
  2172. else
  2173. // When enabling, remove compensation from the current position,
  2174. // so compensation will give the right stepper counts.
  2175. planner.unapply_leveling(current_position);
  2176. #endif // ABL
  2177. }
  2178. }
  2179. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  2180. void set_z_fade_height(const float zfh) {
  2181. const bool level_active = planner.leveling_active;
  2182. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2183. if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position
  2184. #endif
  2185. planner.set_z_fade_height(zfh);
  2186. if (level_active) {
  2187. #if ENABLED(AUTO_BED_LEVELING_UBL)
  2188. set_bed_leveling_enabled(true); // turn back on after changing fade height
  2189. #else
  2190. set_current_from_steppers_for_axis(
  2191. #if ABL_PLANAR
  2192. ALL_AXES
  2193. #else
  2194. Z_AXIS
  2195. #endif
  2196. );
  2197. #endif
  2198. }
  2199. }
  2200. #endif // LEVELING_FADE_HEIGHT
  2201. /**
  2202. * Reset calibration results to zero.
  2203. */
  2204. void reset_bed_level() {
  2205. set_bed_leveling_enabled(false);
  2206. #if ENABLED(MESH_BED_LEVELING)
  2207. if (leveling_is_valid()) {
  2208. mbl.reset();
  2209. mbl.has_mesh = false;
  2210. }
  2211. #else
  2212. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2213. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
  2214. #endif
  2215. #if ABL_PLANAR
  2216. planner.bed_level_matrix.set_to_identity();
  2217. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2218. bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
  2219. bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
  2220. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2221. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2222. z_values[x][y] = NAN;
  2223. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  2224. ubl.reset();
  2225. #endif
  2226. #endif
  2227. }
  2228. #endif // HAS_LEVELING
  2229. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING)
  2230. /**
  2231. * Enable to produce output in JSON format suitable
  2232. * for SCAD or JavaScript mesh visualizers.
  2233. *
  2234. * Visualize meshes in OpenSCAD using the included script.
  2235. *
  2236. * buildroot/shared/scripts/MarlinMesh.scad
  2237. */
  2238. //#define SCAD_MESH_OUTPUT
  2239. /**
  2240. * Print calibration results for plotting or manual frame adjustment.
  2241. */
  2242. static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) {
  2243. #ifndef SCAD_MESH_OUTPUT
  2244. for (uint8_t x = 0; x < sx; x++) {
  2245. for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++)
  2246. SERIAL_PROTOCOLCHAR(' ');
  2247. SERIAL_PROTOCOL((int)x);
  2248. }
  2249. SERIAL_EOL();
  2250. #endif
  2251. #ifdef SCAD_MESH_OUTPUT
  2252. SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array
  2253. #endif
  2254. for (uint8_t y = 0; y < sy; y++) {
  2255. #ifdef SCAD_MESH_OUTPUT
  2256. SERIAL_PROTOCOLPGM(" ["); // open sub-array
  2257. #else
  2258. if (y < 10) SERIAL_PROTOCOLCHAR(' ');
  2259. SERIAL_PROTOCOL((int)y);
  2260. #endif
  2261. for (uint8_t x = 0; x < sx; x++) {
  2262. SERIAL_PROTOCOLCHAR(' ');
  2263. const float offset = fn(x, y);
  2264. if (!isnan(offset)) {
  2265. if (offset >= 0) SERIAL_PROTOCOLCHAR('+');
  2266. SERIAL_PROTOCOL_F(offset, precision);
  2267. }
  2268. else {
  2269. #ifdef SCAD_MESH_OUTPUT
  2270. for (uint8_t i = 3; i < precision + 3; i++)
  2271. SERIAL_PROTOCOLCHAR(' ');
  2272. SERIAL_PROTOCOLPGM("NAN");
  2273. #else
  2274. for (uint8_t i = 0; i < precision + 3; i++)
  2275. SERIAL_PROTOCOLCHAR(i ? '=' : ' ');
  2276. #endif
  2277. }
  2278. #ifdef SCAD_MESH_OUTPUT
  2279. if (x < sx - 1) SERIAL_PROTOCOLCHAR(',');
  2280. #endif
  2281. }
  2282. #ifdef SCAD_MESH_OUTPUT
  2283. SERIAL_PROTOCOLCHAR(' ');
  2284. SERIAL_PROTOCOLCHAR(']'); // close sub-array
  2285. if (y < sy - 1) SERIAL_PROTOCOLCHAR(',');
  2286. #endif
  2287. SERIAL_EOL();
  2288. }
  2289. #ifdef SCAD_MESH_OUTPUT
  2290. SERIAL_PROTOCOLPGM("];"); // close 2D array
  2291. #endif
  2292. SERIAL_EOL();
  2293. }
  2294. #endif
  2295. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  2296. /**
  2297. * Extrapolate a single point from its neighbors
  2298. */
  2299. static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) {
  2300. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2301. if (DEBUGGING(LEVELING)) {
  2302. SERIAL_ECHOPGM("Extrapolate [");
  2303. if (x < 10) SERIAL_CHAR(' ');
  2304. SERIAL_ECHO((int)x);
  2305. SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
  2306. SERIAL_CHAR(' ');
  2307. if (y < 10) SERIAL_CHAR(' ');
  2308. SERIAL_ECHO((int)y);
  2309. SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
  2310. SERIAL_CHAR(']');
  2311. }
  2312. #endif
  2313. if (!isnan(z_values[x][y])) {
  2314. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2315. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
  2316. #endif
  2317. return; // Don't overwrite good values.
  2318. }
  2319. SERIAL_EOL();
  2320. // Get X neighbors, Y neighbors, and XY neighbors
  2321. const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir;
  2322. float a1 = z_values[x1][y ], a2 = z_values[x2][y ],
  2323. b1 = z_values[x ][y1], b2 = z_values[x ][y2],
  2324. c1 = z_values[x1][y1], c2 = z_values[x2][y2];
  2325. // Treat far unprobed points as zero, near as equal to far
  2326. if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2;
  2327. if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2;
  2328. if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2;
  2329. const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  2330. // Take the average instead of the median
  2331. z_values[x][y] = (a + b + c) / 3.0;
  2332. // Median is robust (ignores outliers).
  2333. // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
  2334. // : ((c < b) ? b : (a < c) ? a : c);
  2335. }
  2336. //Enable this if your SCARA uses 180° of total area
  2337. //#define EXTRAPOLATE_FROM_EDGE
  2338. #if ENABLED(EXTRAPOLATE_FROM_EDGE)
  2339. #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y
  2340. #define HALF_IN_X
  2341. #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X
  2342. #define HALF_IN_Y
  2343. #endif
  2344. #endif
  2345. /**
  2346. * Fill in the unprobed points (corners of circular print surface)
  2347. * using linear extrapolation, away from the center.
  2348. */
  2349. static void extrapolate_unprobed_bed_level() {
  2350. #ifdef HALF_IN_X
  2351. constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1;
  2352. #else
  2353. constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center
  2354. ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center
  2355. xlen = ctrx1;
  2356. #endif
  2357. #ifdef HALF_IN_Y
  2358. constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1;
  2359. #else
  2360. constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center
  2361. ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center
  2362. ylen = ctry1;
  2363. #endif
  2364. for (uint8_t xo = 0; xo <= xlen; xo++)
  2365. for (uint8_t yo = 0; yo <= ylen; yo++) {
  2366. uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
  2367. #ifndef HALF_IN_X
  2368. const uint8_t x1 = ctrx1 - xo;
  2369. #endif
  2370. #ifndef HALF_IN_Y
  2371. const uint8_t y1 = ctry1 - yo;
  2372. #ifndef HALF_IN_X
  2373. extrapolate_one_point(x1, y1, +1, +1); // left-below + +
  2374. #endif
  2375. extrapolate_one_point(x2, y1, -1, +1); // right-below - +
  2376. #endif
  2377. #ifndef HALF_IN_X
  2378. extrapolate_one_point(x1, y2, +1, -1); // left-above + -
  2379. #endif
  2380. extrapolate_one_point(x2, y2, -1, -1); // right-above - -
  2381. }
  2382. }
  2383. static void print_bilinear_leveling_grid() {
  2384. SERIAL_ECHOLNPGM("Bilinear Leveling Grid:");
  2385. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3,
  2386. [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; }
  2387. );
  2388. }
  2389. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2390. #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2391. #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
  2392. #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
  2393. #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
  2394. float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
  2395. int bilinear_grid_spacing_virt[2] = { 0 };
  2396. float bilinear_grid_factor_virt[2] = { 0 };
  2397. static void print_bilinear_leveling_grid_virt() {
  2398. SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
  2399. print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5,
  2400. [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; }
  2401. );
  2402. }
  2403. #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I))
  2404. float bed_level_virt_coord(const uint8_t x, const uint8_t y) {
  2405. uint8_t ep = 0, ip = 1;
  2406. if (!x || x == ABL_TEMP_POINTS_X - 1) {
  2407. if (x) {
  2408. ep = GRID_MAX_POINTS_X - 1;
  2409. ip = GRID_MAX_POINTS_X - 2;
  2410. }
  2411. if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2))
  2412. return LINEAR_EXTRAPOLATION(
  2413. z_values[ep][y - 1],
  2414. z_values[ip][y - 1]
  2415. );
  2416. else
  2417. return LINEAR_EXTRAPOLATION(
  2418. bed_level_virt_coord(ep + 1, y),
  2419. bed_level_virt_coord(ip + 1, y)
  2420. );
  2421. }
  2422. if (!y || y == ABL_TEMP_POINTS_Y - 1) {
  2423. if (y) {
  2424. ep = GRID_MAX_POINTS_Y - 1;
  2425. ip = GRID_MAX_POINTS_Y - 2;
  2426. }
  2427. if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2))
  2428. return LINEAR_EXTRAPOLATION(
  2429. z_values[x - 1][ep],
  2430. z_values[x - 1][ip]
  2431. );
  2432. else
  2433. return LINEAR_EXTRAPOLATION(
  2434. bed_level_virt_coord(x, ep + 1),
  2435. bed_level_virt_coord(x, ip + 1)
  2436. );
  2437. }
  2438. return z_values[x - 1][y - 1];
  2439. }
  2440. static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
  2441. return (
  2442. p[i-1] * -t * sq(1 - t)
  2443. + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
  2444. + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
  2445. - p[i+2] * sq(t) * (1 - t)
  2446. ) * 0.5;
  2447. }
  2448. static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
  2449. float row[4], column[4];
  2450. for (uint8_t i = 0; i < 4; i++) {
  2451. for (uint8_t j = 0; j < 4; j++) {
  2452. column[j] = bed_level_virt_coord(i + x - 1, j + y - 1);
  2453. }
  2454. row[i] = bed_level_virt_cmr(column, 1, ty);
  2455. }
  2456. return bed_level_virt_cmr(row, 1, tx);
  2457. }
  2458. void bed_level_virt_interpolate() {
  2459. bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
  2460. bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
  2461. bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
  2462. bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
  2463. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  2464. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  2465. for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
  2466. for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
  2467. if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1))
  2468. continue;
  2469. z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
  2470. bed_level_virt_2cmr(
  2471. x + 1,
  2472. y + 1,
  2473. (float)tx / (BILINEAR_SUBDIVISIONS),
  2474. (float)ty / (BILINEAR_SUBDIVISIONS)
  2475. );
  2476. }
  2477. }
  2478. #endif // ABL_BILINEAR_SUBDIVISION
  2479. // Refresh after other values have been updated
  2480. void refresh_bed_level() {
  2481. bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
  2482. bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
  2483. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  2484. bed_level_virt_interpolate();
  2485. #endif
  2486. }
  2487. #endif // AUTO_BED_LEVELING_BILINEAR
  2488. /**
  2489. * Home an individual linear axis
  2490. */
  2491. static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) {
  2492. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2493. if (DEBUGGING(LEVELING)) {
  2494. SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
  2495. SERIAL_ECHOPAIR(", ", distance);
  2496. SERIAL_ECHOPAIR(", ", fr_mm_s);
  2497. SERIAL_CHAR(')');
  2498. SERIAL_EOL();
  2499. }
  2500. #endif
  2501. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2502. const bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
  2503. if (deploy_bltouch) set_bltouch_deployed(true);
  2504. #endif
  2505. #if QUIET_PROBING
  2506. if (axis == Z_AXIS) probing_pause(true);
  2507. #endif
  2508. // Tell the planner we're at Z=0
  2509. current_position[axis] = 0;
  2510. #if IS_SCARA
  2511. SYNC_PLAN_POSITION_KINEMATIC();
  2512. current_position[axis] = distance;
  2513. inverse_kinematics(current_position);
  2514. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2515. #else
  2516. sync_plan_position();
  2517. current_position[axis] = distance;
  2518. planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder);
  2519. #endif
  2520. stepper.synchronize();
  2521. #if QUIET_PROBING
  2522. if (axis == Z_AXIS) probing_pause(false);
  2523. #endif
  2524. #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
  2525. if (deploy_bltouch) set_bltouch_deployed(false);
  2526. #endif
  2527. endstops.hit_on_purpose();
  2528. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2529. if (DEBUGGING(LEVELING)) {
  2530. SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
  2531. SERIAL_CHAR(')');
  2532. SERIAL_EOL();
  2533. }
  2534. #endif
  2535. }
  2536. /**
  2537. * TMC2130 specific sensorless homing using stallGuard2.
  2538. * stallGuard2 only works when in spreadCycle mode.
  2539. * spreadCycle and stealthChop are mutually exclusive.
  2540. */
  2541. #if ENABLED(SENSORLESS_HOMING)
  2542. void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) {
  2543. #if ENABLED(STEALTHCHOP)
  2544. if (enable) {
  2545. st.coolstep_min_speed(1024UL * 1024UL - 1UL);
  2546. st.stealthChop(0);
  2547. }
  2548. else {
  2549. st.coolstep_min_speed(0);
  2550. st.stealthChop(1);
  2551. }
  2552. #endif
  2553. st.diag1_stall(enable ? 1 : 0);
  2554. }
  2555. #endif
  2556. /**
  2557. * Home an individual "raw axis" to its endstop.
  2558. * This applies to XYZ on Cartesian and Core robots, and
  2559. * to the individual ABC steppers on DELTA and SCARA.
  2560. *
  2561. * At the end of the procedure the axis is marked as
  2562. * homed and the current position of that axis is updated.
  2563. * Kinematic robots should wait till all axes are homed
  2564. * before updating the current position.
  2565. */
  2566. #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  2567. static void homeaxis(const AxisEnum axis) {
  2568. #if IS_SCARA
  2569. // Only Z homing (with probe) is permitted
  2570. if (axis != Z_AXIS) { BUZZ(100, 880); return; }
  2571. #else
  2572. #define CAN_HOME(A) \
  2573. (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
  2574. if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
  2575. #endif
  2576. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2577. if (DEBUGGING(LEVELING)) {
  2578. SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
  2579. SERIAL_CHAR(')');
  2580. SERIAL_EOL();
  2581. }
  2582. #endif
  2583. const int axis_home_dir =
  2584. #if ENABLED(DUAL_X_CARRIAGE)
  2585. (axis == X_AXIS) ? x_home_dir(active_extruder) :
  2586. #endif
  2587. home_dir(axis);
  2588. // Homing Z towards the bed? Deploy the Z probe or endstop.
  2589. #if HOMING_Z_WITH_PROBE
  2590. if (axis == Z_AXIS && DEPLOY_PROBE()) return;
  2591. #endif
  2592. // Set a flag for Z motor locking
  2593. #if ENABLED(Z_DUAL_ENDSTOPS)
  2594. if (axis == Z_AXIS) stepper.set_homing_flag(true);
  2595. #endif
  2596. // Disable stealthChop if used. Enable diag1 pin on driver.
  2597. #if ENABLED(SENSORLESS_HOMING)
  2598. #if ENABLED(X_IS_TMC2130)
  2599. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX);
  2600. #endif
  2601. #if ENABLED(Y_IS_TMC2130)
  2602. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY);
  2603. #endif
  2604. #endif
  2605. // Fast move towards endstop until triggered
  2606. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2607. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
  2608. #endif
  2609. do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  2610. // When homing Z with probe respect probe clearance
  2611. const float bump = axis_home_dir * (
  2612. #if HOMING_Z_WITH_PROBE
  2613. (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
  2614. #endif
  2615. home_bump_mm(axis)
  2616. );
  2617. // If a second homing move is configured...
  2618. if (bump) {
  2619. // Move away from the endstop by the axis HOME_BUMP_MM
  2620. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2621. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
  2622. #endif
  2623. do_homing_move(axis, -bump);
  2624. // Slow move towards endstop until triggered
  2625. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2626. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
  2627. #endif
  2628. do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
  2629. }
  2630. #if ENABLED(Z_DUAL_ENDSTOPS)
  2631. if (axis == Z_AXIS) {
  2632. float adj = FABS(z_endstop_adj);
  2633. bool lockZ1;
  2634. if (axis_home_dir > 0) {
  2635. adj = -adj;
  2636. lockZ1 = (z_endstop_adj > 0);
  2637. }
  2638. else
  2639. lockZ1 = (z_endstop_adj < 0);
  2640. if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  2641. // Move to the adjusted endstop height
  2642. do_homing_move(axis, adj);
  2643. if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
  2644. stepper.set_homing_flag(false);
  2645. } // Z_AXIS
  2646. #endif
  2647. #if IS_SCARA
  2648. set_axis_is_at_home(axis);
  2649. SYNC_PLAN_POSITION_KINEMATIC();
  2650. #elif ENABLED(DELTA)
  2651. // Delta has already moved all three towers up in G28
  2652. // so here it re-homes each tower in turn.
  2653. // Delta homing treats the axes as normal linear axes.
  2654. // retrace by the amount specified in endstop_adj + additional 0.1mm in order to have minimum steps
  2655. if (endstop_adj[axis] * Z_HOME_DIR <= 0) {
  2656. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2657. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
  2658. #endif
  2659. do_homing_move(axis, endstop_adj[axis] - 0.1 * Z_HOME_DIR);
  2660. }
  2661. #else
  2662. // For cartesian/core machines,
  2663. // set the axis to its home position
  2664. set_axis_is_at_home(axis);
  2665. sync_plan_position();
  2666. destination[axis] = current_position[axis];
  2667. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2668. if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
  2669. #endif
  2670. #endif
  2671. // Re-enable stealthChop if used. Disable diag1 pin on driver.
  2672. #if ENABLED(SENSORLESS_HOMING)
  2673. #if ENABLED(X_IS_TMC2130)
  2674. if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false);
  2675. #endif
  2676. #if ENABLED(Y_IS_TMC2130)
  2677. if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false);
  2678. #endif
  2679. #endif
  2680. // Put away the Z probe
  2681. #if HOMING_Z_WITH_PROBE
  2682. if (axis == Z_AXIS && STOW_PROBE()) return;
  2683. #endif
  2684. #if ENABLED(DEBUG_LEVELING_FEATURE)
  2685. if (DEBUGGING(LEVELING)) {
  2686. SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
  2687. SERIAL_CHAR(')');
  2688. SERIAL_EOL();
  2689. }
  2690. #endif
  2691. } // homeaxis()
  2692. #if ENABLED(FWRETRACT)
  2693. /**
  2694. * Retract or recover according to firmware settings
  2695. *
  2696. * This function handles retract/recover moves for G10 and G11,
  2697. * plus auto-retract moves sent from G0/G1 when E-only moves are done.
  2698. *
  2699. * To simplify the logic, doubled retract/recover moves are ignored.
  2700. *
  2701. * Note: Z lift is done transparently to the planner. Aborting
  2702. * a print between G10 and G11 may corrupt the Z position.
  2703. *
  2704. * Note: Auto-retract will apply the set Z hop in addition to any Z hop
  2705. * included in the G-code. Use M207 Z0 to to prevent double hop.
  2706. */
  2707. void retract(const bool retracting
  2708. #if EXTRUDERS > 1
  2709. , bool swapping = false
  2710. #endif
  2711. ) {
  2712. static float hop_height, // Remember where the Z height started
  2713. hop_amount = 0.0; // Total amount lifted, for use in recover
  2714. // Simply never allow two retracts or recovers in a row
  2715. if (retracted[active_extruder] == retracting) return;
  2716. #if EXTRUDERS < 2
  2717. bool swapping = false;
  2718. #endif
  2719. if (!retracting) swapping = retracted_swap[active_extruder];
  2720. /* // debugging
  2721. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2722. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2723. SERIAL_ECHOLNPAIR("active extruder ", active_extruder);
  2724. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2725. SERIAL_ECHOPAIR("retracted[", i);
  2726. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2727. SERIAL_ECHOPAIR("retracted_swap[", i);
  2728. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2729. }
  2730. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2731. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2732. //*/
  2733. const bool has_zhop = retract_zlift > 0.01; // Is there a hop set?
  2734. const float old_feedrate_mm_s = feedrate_mm_s;
  2735. const int16_t old_flow = flow_percentage[active_extruder];
  2736. // Don't apply flow multiplication to retract/recover
  2737. flow_percentage[active_extruder] = 100;
  2738. // The current position will be the destination for E and Z moves
  2739. set_destination_from_current();
  2740. stepper.synchronize(); // Wait for all moves to finish
  2741. if (retracting) {
  2742. // Remember the Z height since G-code may include its own Z-hop
  2743. // For best results turn off Z hop if G-code already includes it
  2744. hop_height = destination[Z_AXIS];
  2745. // Retract by moving from a faux E position back to the current E position
  2746. feedrate_mm_s = retract_feedrate_mm_s;
  2747. current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) / volumetric_multiplier[active_extruder];
  2748. sync_plan_position_e();
  2749. prepare_move_to_destination();
  2750. // Is a Z hop set, and has the hop not yet been done?
  2751. if (has_zhop) {
  2752. hop_amount += retract_zlift; // Carriage is raised for retraction hop
  2753. current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z.
  2754. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2755. prepare_move_to_destination(); // Raise up to the old current pos
  2756. }
  2757. }
  2758. else {
  2759. // If a hop was done and Z hasn't changed, undo the Z hop
  2760. if (hop_amount && NEAR(hop_height, destination[Z_AXIS])) {
  2761. current_position[Z_AXIS] += hop_amount; // Pretend current pos is higher. Next move lowers Z.
  2762. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position
  2763. prepare_move_to_destination(); // Lower to the old current pos
  2764. hop_amount = 0.0;
  2765. }
  2766. // A retract multiplier has been added here to get faster swap recovery
  2767. feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s;
  2768. const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length;
  2769. current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
  2770. sync_plan_position_e();
  2771. prepare_move_to_destination(); // Recover E
  2772. }
  2773. // Restore flow and feedrate
  2774. flow_percentage[active_extruder] = old_flow;
  2775. feedrate_mm_s = old_feedrate_mm_s;
  2776. // The active extruder is now retracted or recovered
  2777. retracted[active_extruder] = retracting;
  2778. // If swap retract/recover then update the retracted_swap flag too
  2779. #if EXTRUDERS > 1
  2780. if (swapping) retracted_swap[active_extruder] = retracting;
  2781. #endif
  2782. /* // debugging
  2783. SERIAL_ECHOLNPAIR("retracting ", retracting);
  2784. SERIAL_ECHOLNPAIR("swapping ", swapping);
  2785. SERIAL_ECHOLNPAIR("active_extruder ", active_extruder);
  2786. for (uint8_t i = 0; i < EXTRUDERS; ++i) {
  2787. SERIAL_ECHOPAIR("retracted[", i);
  2788. SERIAL_ECHOLNPAIR("] ", retracted[i]);
  2789. SERIAL_ECHOPAIR("retracted_swap[", i);
  2790. SERIAL_ECHOLNPAIR("] ", retracted_swap[i]);
  2791. }
  2792. SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
  2793. SERIAL_ECHOLNPAIR("hop_amount ", hop_amount);
  2794. //*/
  2795. } // retract()
  2796. #endif // FWRETRACT
  2797. #if ENABLED(MIXING_EXTRUDER)
  2798. void normalize_mix() {
  2799. float mix_total = 0.0;
  2800. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
  2801. // Scale all values if they don't add up to ~1.0
  2802. if (!NEAR(mix_total, 1.0)) {
  2803. SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
  2804. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
  2805. }
  2806. }
  2807. #if ENABLED(DIRECT_MIXING_IN_G1)
  2808. // Get mixing parameters from the GCode
  2809. // The total "must" be 1.0 (but it will be normalized)
  2810. // If no mix factors are given, the old mix is preserved
  2811. void gcode_get_mix() {
  2812. const char* mixing_codes = "ABCDHI";
  2813. byte mix_bits = 0;
  2814. for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
  2815. if (parser.seenval(mixing_codes[i])) {
  2816. SBI(mix_bits, i);
  2817. float v = parser.value_float();
  2818. NOLESS(v, 0.0);
  2819. mixing_factor[i] = RECIPROCAL(v);
  2820. }
  2821. }
  2822. // If any mixing factors were included, clear the rest
  2823. // If none were included, preserve the last mix
  2824. if (mix_bits) {
  2825. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  2826. if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
  2827. normalize_mix();
  2828. }
  2829. }
  2830. #endif
  2831. #endif
  2832. /**
  2833. * ***************************************************************************
  2834. * ***************************** G-CODE HANDLING *****************************
  2835. * ***************************************************************************
  2836. */
  2837. /**
  2838. * Set XYZE destination and feedrate from the current GCode command
  2839. *
  2840. * - Set destination from included axis codes
  2841. * - Set to current for missing axis codes
  2842. * - Set the feedrate, if included
  2843. */
  2844. void gcode_get_destination() {
  2845. LOOP_XYZE(i) {
  2846. if (parser.seen(axis_codes[i]))
  2847. destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
  2848. else
  2849. destination[i] = current_position[i];
  2850. }
  2851. if (parser.linearval('F') > 0.0)
  2852. feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
  2853. #if ENABLED(PRINTCOUNTER)
  2854. if (!DEBUGGING(DRYRUN))
  2855. print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
  2856. #endif
  2857. // Get ABCDHI mixing factors
  2858. #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
  2859. gcode_get_mix();
  2860. #endif
  2861. }
  2862. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  2863. /**
  2864. * Output a "busy" message at regular intervals
  2865. * while the machine is not accepting commands.
  2866. */
  2867. void host_keepalive() {
  2868. const millis_t ms = millis();
  2869. if (host_keepalive_interval && busy_state != NOT_BUSY) {
  2870. if (PENDING(ms, next_busy_signal_ms)) return;
  2871. switch (busy_state) {
  2872. case IN_HANDLER:
  2873. case IN_PROCESS:
  2874. SERIAL_ECHO_START();
  2875. SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
  2876. break;
  2877. case PAUSED_FOR_USER:
  2878. SERIAL_ECHO_START();
  2879. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
  2880. break;
  2881. case PAUSED_FOR_INPUT:
  2882. SERIAL_ECHO_START();
  2883. SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
  2884. break;
  2885. default:
  2886. break;
  2887. }
  2888. }
  2889. next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
  2890. }
  2891. #endif // HOST_KEEPALIVE_FEATURE
  2892. /**************************************************
  2893. ***************** GCode Handlers *****************
  2894. **************************************************/
  2895. /**
  2896. * G0, G1: Coordinated movement of X Y Z E axes
  2897. */
  2898. inline void gcode_G0_G1(
  2899. #if IS_SCARA
  2900. bool fast_move=false
  2901. #endif
  2902. ) {
  2903. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2904. if (axis_unhomed_error()) return;
  2905. #endif
  2906. if (IsRunning()) {
  2907. gcode_get_destination(); // For X Y Z E F
  2908. #if ENABLED(FWRETRACT)
  2909. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  2910. // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
  2911. if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
  2912. const float echange = destination[E_AXIS] - current_position[E_AXIS];
  2913. // Is this a retract or recover move?
  2914. if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
  2915. current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
  2916. sync_plan_position_e(); // AND from the planner
  2917. return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
  2918. }
  2919. }
  2920. }
  2921. #endif // FWRETRACT
  2922. #if IS_SCARA
  2923. fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
  2924. #else
  2925. prepare_move_to_destination();
  2926. #endif
  2927. }
  2928. }
  2929. /**
  2930. * G2: Clockwise Arc
  2931. * G3: Counterclockwise Arc
  2932. *
  2933. * This command has two forms: IJ-form and R-form.
  2934. *
  2935. * - I specifies an X offset. J specifies a Y offset.
  2936. * At least one of the IJ parameters is required.
  2937. * X and Y can be omitted to do a complete circle.
  2938. * The given XY is not error-checked. The arc ends
  2939. * based on the angle of the destination.
  2940. * Mixing I or J with R will throw an error.
  2941. *
  2942. * - R specifies the radius. X or Y is required.
  2943. * Omitting both X and Y will throw an error.
  2944. * X or Y must differ from the current XY.
  2945. * Mixing R with I or J will throw an error.
  2946. *
  2947. * - P specifies the number of full circles to do
  2948. * before the specified arc move.
  2949. *
  2950. * Examples:
  2951. *
  2952. * G2 I10 ; CW circle centered at X+10
  2953. * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
  2954. */
  2955. #if ENABLED(ARC_SUPPORT)
  2956. inline void gcode_G2_G3(bool clockwise) {
  2957. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  2958. if (axis_unhomed_error()) return;
  2959. #endif
  2960. if (IsRunning()) {
  2961. #if ENABLED(SF_ARC_FIX)
  2962. const bool relative_mode_backup = relative_mode;
  2963. relative_mode = true;
  2964. #endif
  2965. gcode_get_destination();
  2966. #if ENABLED(SF_ARC_FIX)
  2967. relative_mode = relative_mode_backup;
  2968. #endif
  2969. float arc_offset[2] = { 0.0, 0.0 };
  2970. if (parser.seenval('R')) {
  2971. const float r = parser.value_linear_units(),
  2972. p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
  2973. p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
  2974. if (r && (p2 != p1 || q2 != q1)) {
  2975. const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
  2976. dx = p2 - p1, dy = q2 - q1, // X and Y differences
  2977. d = HYPOT(dx, dy), // Linear distance between the points
  2978. h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
  2979. mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
  2980. sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
  2981. cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
  2982. arc_offset[0] = cx - p1;
  2983. arc_offset[1] = cy - q1;
  2984. }
  2985. }
  2986. else {
  2987. if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
  2988. if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
  2989. }
  2990. if (arc_offset[0] || arc_offset[1]) {
  2991. #if ENABLED(ARC_P_CIRCLES)
  2992. // P indicates number of circles to do
  2993. int8_t circles_to_do = parser.byteval('P');
  2994. if (!WITHIN(circles_to_do, 0, 100)) {
  2995. SERIAL_ERROR_START();
  2996. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  2997. }
  2998. while (circles_to_do--)
  2999. plan_arc(current_position, arc_offset, clockwise);
  3000. #endif
  3001. // Send the arc to the planner
  3002. plan_arc(destination, arc_offset, clockwise);
  3003. refresh_cmd_timeout();
  3004. }
  3005. else {
  3006. // Bad arguments
  3007. SERIAL_ERROR_START();
  3008. SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
  3009. }
  3010. }
  3011. }
  3012. #endif // ARC_SUPPORT
  3013. void dwell(millis_t time) {
  3014. refresh_cmd_timeout();
  3015. time += previous_cmd_ms;
  3016. while (PENDING(millis(), time)) idle();
  3017. }
  3018. /**
  3019. * G4: Dwell S<seconds> or P<milliseconds>
  3020. */
  3021. inline void gcode_G4() {
  3022. millis_t dwell_ms = 0;
  3023. if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
  3024. if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
  3025. stepper.synchronize();
  3026. if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  3027. dwell(dwell_ms);
  3028. }
  3029. #if ENABLED(BEZIER_CURVE_SUPPORT)
  3030. /**
  3031. * Parameters interpreted according to:
  3032. * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
  3033. * However I, J omission is not supported at this point; all
  3034. * parameters can be omitted and default to zero.
  3035. */
  3036. /**
  3037. * G5: Cubic B-spline
  3038. */
  3039. inline void gcode_G5() {
  3040. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  3041. if (axis_unhomed_error()) return;
  3042. #endif
  3043. if (IsRunning()) {
  3044. #if ENABLED(CNC_WORKSPACE_PLANES)
  3045. if (workspace_plane != PLANE_XY) {
  3046. SERIAL_ERROR_START();
  3047. SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
  3048. return;
  3049. }
  3050. #endif
  3051. gcode_get_destination();
  3052. const float offset[] = {
  3053. parser.linearval('I'),
  3054. parser.linearval('J'),
  3055. parser.linearval('P'),
  3056. parser.linearval('Q')
  3057. };
  3058. plan_cubic_move(offset);
  3059. }
  3060. }
  3061. #endif // BEZIER_CURVE_SUPPORT
  3062. #if ENABLED(FWRETRACT)
  3063. /**
  3064. * G10 - Retract filament according to settings of M207
  3065. */
  3066. inline void gcode_G10() {
  3067. #if EXTRUDERS > 1
  3068. const bool rs = parser.boolval('S');
  3069. retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
  3070. #endif
  3071. retract(true
  3072. #if EXTRUDERS > 1
  3073. , rs
  3074. #endif
  3075. );
  3076. }
  3077. /**
  3078. * G11 - Recover filament according to settings of M208
  3079. */
  3080. inline void gcode_G11() { retract(false); }
  3081. #endif // FWRETRACT
  3082. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  3083. /**
  3084. * G12: Clean the nozzle
  3085. */
  3086. inline void gcode_G12() {
  3087. // Don't allow nozzle cleaning without homing first
  3088. if (axis_unhomed_error()) return;
  3089. const uint8_t pattern = parser.ushortval('P', 0),
  3090. strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
  3091. objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
  3092. const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
  3093. Nozzle::clean(pattern, strokes, radius, objects);
  3094. }
  3095. #endif
  3096. #if ENABLED(CNC_WORKSPACE_PLANES)
  3097. void report_workspace_plane() {
  3098. SERIAL_ECHO_START();
  3099. SERIAL_ECHOPGM("Workspace Plane ");
  3100. serialprintPGM(workspace_plane == PLANE_YZ ? PSTR("YZ\n") : workspace_plane == PLANE_ZX ? PSTR("ZX\n") : PSTR("XY\n"));
  3101. }
  3102. /**
  3103. * G17: Select Plane XY
  3104. * G18: Select Plane ZX
  3105. * G19: Select Plane YZ
  3106. */
  3107. inline void gcode_G17() { workspace_plane = PLANE_XY; }
  3108. inline void gcode_G18() { workspace_plane = PLANE_ZX; }
  3109. inline void gcode_G19() { workspace_plane = PLANE_YZ; }
  3110. #endif // CNC_WORKSPACE_PLANES
  3111. #if ENABLED(INCH_MODE_SUPPORT)
  3112. /**
  3113. * G20: Set input mode to inches
  3114. */
  3115. inline void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); }
  3116. /**
  3117. * G21: Set input mode to millimeters
  3118. */
  3119. inline void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); }
  3120. #endif
  3121. #if ENABLED(NOZZLE_PARK_FEATURE)
  3122. /**
  3123. * G27: Park the nozzle
  3124. */
  3125. inline void gcode_G27() {
  3126. // Don't allow nozzle parking without homing first
  3127. if (axis_unhomed_error()) return;
  3128. Nozzle::park(parser.ushortval('P'));
  3129. }
  3130. #endif // NOZZLE_PARK_FEATURE
  3131. #if ENABLED(QUICK_HOME)
  3132. static void quick_home_xy() {
  3133. // Pretend the current position is 0,0
  3134. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3135. sync_plan_position();
  3136. const int x_axis_home_dir =
  3137. #if ENABLED(DUAL_X_CARRIAGE)
  3138. x_home_dir(active_extruder)
  3139. #else
  3140. home_dir(X_AXIS)
  3141. #endif
  3142. ;
  3143. const float mlx = max_length(X_AXIS),
  3144. mly = max_length(Y_AXIS),
  3145. mlratio = mlx > mly ? mly / mlx : mlx / mly,
  3146. fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
  3147. do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
  3148. endstops.hit_on_purpose(); // clear endstop hit flags
  3149. current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  3150. }
  3151. #endif // QUICK_HOME
  3152. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3153. void log_machine_info() {
  3154. SERIAL_ECHOPGM("Machine Type: ");
  3155. #if ENABLED(DELTA)
  3156. SERIAL_ECHOLNPGM("Delta");
  3157. #elif IS_SCARA
  3158. SERIAL_ECHOLNPGM("SCARA");
  3159. #elif IS_CORE
  3160. SERIAL_ECHOLNPGM("Core");
  3161. #else
  3162. SERIAL_ECHOLNPGM("Cartesian");
  3163. #endif
  3164. SERIAL_ECHOPGM("Probe: ");
  3165. #if ENABLED(PROBE_MANUALLY)
  3166. SERIAL_ECHOLNPGM("PROBE_MANUALLY");
  3167. #elif ENABLED(FIX_MOUNTED_PROBE)
  3168. SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
  3169. #elif ENABLED(BLTOUCH)
  3170. SERIAL_ECHOLNPGM("BLTOUCH");
  3171. #elif HAS_Z_SERVO_ENDSTOP
  3172. SERIAL_ECHOLNPGM("SERVO PROBE");
  3173. #elif ENABLED(Z_PROBE_SLED)
  3174. SERIAL_ECHOLNPGM("Z_PROBE_SLED");
  3175. #elif ENABLED(Z_PROBE_ALLEN_KEY)
  3176. SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
  3177. #else
  3178. SERIAL_ECHOLNPGM("NONE");
  3179. #endif
  3180. #if HAS_BED_PROBE
  3181. SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
  3182. SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
  3183. SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
  3184. #if X_PROBE_OFFSET_FROM_EXTRUDER > 0
  3185. SERIAL_ECHOPGM(" (Right");
  3186. #elif X_PROBE_OFFSET_FROM_EXTRUDER < 0
  3187. SERIAL_ECHOPGM(" (Left");
  3188. #elif Y_PROBE_OFFSET_FROM_EXTRUDER != 0
  3189. SERIAL_ECHOPGM(" (Middle");
  3190. #else
  3191. SERIAL_ECHOPGM(" (Aligned With");
  3192. #endif
  3193. #if Y_PROBE_OFFSET_FROM_EXTRUDER > 0
  3194. SERIAL_ECHOPGM("-Back");
  3195. #elif Y_PROBE_OFFSET_FROM_EXTRUDER < 0
  3196. SERIAL_ECHOPGM("-Front");
  3197. #elif X_PROBE_OFFSET_FROM_EXTRUDER != 0
  3198. SERIAL_ECHOPGM("-Center");
  3199. #endif
  3200. if (zprobe_zoffset < 0)
  3201. SERIAL_ECHOPGM(" & Below");
  3202. else if (zprobe_zoffset > 0)
  3203. SERIAL_ECHOPGM(" & Above");
  3204. else
  3205. SERIAL_ECHOPGM(" & Same Z as");
  3206. SERIAL_ECHOLNPGM(" Nozzle)");
  3207. #endif
  3208. #if HAS_ABL
  3209. SERIAL_ECHOPGM("Auto Bed Leveling: ");
  3210. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3211. SERIAL_ECHOPGM("LINEAR");
  3212. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3213. SERIAL_ECHOPGM("BILINEAR");
  3214. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3215. SERIAL_ECHOPGM("3POINT");
  3216. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3217. SERIAL_ECHOPGM("UBL");
  3218. #endif
  3219. if (planner.leveling_active) {
  3220. SERIAL_ECHOLNPGM(" (enabled)");
  3221. #if ABL_PLANAR
  3222. const float diff[XYZ] = {
  3223. stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
  3224. stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
  3225. stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
  3226. };
  3227. SERIAL_ECHOPGM("ABL Adjustment X");
  3228. if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
  3229. SERIAL_ECHO(diff[X_AXIS]);
  3230. SERIAL_ECHOPGM(" Y");
  3231. if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
  3232. SERIAL_ECHO(diff[Y_AXIS]);
  3233. SERIAL_ECHOPGM(" Z");
  3234. if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
  3235. SERIAL_ECHO(diff[Z_AXIS]);
  3236. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  3237. SERIAL_ECHOPAIR("UBL Adjustment Z", stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]);
  3238. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3239. SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
  3240. #endif
  3241. }
  3242. else
  3243. SERIAL_ECHOLNPGM(" (disabled)");
  3244. SERIAL_EOL();
  3245. #elif ENABLED(MESH_BED_LEVELING)
  3246. SERIAL_ECHOPGM("Mesh Bed Leveling");
  3247. if (planner.leveling_active) {
  3248. float lz = current_position[Z_AXIS];
  3249. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
  3250. SERIAL_ECHOLNPGM(" (enabled)");
  3251. SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
  3252. }
  3253. else
  3254. SERIAL_ECHOPGM(" (disabled)");
  3255. SERIAL_EOL();
  3256. #endif // MESH_BED_LEVELING
  3257. }
  3258. #endif // DEBUG_LEVELING_FEATURE
  3259. #if ENABLED(DELTA)
  3260. /**
  3261. * A delta can only safely home all axes at the same time
  3262. * This is like quick_home_xy() but for 3 towers.
  3263. */
  3264. inline bool home_delta() {
  3265. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3266. if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
  3267. #endif
  3268. // Init the current position of all carriages to 0,0,0
  3269. ZERO(current_position);
  3270. sync_plan_position();
  3271. // Move all carriages together linearly until an endstop is hit.
  3272. current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
  3273. feedrate_mm_s = homing_feedrate(X_AXIS);
  3274. line_to_current_position();
  3275. stepper.synchronize();
  3276. // If an endstop was not hit, then damage can occur if homing is continued.
  3277. // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
  3278. // not set correctly.
  3279. if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
  3280. LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
  3281. SERIAL_ERROR_START();
  3282. SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
  3283. return false;
  3284. }
  3285. endstops.hit_on_purpose(); // clear endstop hit flags
  3286. // At least one carriage has reached the top.
  3287. // Now re-home each carriage separately.
  3288. HOMEAXIS(A);
  3289. HOMEAXIS(B);
  3290. HOMEAXIS(C);
  3291. // Set all carriages to their home positions
  3292. // Do this here all at once for Delta, because
  3293. // XYZ isn't ABC. Applying this per-tower would
  3294. // give the impression that they are the same.
  3295. LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  3296. SYNC_PLAN_POSITION_KINEMATIC();
  3297. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3298. if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
  3299. #endif
  3300. return true;
  3301. }
  3302. #endif // DELTA
  3303. #if ENABLED(Z_SAFE_HOMING)
  3304. inline void home_z_safely() {
  3305. // Disallow Z homing if X or Y are unknown
  3306. if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
  3307. LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
  3308. SERIAL_ECHO_START();
  3309. SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
  3310. return;
  3311. }
  3312. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3313. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
  3314. #endif
  3315. SYNC_PLAN_POSITION_KINEMATIC();
  3316. /**
  3317. * Move the Z probe (or just the nozzle) to the safe homing point
  3318. */
  3319. destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
  3320. destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
  3321. destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  3322. #if HOMING_Z_WITH_PROBE
  3323. destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  3324. destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  3325. #endif
  3326. if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
  3327. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3328. if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
  3329. #endif
  3330. // This causes the carriage on Dual X to unpark
  3331. #if ENABLED(DUAL_X_CARRIAGE)
  3332. active_extruder_parked = false;
  3333. #endif
  3334. do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
  3335. HOMEAXIS(Z);
  3336. }
  3337. else {
  3338. LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
  3339. SERIAL_ECHO_START();
  3340. SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
  3341. }
  3342. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3343. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
  3344. #endif
  3345. }
  3346. #endif // Z_SAFE_HOMING
  3347. #if ENABLED(PROBE_MANUALLY)
  3348. bool g29_in_progress = false;
  3349. #else
  3350. constexpr bool g29_in_progress = false;
  3351. #endif
  3352. /**
  3353. * G28: Home all axes according to settings
  3354. *
  3355. * Parameters
  3356. *
  3357. * None Home to all axes with no parameters.
  3358. * With QUICK_HOME enabled XY will home together, then Z.
  3359. *
  3360. * Cartesian parameters
  3361. *
  3362. * X Home to the X endstop
  3363. * Y Home to the Y endstop
  3364. * Z Home to the Z endstop
  3365. *
  3366. */
  3367. inline void gcode_G28(const bool always_home_all) {
  3368. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3369. if (DEBUGGING(LEVELING)) {
  3370. SERIAL_ECHOLNPGM(">>> gcode_G28");
  3371. log_machine_info();
  3372. }
  3373. #endif
  3374. // Wait for planner moves to finish!
  3375. stepper.synchronize();
  3376. // Cancel the active G29 session
  3377. #if ENABLED(PROBE_MANUALLY)
  3378. g29_in_progress = false;
  3379. #endif
  3380. // Disable the leveling matrix before homing
  3381. #if HAS_LEVELING
  3382. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3383. const bool ubl_state_at_entry = planner.leveling_active;
  3384. #endif
  3385. set_bed_leveling_enabled(false);
  3386. #endif
  3387. #if ENABLED(CNC_WORKSPACE_PLANES)
  3388. workspace_plane = PLANE_XY;
  3389. #endif
  3390. // Always home with tool 0 active
  3391. #if HOTENDS > 1
  3392. const uint8_t old_tool_index = active_extruder;
  3393. tool_change(0, 0, true);
  3394. #endif
  3395. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  3396. extruder_duplication_enabled = false;
  3397. #endif
  3398. setup_for_endstop_or_probe_move();
  3399. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3400. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
  3401. #endif
  3402. endstops.enable(true); // Enable endstops for next homing move
  3403. #if ENABLED(DELTA)
  3404. home_delta();
  3405. UNUSED(always_home_all);
  3406. #else // NOT DELTA
  3407. const bool homeX = always_home_all || parser.seen('X'),
  3408. homeY = always_home_all || parser.seen('Y'),
  3409. homeZ = always_home_all || parser.seen('Z'),
  3410. home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  3411. set_destination_from_current();
  3412. #if Z_HOME_DIR > 0 // If homing away from BED do Z first
  3413. if (home_all || homeZ) {
  3414. HOMEAXIS(Z);
  3415. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3416. if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
  3417. #endif
  3418. }
  3419. #else
  3420. if (home_all || homeX || homeY) {
  3421. // Raise Z before homing any other axes and z is not already high enough (never lower z)
  3422. destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
  3423. if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  3424. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3425. if (DEBUGGING(LEVELING))
  3426. SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
  3427. #endif
  3428. do_blocking_move_to_z(destination[Z_AXIS]);
  3429. }
  3430. }
  3431. #endif
  3432. #if ENABLED(QUICK_HOME)
  3433. if (home_all || (homeX && homeY)) quick_home_xy();
  3434. #endif
  3435. #if ENABLED(HOME_Y_BEFORE_X)
  3436. // Home Y
  3437. if (home_all || homeY) {
  3438. HOMEAXIS(Y);
  3439. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3440. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3441. #endif
  3442. }
  3443. #endif
  3444. // Home X
  3445. if (home_all || homeX) {
  3446. #if ENABLED(DUAL_X_CARRIAGE)
  3447. // Always home the 2nd (right) extruder first
  3448. active_extruder = 1;
  3449. HOMEAXIS(X);
  3450. // Remember this extruder's position for later tool change
  3451. inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  3452. // Home the 1st (left) extruder
  3453. active_extruder = 0;
  3454. HOMEAXIS(X);
  3455. // Consider the active extruder to be parked
  3456. COPY(raised_parked_position, current_position);
  3457. delayed_move_time = 0;
  3458. active_extruder_parked = true;
  3459. #else
  3460. HOMEAXIS(X);
  3461. #endif
  3462. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3463. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
  3464. #endif
  3465. }
  3466. #if DISABLED(HOME_Y_BEFORE_X)
  3467. // Home Y
  3468. if (home_all || homeY) {
  3469. HOMEAXIS(Y);
  3470. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3471. if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
  3472. #endif
  3473. }
  3474. #endif
  3475. // Home Z last if homing towards the bed
  3476. #if Z_HOME_DIR < 0
  3477. if (home_all || homeZ) {
  3478. #if ENABLED(Z_SAFE_HOMING)
  3479. home_z_safely();
  3480. #else
  3481. HOMEAXIS(Z);
  3482. #endif
  3483. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3484. if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
  3485. #endif
  3486. } // home_all || homeZ
  3487. #endif // Z_HOME_DIR < 0
  3488. SYNC_PLAN_POSITION_KINEMATIC();
  3489. #endif // !DELTA (gcode_G28)
  3490. endstops.not_homing();
  3491. #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  3492. // move to a height where we can use the full xy-area
  3493. do_blocking_move_to_z(delta_clip_start_height);
  3494. #endif
  3495. #if ENABLED(AUTO_BED_LEVELING_UBL)
  3496. set_bed_leveling_enabled(ubl_state_at_entry);
  3497. #endif
  3498. clean_up_after_endstop_or_probe_move();
  3499. // Restore the active tool after homing
  3500. #if HOTENDS > 1
  3501. tool_change(old_tool_index, 0,
  3502. #if ENABLED(PARKING_EXTRUDER)
  3503. false // fetch the previous toolhead
  3504. #else
  3505. true
  3506. #endif
  3507. );
  3508. #endif
  3509. lcd_refresh();
  3510. report_current_position();
  3511. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3512. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
  3513. #endif
  3514. } // G28
  3515. void home_all_axes() { gcode_G28(true); }
  3516. #if HAS_PROBING_PROCEDURE
  3517. void out_of_range_error(const char* p_edge) {
  3518. SERIAL_PROTOCOLPGM("?Probe ");
  3519. serialprintPGM(p_edge);
  3520. SERIAL_PROTOCOLLNPGM(" position out of range.");
  3521. }
  3522. #endif
  3523. #if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
  3524. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3525. extern bool lcd_wait_for_move;
  3526. #endif
  3527. inline void _manual_goto_xy(const float &x, const float &y) {
  3528. const float old_feedrate_mm_s = feedrate_mm_s;
  3529. #if MANUAL_PROBE_HEIGHT > 0
  3530. const float prev_z = current_position[Z_AXIS];
  3531. feedrate_mm_s = homing_feedrate(Z_AXIS);
  3532. current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
  3533. line_to_current_position();
  3534. #endif
  3535. feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
  3536. current_position[X_AXIS] = LOGICAL_X_POSITION(x);
  3537. current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
  3538. line_to_current_position();
  3539. #if MANUAL_PROBE_HEIGHT > 0
  3540. feedrate_mm_s = homing_feedrate(Z_AXIS);
  3541. current_position[Z_AXIS] = prev_z; // move back to the previous Z.
  3542. line_to_current_position();
  3543. #endif
  3544. feedrate_mm_s = old_feedrate_mm_s;
  3545. stepper.synchronize();
  3546. #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
  3547. lcd_wait_for_move = false;
  3548. #endif
  3549. }
  3550. #endif
  3551. #if ENABLED(MESH_BED_LEVELING)
  3552. // Save 130 bytes with non-duplication of PSTR
  3553. void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  3554. void mbl_mesh_report() {
  3555. SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
  3556. SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
  3557. SERIAL_PROTOCOLLNPGM("\nMeasured points:");
  3558. print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
  3559. [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
  3560. );
  3561. }
  3562. void mesh_probing_done() {
  3563. mbl.has_mesh = true;
  3564. home_all_axes();
  3565. set_bed_leveling_enabled(true);
  3566. #if ENABLED(MESH_G28_REST_ORIGIN)
  3567. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
  3568. set_destination_from_current();
  3569. line_to_destination(homing_feedrate(Z_AXIS));
  3570. stepper.synchronize();
  3571. #endif
  3572. }
  3573. /**
  3574. * G29: Mesh-based Z probe, probes a grid and produces a
  3575. * mesh to compensate for variable bed height
  3576. *
  3577. * Parameters With MESH_BED_LEVELING:
  3578. *
  3579. * S0 Produce a mesh report
  3580. * S1 Start probing mesh points
  3581. * S2 Probe the next mesh point
  3582. * S3 Xn Yn Zn.nn Manually modify a single point
  3583. * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
  3584. * S5 Reset and disable mesh
  3585. *
  3586. * The S0 report the points as below
  3587. *
  3588. * +----> X-axis 1-n
  3589. * |
  3590. * |
  3591. * v Y-axis 1-n
  3592. *
  3593. */
  3594. inline void gcode_G29() {
  3595. static int mbl_probe_index = -1;
  3596. #if HAS_SOFTWARE_ENDSTOPS
  3597. static bool enable_soft_endstops;
  3598. #endif
  3599. const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
  3600. if (!WITHIN(state, 0, 5)) {
  3601. SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
  3602. return;
  3603. }
  3604. int8_t px, py;
  3605. switch (state) {
  3606. case MeshReport:
  3607. if (leveling_is_valid()) {
  3608. SERIAL_PROTOCOLLNPAIR("State: ", planner.leveling_active ? MSG_ON : MSG_OFF);
  3609. mbl_mesh_report();
  3610. }
  3611. else
  3612. SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
  3613. break;
  3614. case MeshStart:
  3615. mbl.reset();
  3616. mbl_probe_index = 0;
  3617. enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
  3618. break;
  3619. case MeshNext:
  3620. if (mbl_probe_index < 0) {
  3621. SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
  3622. return;
  3623. }
  3624. // For each G29 S2...
  3625. if (mbl_probe_index == 0) {
  3626. #if HAS_SOFTWARE_ENDSTOPS
  3627. // For the initial G29 S2 save software endstop state
  3628. enable_soft_endstops = soft_endstops_enabled;
  3629. #endif
  3630. }
  3631. else {
  3632. // For G29 S2 after adjusting Z.
  3633. mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
  3634. #if HAS_SOFTWARE_ENDSTOPS
  3635. soft_endstops_enabled = enable_soft_endstops;
  3636. #endif
  3637. }
  3638. // If there's another point to sample, move there with optional lift.
  3639. if (mbl_probe_index < GRID_MAX_POINTS) {
  3640. mbl.zigzag(mbl_probe_index, px, py);
  3641. _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
  3642. #if HAS_SOFTWARE_ENDSTOPS
  3643. // Disable software endstops to allow manual adjustment
  3644. // If G29 is not completed, they will not be re-enabled
  3645. soft_endstops_enabled = false;
  3646. #endif
  3647. mbl_probe_index++;
  3648. }
  3649. else {
  3650. // One last "return to the bed" (as originally coded) at completion
  3651. current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
  3652. line_to_current_position();
  3653. stepper.synchronize();
  3654. // After recording the last point, activate home and activate
  3655. mbl_probe_index = -1;
  3656. SERIAL_PROTOCOLLNPGM("Mesh probing done.");
  3657. BUZZ(100, 659);
  3658. BUZZ(100, 698);
  3659. mesh_probing_done();
  3660. }
  3661. break;
  3662. case MeshSet:
  3663. if (parser.seenval('X')) {
  3664. px = parser.value_int() - 1;
  3665. if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
  3666. SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
  3667. return;
  3668. }
  3669. }
  3670. else {
  3671. SERIAL_CHAR('X'); echo_not_entered();
  3672. return;
  3673. }
  3674. if (parser.seenval('Y')) {
  3675. py = parser.value_int() - 1;
  3676. if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
  3677. SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
  3678. return;
  3679. }
  3680. }
  3681. else {
  3682. SERIAL_CHAR('Y'); echo_not_entered();
  3683. return;
  3684. }
  3685. if (parser.seenval('Z')) {
  3686. mbl.z_values[px][py] = parser.value_linear_units();
  3687. }
  3688. else {
  3689. SERIAL_CHAR('Z'); echo_not_entered();
  3690. return;
  3691. }
  3692. break;
  3693. case MeshSetZOffset:
  3694. if (parser.seenval('Z')) {
  3695. mbl.z_offset = parser.value_linear_units();
  3696. }
  3697. else {
  3698. SERIAL_CHAR('Z'); echo_not_entered();
  3699. return;
  3700. }
  3701. break;
  3702. case MeshReset:
  3703. reset_bed_level();
  3704. break;
  3705. } // switch(state)
  3706. report_current_position();
  3707. }
  3708. #elif OLDSCHOOL_ABL
  3709. #if ABL_GRID
  3710. #if ENABLED(PROBE_Y_FIRST)
  3711. #define PR_OUTER_VAR xCount
  3712. #define PR_OUTER_END abl_grid_points_x
  3713. #define PR_INNER_VAR yCount
  3714. #define PR_INNER_END abl_grid_points_y
  3715. #else
  3716. #define PR_OUTER_VAR yCount
  3717. #define PR_OUTER_END abl_grid_points_y
  3718. #define PR_INNER_VAR xCount
  3719. #define PR_INNER_END abl_grid_points_x
  3720. #endif
  3721. #endif
  3722. /**
  3723. * G29: Detailed Z probe, probes the bed at 3 or more points.
  3724. * Will fail if the printer has not been homed with G28.
  3725. *
  3726. * Enhanced G29 Auto Bed Leveling Probe Routine
  3727. *
  3728. * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
  3729. * or alter the bed level data. Useful to check the topology
  3730. * after a first run of G29.
  3731. *
  3732. * J Jettison current bed leveling data
  3733. *
  3734. * V Set the verbose level (0-4). Example: "G29 V3"
  3735. *
  3736. * Parameters With LINEAR leveling only:
  3737. *
  3738. * P Set the size of the grid that will be probed (P x P points).
  3739. * Example: "G29 P4"
  3740. *
  3741. * X Set the X size of the grid that will be probed (X x Y points).
  3742. * Example: "G29 X7 Y5"
  3743. *
  3744. * Y Set the Y size of the grid that will be probed (X x Y points).
  3745. *
  3746. * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
  3747. * This is useful for manual bed leveling and finding flaws in the bed (to
  3748. * assist with part placement).
  3749. * Not supported by non-linear delta printer bed leveling.
  3750. *
  3751. * Parameters With LINEAR and BILINEAR leveling only:
  3752. *
  3753. * S Set the XY travel speed between probe points (in units/min)
  3754. *
  3755. * F Set the Front limit of the probing grid
  3756. * B Set the Back limit of the probing grid
  3757. * L Set the Left limit of the probing grid
  3758. * R Set the Right limit of the probing grid
  3759. *
  3760. * Parameters with DEBUG_LEVELING_FEATURE only:
  3761. *
  3762. * C Make a totally fake grid with no actual probing.
  3763. * For use in testing when no probing is possible.
  3764. *
  3765. * Parameters with BILINEAR leveling only:
  3766. *
  3767. * Z Supply an additional Z probe offset
  3768. *
  3769. * Extra parameters with PROBE_MANUALLY:
  3770. *
  3771. * To do manual probing simply repeat G29 until the procedure is complete.
  3772. * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
  3773. *
  3774. * Q Query leveling and G29 state
  3775. *
  3776. * A Abort current leveling procedure
  3777. *
  3778. * Extra parameters with BILINEAR only:
  3779. *
  3780. * W Write a mesh point. (If G29 is idle.)
  3781. * I X index for mesh point
  3782. * J Y index for mesh point
  3783. * X X for mesh point, overrides I
  3784. * Y Y for mesh point, overrides J
  3785. * Z Z for mesh point. Otherwise, raw current Z.
  3786. *
  3787. * Without PROBE_MANUALLY:
  3788. *
  3789. * E By default G29 will engage the Z probe, test the bed, then disengage.
  3790. * Include "E" to engage/disengage the Z probe for each sample.
  3791. * There's no extra effect if you have a fixed Z probe.
  3792. *
  3793. */
  3794. inline void gcode_G29() {
  3795. // G29 Q is also available if debugging
  3796. #if ENABLED(DEBUG_LEVELING_FEATURE)
  3797. const bool query = parser.seen('Q');
  3798. const uint8_t old_debug_flags = marlin_debug_flags;
  3799. if (query) marlin_debug_flags |= DEBUG_LEVELING;
  3800. if (DEBUGGING(LEVELING)) {
  3801. DEBUG_POS(">>> gcode_G29", current_position);
  3802. log_machine_info();
  3803. }
  3804. marlin_debug_flags = old_debug_flags;
  3805. #if DISABLED(PROBE_MANUALLY)
  3806. if (query) return;
  3807. #endif
  3808. #endif
  3809. #if ENABLED(PROBE_MANUALLY)
  3810. const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ;
  3811. #endif
  3812. #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
  3813. const bool faux = parser.boolval('C');
  3814. #elif ENABLED(PROBE_MANUALLY)
  3815. const bool faux = no_action;
  3816. #else
  3817. bool constexpr faux = false;
  3818. #endif
  3819. // Don't allow auto-leveling without homing first
  3820. if (axis_unhomed_error()) return;
  3821. // Define local vars 'static' for manual probing, 'auto' otherwise
  3822. #if ENABLED(PROBE_MANUALLY)
  3823. #define ABL_VAR static
  3824. #else
  3825. #define ABL_VAR
  3826. #endif
  3827. ABL_VAR int verbose_level;
  3828. ABL_VAR float xProbe, yProbe, measured_z;
  3829. ABL_VAR bool dryrun, abl_should_enable;
  3830. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3831. ABL_VAR int abl_probe_index;
  3832. #endif
  3833. #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
  3834. ABL_VAR bool enable_soft_endstops = true;
  3835. #endif
  3836. #if ABL_GRID
  3837. #if ENABLED(PROBE_MANUALLY)
  3838. ABL_VAR uint8_t PR_OUTER_VAR;
  3839. ABL_VAR int8_t PR_INNER_VAR;
  3840. #endif
  3841. ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
  3842. ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
  3843. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3844. ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
  3845. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3846. ABL_VAR bool do_topography_map;
  3847. #else // Bilinear
  3848. uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
  3849. abl_grid_points_y = GRID_MAX_POINTS_Y;
  3850. #endif
  3851. #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
  3852. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3853. ABL_VAR int abl2;
  3854. #else // Bilinear
  3855. int constexpr abl2 = GRID_MAX_POINTS;
  3856. #endif
  3857. #endif
  3858. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3859. ABL_VAR float zoffset;
  3860. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  3861. ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
  3862. ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
  3863. eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
  3864. mean;
  3865. #endif
  3866. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  3867. int constexpr abl2 = 3;
  3868. // Probe at 3 arbitrary points
  3869. ABL_VAR vector_3 points[3] = {
  3870. vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
  3871. vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
  3872. vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
  3873. };
  3874. #endif // AUTO_BED_LEVELING_3POINT
  3875. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3876. struct linear_fit_data lsf_results;
  3877. incremental_LSF_reset(&lsf_results);
  3878. #endif
  3879. /**
  3880. * On the initial G29 fetch command parameters.
  3881. */
  3882. if (!g29_in_progress) {
  3883. #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
  3884. abl_probe_index = -1;
  3885. #endif
  3886. abl_should_enable = planner.leveling_active;
  3887. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3888. if (parser.seen('W')) {
  3889. if (!leveling_is_valid()) {
  3890. SERIAL_ERROR_START();
  3891. SERIAL_ERRORLNPGM("No bilinear grid");
  3892. return;
  3893. }
  3894. const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z));
  3895. if (!WITHIN(z, -10, 10)) {
  3896. SERIAL_ERROR_START();
  3897. SERIAL_ERRORLNPGM("Bad Z value");
  3898. return;
  3899. }
  3900. const float x = parser.floatval('X', NAN),
  3901. y = parser.floatval('Y', NAN);
  3902. int8_t i = parser.byteval('I', -1),
  3903. j = parser.byteval('J', -1);
  3904. if (!isnan(x) && !isnan(y)) {
  3905. // Get nearest i / j from x / y
  3906. i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
  3907. j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
  3908. i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
  3909. j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
  3910. }
  3911. if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
  3912. set_bed_leveling_enabled(false);
  3913. z_values[i][j] = z;
  3914. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  3915. bed_level_virt_interpolate();
  3916. #endif
  3917. set_bed_leveling_enabled(abl_should_enable);
  3918. }
  3919. return;
  3920. } // parser.seen('W')
  3921. #endif
  3922. #if HAS_LEVELING
  3923. // Jettison bed leveling data
  3924. if (parser.seen('J')) {
  3925. reset_bed_level();
  3926. return;
  3927. }
  3928. #endif
  3929. verbose_level = parser.intval('V');
  3930. if (!WITHIN(verbose_level, 0, 4)) {
  3931. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  3932. return;
  3933. }
  3934. dryrun = parser.boolval('D')
  3935. #if ENABLED(PROBE_MANUALLY)
  3936. || no_action
  3937. #endif
  3938. ;
  3939. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  3940. do_topography_map = verbose_level > 2 || parser.boolval('T');
  3941. // X and Y specify points in each direction, overriding the default
  3942. // These values may be saved with the completed mesh
  3943. abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
  3944. abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
  3945. if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
  3946. if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
  3947. SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
  3948. return;
  3949. }
  3950. abl2 = abl_grid_points_x * abl_grid_points_y;
  3951. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  3952. zoffset = parser.linearval('Z');
  3953. #endif
  3954. #if ABL_GRID
  3955. xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
  3956. left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION));
  3957. right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION));
  3958. front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION));
  3959. back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION));
  3960. const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
  3961. left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
  3962. right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
  3963. right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
  3964. front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
  3965. front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
  3966. back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
  3967. back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
  3968. if (left_out || right_out || front_out || back_out) {
  3969. if (left_out) {
  3970. out_of_range_error(PSTR("(L)eft"));
  3971. left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
  3972. }
  3973. if (right_out) {
  3974. out_of_range_error(PSTR("(R)ight"));
  3975. right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
  3976. }
  3977. if (front_out) {
  3978. out_of_range_error(PSTR("(F)ront"));
  3979. front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
  3980. }
  3981. if (back_out) {
  3982. out_of_range_error(PSTR("(B)ack"));
  3983. back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
  3984. }
  3985. return;
  3986. }
  3987. // probe at the points of a lattice grid
  3988. xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
  3989. yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  3990. #endif // ABL_GRID
  3991. if (verbose_level > 0) {
  3992. SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
  3993. if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
  3994. }
  3995. stepper.synchronize();
  3996. // Disable auto bed leveling during G29
  3997. planner.leveling_active = false;
  3998. if (!dryrun) {
  3999. // Re-orient the current position without leveling
  4000. // based on where the steppers are positioned.
  4001. set_current_from_steppers_for_axis(ALL_AXES);
  4002. // Sync the planner to where the steppers stopped
  4003. SYNC_PLAN_POSITION_KINEMATIC();
  4004. }
  4005. #if HAS_BED_PROBE
  4006. // Deploy the probe. Probe will raise if needed.
  4007. if (DEPLOY_PROBE()) {
  4008. planner.leveling_active = abl_should_enable;
  4009. return;
  4010. }
  4011. #endif
  4012. if (!faux) setup_for_endstop_or_probe_move();
  4013. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4014. #if ENABLED(PROBE_MANUALLY)
  4015. if (!no_action)
  4016. #endif
  4017. if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
  4018. || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
  4019. || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
  4020. || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
  4021. ) {
  4022. if (dryrun) {
  4023. // Before reset bed level, re-enable to correct the position
  4024. planner.leveling_active = abl_should_enable;
  4025. }
  4026. // Reset grid to 0.0 or "not probed". (Also disables ABL)
  4027. reset_bed_level();
  4028. // Initialize a grid with the given dimensions
  4029. bilinear_grid_spacing[X_AXIS] = xGridSpacing;
  4030. bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
  4031. bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
  4032. bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
  4033. // Can't re-enable (on error) until the new grid is written
  4034. abl_should_enable = false;
  4035. }
  4036. #endif // AUTO_BED_LEVELING_BILINEAR
  4037. #if ENABLED(AUTO_BED_LEVELING_3POINT)
  4038. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4039. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
  4040. #endif
  4041. // Probe at 3 arbitrary points
  4042. points[0].z = points[1].z = points[2].z = 0;
  4043. #endif // AUTO_BED_LEVELING_3POINT
  4044. } // !g29_in_progress
  4045. #if ENABLED(PROBE_MANUALLY)
  4046. // For manual probing, get the next index to probe now.
  4047. // On the first probe this will be incremented to 0.
  4048. if (!no_action) {
  4049. ++abl_probe_index;
  4050. g29_in_progress = true;
  4051. }
  4052. // Abort current G29 procedure, go back to idle state
  4053. if (seenA && g29_in_progress) {
  4054. SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
  4055. #if HAS_SOFTWARE_ENDSTOPS
  4056. soft_endstops_enabled = enable_soft_endstops;
  4057. #endif
  4058. planner.leveling_active = abl_should_enable;
  4059. g29_in_progress = false;
  4060. #if ENABLED(LCD_BED_LEVELING)
  4061. lcd_wait_for_move = false;
  4062. #endif
  4063. }
  4064. // Query G29 status
  4065. if (verbose_level || seenQ) {
  4066. SERIAL_PROTOCOLPGM("Manual G29 ");
  4067. if (g29_in_progress) {
  4068. SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2));
  4069. SERIAL_PROTOCOLLNPAIR(" of ", abl2);
  4070. }
  4071. else
  4072. SERIAL_PROTOCOLLNPGM("idle");
  4073. }
  4074. if (no_action) return;
  4075. if (abl_probe_index == 0) {
  4076. // For the initial G29 save software endstop state
  4077. #if HAS_SOFTWARE_ENDSTOPS
  4078. enable_soft_endstops = soft_endstops_enabled;
  4079. #endif
  4080. }
  4081. else {
  4082. // For G29 after adjusting Z.
  4083. // Save the previous Z before going to the next point
  4084. measured_z = current_position[Z_AXIS];
  4085. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4086. mean += measured_z;
  4087. eqnBVector[abl_probe_index] = measured_z;
  4088. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4089. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4090. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4091. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4092. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4093. z_values[xCount][yCount] = measured_z + zoffset;
  4094. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4095. if (DEBUGGING(LEVELING)) {
  4096. SERIAL_PROTOCOLPAIR("Save X", xCount);
  4097. SERIAL_PROTOCOLPAIR(" Y", yCount);
  4098. SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
  4099. }
  4100. #endif
  4101. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4102. points[abl_probe_index].z = measured_z;
  4103. #endif
  4104. }
  4105. //
  4106. // If there's another point to sample, move there with optional lift.
  4107. //
  4108. #if ABL_GRID
  4109. // Skip any unreachable points
  4110. while (abl_probe_index < abl2) {
  4111. // Set xCount, yCount based on abl_probe_index, with zig-zag
  4112. PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
  4113. PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
  4114. // Probe in reverse order for every other row/column
  4115. bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
  4116. if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
  4117. const float xBase = xCount * xGridSpacing + left_probe_bed_position,
  4118. yBase = yCount * yGridSpacing + front_probe_bed_position;
  4119. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4120. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4121. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4122. indexIntoAB[xCount][yCount] = abl_probe_index;
  4123. #endif
  4124. // Keep looping till a reachable point is found
  4125. if (position_is_reachable_xy(xProbe, yProbe)) break;
  4126. ++abl_probe_index;
  4127. }
  4128. // Is there a next point to move to?
  4129. if (abl_probe_index < abl2) {
  4130. _manual_goto_xy(xProbe, yProbe); // Can be used here too!
  4131. #if HAS_SOFTWARE_ENDSTOPS
  4132. // Disable software endstops to allow manual adjustment
  4133. // If G29 is not completed, they will not be re-enabled
  4134. soft_endstops_enabled = false;
  4135. #endif
  4136. return;
  4137. }
  4138. else {
  4139. // Leveling done! Fall through to G29 finishing code below
  4140. SERIAL_PROTOCOLLNPGM("Grid probing done.");
  4141. // Re-enable software endstops, if needed
  4142. #if HAS_SOFTWARE_ENDSTOPS
  4143. soft_endstops_enabled = enable_soft_endstops;
  4144. #endif
  4145. }
  4146. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4147. // Probe at 3 arbitrary points
  4148. if (abl_probe_index < 3) {
  4149. xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x);
  4150. yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y);
  4151. #if HAS_SOFTWARE_ENDSTOPS
  4152. // Disable software endstops to allow manual adjustment
  4153. // If G29 is not completed, they will not be re-enabled
  4154. soft_endstops_enabled = false;
  4155. #endif
  4156. return;
  4157. }
  4158. else {
  4159. SERIAL_PROTOCOLLNPGM("3-point probing done.");
  4160. // Re-enable software endstops, if needed
  4161. #if HAS_SOFTWARE_ENDSTOPS
  4162. soft_endstops_enabled = enable_soft_endstops;
  4163. #endif
  4164. if (!dryrun) {
  4165. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4166. if (planeNormal.z < 0) {
  4167. planeNormal.x *= -1;
  4168. planeNormal.y *= -1;
  4169. planeNormal.z *= -1;
  4170. }
  4171. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4172. // Can't re-enable (on error) until the new grid is written
  4173. abl_should_enable = false;
  4174. }
  4175. }
  4176. #endif // AUTO_BED_LEVELING_3POINT
  4177. #else // !PROBE_MANUALLY
  4178. {
  4179. const bool stow_probe_after_each = parser.boolval('E');
  4180. #if ABL_GRID
  4181. bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
  4182. // Outer loop is Y with PROBE_Y_FIRST disabled
  4183. for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
  4184. int8_t inStart, inStop, inInc;
  4185. if (zig) { // away from origin
  4186. inStart = 0;
  4187. inStop = PR_INNER_END;
  4188. inInc = 1;
  4189. }
  4190. else { // towards origin
  4191. inStart = PR_INNER_END - 1;
  4192. inStop = -1;
  4193. inInc = -1;
  4194. }
  4195. zig ^= true; // zag
  4196. // Inner loop is Y with PROBE_Y_FIRST enabled
  4197. for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  4198. float xBase = left_probe_bed_position + xGridSpacing * xCount,
  4199. yBase = front_probe_bed_position + yGridSpacing * yCount;
  4200. xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
  4201. yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
  4202. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4203. indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
  4204. #endif
  4205. #if IS_KINEMATIC
  4206. // Avoid probing outside the round or hexagonal area
  4207. if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
  4208. #endif
  4209. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4210. if (isnan(measured_z)) {
  4211. planner.leveling_active = abl_should_enable;
  4212. break;
  4213. }
  4214. #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  4215. mean += measured_z;
  4216. eqnBVector[abl_probe_index] = measured_z;
  4217. eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
  4218. eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
  4219. eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
  4220. incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
  4221. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4222. z_values[xCount][yCount] = measured_z + zoffset;
  4223. #endif
  4224. abl_should_enable = false;
  4225. idle();
  4226. } // inner
  4227. } // outer
  4228. #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  4229. // Probe at 3 arbitrary points
  4230. for (uint8_t i = 0; i < 3; ++i) {
  4231. // Retain the last probe position
  4232. xProbe = LOGICAL_X_POSITION(points[i].x);
  4233. yProbe = LOGICAL_Y_POSITION(points[i].y);
  4234. measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  4235. if (isnan(measured_z)) {
  4236. planner.leveling_active = abl_should_enable;
  4237. break;
  4238. }
  4239. points[i].z = measured_z;
  4240. }
  4241. if (!dryrun && !isnan(measured_z)) {
  4242. vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
  4243. if (planeNormal.z < 0) {
  4244. planeNormal.x *= -1;
  4245. planeNormal.y *= -1;
  4246. planeNormal.z *= -1;
  4247. }
  4248. planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  4249. // Can't re-enable (on error) until the new grid is written
  4250. abl_should_enable = false;
  4251. }
  4252. #endif // AUTO_BED_LEVELING_3POINT
  4253. // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
  4254. if (STOW_PROBE()) {
  4255. planner.leveling_active = abl_should_enable;
  4256. measured_z = NAN;
  4257. }
  4258. }
  4259. #endif // !PROBE_MANUALLY
  4260. //
  4261. // G29 Finishing Code
  4262. //
  4263. // Unless this is a dry run, auto bed leveling will
  4264. // definitely be enabled after this point.
  4265. //
  4266. // If code above wants to continue leveling, it should
  4267. // return or loop before this point.
  4268. //
  4269. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4270. if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
  4271. #endif
  4272. #if ENABLED(PROBE_MANUALLY)
  4273. g29_in_progress = false;
  4274. #if ENABLED(LCD_BED_LEVELING)
  4275. lcd_wait_for_move = false;
  4276. #endif
  4277. #endif
  4278. // Calculate leveling, print reports, correct the position
  4279. if (!isnan(measured_z)) {
  4280. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4281. if (!dryrun) extrapolate_unprobed_bed_level();
  4282. print_bilinear_leveling_grid();
  4283. refresh_bed_level();
  4284. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  4285. print_bilinear_leveling_grid_virt();
  4286. #endif
  4287. #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  4288. // For LINEAR leveling calculate matrix, print reports, correct the position
  4289. /**
  4290. * solve the plane equation ax + by + d = z
  4291. * A is the matrix with rows [x y 1] for all the probed points
  4292. * B is the vector of the Z positions
  4293. * the normal vector to the plane is formed by the coefficients of the
  4294. * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
  4295. * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
  4296. */
  4297. float plane_equation_coefficients[3];
  4298. finish_incremental_LSF(&lsf_results);
  4299. plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
  4300. plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
  4301. plane_equation_coefficients[2] = -lsf_results.D;
  4302. mean /= abl2;
  4303. if (verbose_level) {
  4304. SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
  4305. SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
  4306. SERIAL_PROTOCOLPGM(" b: ");
  4307. SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
  4308. SERIAL_PROTOCOLPGM(" d: ");
  4309. SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
  4310. SERIAL_EOL();
  4311. if (verbose_level > 2) {
  4312. SERIAL_PROTOCOLPGM("Mean of sampled points: ");
  4313. SERIAL_PROTOCOL_F(mean, 8);
  4314. SERIAL_EOL();
  4315. }
  4316. }
  4317. // Create the matrix but don't correct the position yet
  4318. if (!dryrun)
  4319. planner.bed_level_matrix = matrix_3x3::create_look_at(
  4320. vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
  4321. );
  4322. // Show the Topography map if enabled
  4323. if (do_topography_map) {
  4324. SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
  4325. " +--- BACK --+\n"
  4326. " | |\n"
  4327. " L | (+) | R\n"
  4328. " E | | I\n"
  4329. " F | (-) N (+) | G\n"
  4330. " T | | H\n"
  4331. " | (-) | T\n"
  4332. " | |\n"
  4333. " O-- FRONT --+\n"
  4334. " (0,0)");
  4335. float min_diff = 999;
  4336. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4337. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4338. int ind = indexIntoAB[xx][yy];
  4339. float diff = eqnBVector[ind] - mean,
  4340. x_tmp = eqnAMatrix[ind + 0 * abl2],
  4341. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4342. z_tmp = 0;
  4343. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4344. NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  4345. if (diff >= 0.0)
  4346. SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
  4347. else
  4348. SERIAL_PROTOCOLCHAR(' ');
  4349. SERIAL_PROTOCOL_F(diff, 5);
  4350. } // xx
  4351. SERIAL_EOL();
  4352. } // yy
  4353. SERIAL_EOL();
  4354. if (verbose_level > 3) {
  4355. SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  4356. for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
  4357. for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
  4358. int ind = indexIntoAB[xx][yy];
  4359. float x_tmp = eqnAMatrix[ind + 0 * abl2],
  4360. y_tmp = eqnAMatrix[ind + 1 * abl2],
  4361. z_tmp = 0;
  4362. apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  4363. float diff = eqnBVector[ind] - z_tmp - min_diff;
  4364. if (diff >= 0.0)
  4365. SERIAL_PROTOCOLPGM(" +");
  4366. // Include + for column alignment
  4367. else
  4368. SERIAL_PROTOCOLCHAR(' ');
  4369. SERIAL_PROTOCOL_F(diff, 5);
  4370. } // xx
  4371. SERIAL_EOL();
  4372. } // yy
  4373. SERIAL_EOL();
  4374. }
  4375. } //do_topography_map
  4376. #endif // AUTO_BED_LEVELING_LINEAR
  4377. #if ABL_PLANAR
  4378. // For LINEAR and 3POINT leveling correct the current position
  4379. if (verbose_level > 0)
  4380. planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
  4381. if (!dryrun) {
  4382. //
  4383. // Correct the current XYZ position based on the tilted plane.
  4384. //
  4385. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4386. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
  4387. #endif
  4388. float converted[XYZ];
  4389. COPY(converted, current_position);
  4390. planner.leveling_active = true;
  4391. planner.unapply_leveling(converted); // use conversion machinery
  4392. planner.leveling_active = false;
  4393. // Use the last measured distance to the bed, if possible
  4394. if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
  4395. && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
  4396. ) {
  4397. const float simple_z = current_position[Z_AXIS] - measured_z;
  4398. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4399. if (DEBUGGING(LEVELING)) {
  4400. SERIAL_ECHOPAIR("Z from Probe:", simple_z);
  4401. SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
  4402. SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
  4403. }
  4404. #endif
  4405. converted[Z_AXIS] = simple_z;
  4406. }
  4407. // The rotated XY and corrected Z are now current_position
  4408. COPY(current_position, converted);
  4409. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4410. if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
  4411. #endif
  4412. }
  4413. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4414. if (!dryrun) {
  4415. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4416. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
  4417. #endif
  4418. // Unapply the offset because it is going to be immediately applied
  4419. // and cause compensation movement in Z
  4420. current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  4421. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4422. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
  4423. #endif
  4424. }
  4425. #endif // ABL_PLANAR
  4426. #ifdef Z_PROBE_END_SCRIPT
  4427. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4428. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
  4429. #endif
  4430. enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
  4431. stepper.synchronize();
  4432. #endif
  4433. // Auto Bed Leveling is complete! Enable if possible.
  4434. planner.leveling_active = dryrun ? abl_should_enable : true;
  4435. } // !isnan(measured_z)
  4436. // Restore state after probing
  4437. if (!faux) clean_up_after_endstop_or_probe_move();
  4438. #if ENABLED(DEBUG_LEVELING_FEATURE)
  4439. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
  4440. #endif
  4441. report_current_position();
  4442. KEEPALIVE_STATE(IN_HANDLER);
  4443. if (planner.leveling_active)
  4444. SYNC_PLAN_POSITION_KINEMATIC();
  4445. }
  4446. #endif // OLDSCHOOL_ABL
  4447. #if HAS_BED_PROBE
  4448. /**
  4449. * G30: Do a single Z probe at the current XY
  4450. *
  4451. * Parameters:
  4452. *
  4453. * X Probe X position (default current X)
  4454. * Y Probe Y position (default current Y)
  4455. * E Engage the probe for each probe
  4456. */
  4457. inline void gcode_G30() {
  4458. const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
  4459. ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
  4460. if (!position_is_reachable_by_probe_xy(xpos, ypos)) return;
  4461. // Disable leveling so the planner won't mess with us
  4462. #if HAS_LEVELING
  4463. set_bed_leveling_enabled(false);
  4464. #endif
  4465. setup_for_endstop_or_probe_move();
  4466. const float measured_z = probe_pt(xpos, ypos, parser.boolval('E'), 1);
  4467. if (!isnan(measured_z)) {
  4468. SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
  4469. SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
  4470. SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
  4471. }
  4472. clean_up_after_endstop_or_probe_move();
  4473. report_current_position();
  4474. }
  4475. #if ENABLED(Z_PROBE_SLED)
  4476. /**
  4477. * G31: Deploy the Z probe
  4478. */
  4479. inline void gcode_G31() { DEPLOY_PROBE(); }
  4480. /**
  4481. * G32: Stow the Z probe
  4482. */
  4483. inline void gcode_G32() { STOW_PROBE(); }
  4484. #endif // Z_PROBE_SLED
  4485. #endif // HAS_BED_PROBE
  4486. #if PROBE_SELECTED
  4487. #if ENABLED(DELTA_AUTO_CALIBRATION)
  4488. /**
  4489. * G33 - Delta '1-4-7-point' Auto-Calibration
  4490. * Calibrate height, endstops, delta radius, and tower angles.
  4491. *
  4492. * Parameters:
  4493. *
  4494. * Pn Number of probe points:
  4495. *
  4496. * P0 No probe. Normalize only.
  4497. * P1 Probe center and set height only.
  4498. * P2 Probe center and towers. Set height, endstops, and delta radius.
  4499. * P3 Probe all positions: center, towers and opposite towers. Set all.
  4500. * P4-P7 Probe all positions at different locations and average them.
  4501. *
  4502. * T0 Don't calibrate tower angle corrections
  4503. *
  4504. * Cn.nn Calibration precision; when omitted calibrates to maximum precision
  4505. *
  4506. * Fn Force to run at least n iterations and takes the best result
  4507. *
  4508. * Vn Verbose level:
  4509. *
  4510. * V0 Dry-run mode. Report settings and probe results. No calibration.
  4511. * V1 Report settings
  4512. * V2 Report settings and probe results
  4513. *
  4514. * E Engage the probe for each point
  4515. */
  4516. void print_signed_float(const char * const prefix, const float &f) {
  4517. SERIAL_PROTOCOLPGM(" ");
  4518. serialprintPGM(prefix);
  4519. SERIAL_PROTOCOLCHAR(':');
  4520. if (f >= 0) SERIAL_CHAR('+');
  4521. SERIAL_PROTOCOL_F(f, 2);
  4522. }
  4523. void print_G33_settings(const bool end_stops, const bool tower_angles) {
  4524. SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
  4525. if (end_stops) {
  4526. print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]);
  4527. print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]);
  4528. print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]);
  4529. SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
  4530. }
  4531. SERIAL_EOL();
  4532. if (tower_angles) {
  4533. SERIAL_PROTOCOLPGM(".Tower angle : ");
  4534. print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
  4535. print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
  4536. print_signed_float(PSTR("Tz"), delta_tower_angle_trim[C_AXIS]);
  4537. SERIAL_EOL();
  4538. }
  4539. }
  4540. void G33_cleanup(
  4541. #if HOTENDS > 1
  4542. const uint8_t old_tool_index
  4543. #endif
  4544. ) {
  4545. #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
  4546. do_blocking_move_to_z(delta_clip_start_height);
  4547. #endif
  4548. STOW_PROBE();
  4549. clean_up_after_endstop_or_probe_move();
  4550. #if HOTENDS > 1
  4551. tool_change(old_tool_index, 0, true);
  4552. #endif
  4553. }
  4554. inline void gcode_G33() {
  4555. const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
  4556. if (!WITHIN(probe_points, 0, 7)) {
  4557. SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (0-7).");
  4558. return;
  4559. }
  4560. const int8_t verbose_level = parser.byteval('V', 1);
  4561. if (!WITHIN(verbose_level, 0, 2)) {
  4562. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
  4563. return;
  4564. }
  4565. const float calibration_precision = parser.floatval('C');
  4566. if (calibration_precision < 0) {
  4567. SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
  4568. return;
  4569. }
  4570. const int8_t force_iterations = parser.intval('F', 0);
  4571. if (!WITHIN(force_iterations, 0, 30)) {
  4572. SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
  4573. return;
  4574. }
  4575. const bool towers_set = !parser.boolval('T'),
  4576. stow_after_each = parser.boolval('E'),
  4577. _0p_calibration = probe_points == 0,
  4578. _1p_calibration = probe_points == 1,
  4579. _4p_calibration = probe_points == 2,
  4580. _4p_towers_points = _4p_calibration && towers_set,
  4581. _4p_opposite_points = _4p_calibration && !towers_set,
  4582. _7p_calibration = probe_points >= 3 || _0p_calibration,
  4583. _7p_half_circle = probe_points == 3,
  4584. _7p_double_circle = probe_points == 5,
  4585. _7p_triple_circle = probe_points == 6,
  4586. _7p_quadruple_circle = probe_points == 7,
  4587. _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
  4588. _7p_intermed_points = _7p_calibration && !_7p_half_circle;
  4589. const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
  4590. const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
  4591. dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
  4592. int8_t iterations = 0;
  4593. float test_precision,
  4594. zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
  4595. zero_std_dev_old = zero_std_dev,
  4596. zero_std_dev_min = zero_std_dev,
  4597. e_old[ABC] = {
  4598. endstop_adj[A_AXIS],
  4599. endstop_adj[B_AXIS],
  4600. endstop_adj[C_AXIS]
  4601. },
  4602. dr_old = delta_radius,
  4603. zh_old = home_offset[Z_AXIS],
  4604. ta_old[ABC] = {
  4605. delta_tower_angle_trim[A_AXIS],
  4606. delta_tower_angle_trim[B_AXIS],
  4607. delta_tower_angle_trim[C_AXIS]
  4608. };
  4609. if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable
  4610. const float circles = (_7p_quadruple_circle ? 1.5 :
  4611. _7p_triple_circle ? 1.0 :
  4612. _7p_double_circle ? 0.5 : 0),
  4613. r = (1 + circles * 0.1) * delta_calibration_radius;
  4614. for (uint8_t axis = 1; axis < 13; ++axis) {
  4615. const float a = RADIANS(180 + 30 * axis);
  4616. if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
  4617. SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
  4618. return;
  4619. }
  4620. }
  4621. }
  4622. SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
  4623. stepper.synchronize();
  4624. #if HAS_LEVELING
  4625. reset_bed_level(); // After calibration bed-level data is no longer valid
  4626. #endif
  4627. #if HOTENDS > 1
  4628. const uint8_t old_tool_index = active_extruder;
  4629. tool_change(0, 0, true);
  4630. #define G33_CLEANUP() G33_cleanup(old_tool_index)
  4631. #else
  4632. #define G33_CLEANUP() G33_cleanup()
  4633. #endif
  4634. setup_for_endstop_or_probe_move();
  4635. endstops.enable(true);
  4636. if (!_0p_calibration) {
  4637. if (!home_delta())
  4638. return;
  4639. endstops.not_homing();
  4640. }
  4641. // print settings
  4642. const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
  4643. serialprintPGM(checkingac);
  4644. if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
  4645. SERIAL_EOL();
  4646. lcd_setstatusPGM(checkingac);
  4647. print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
  4648. do {
  4649. float z_at_pt[13] = { 0.0 };
  4650. test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
  4651. iterations++;
  4652. // Probe the points
  4653. if (!_0p_calibration){
  4654. if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
  4655. #if ENABLED(PROBE_MANUALLY)
  4656. z_at_pt[0] += lcd_probe_pt(0, 0);
  4657. #else
  4658. z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
  4659. if (isnan(z_at_pt[0])) return G33_CLEANUP();
  4660. #endif
  4661. }
  4662. if (_7p_calibration) { // probe extra center points
  4663. for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
  4664. const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
  4665. #if ENABLED(PROBE_MANUALLY)
  4666. z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
  4667. #else
  4668. z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
  4669. if (isnan(z_at_pt[0])) return G33_CLEANUP();
  4670. #endif
  4671. }
  4672. z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
  4673. }
  4674. if (!_1p_calibration) { // probe the radius
  4675. bool zig_zag = true;
  4676. const uint8_t start = _4p_opposite_points ? 3 : 1,
  4677. step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
  4678. for (uint8_t axis = start; axis < 13; axis += step) {
  4679. const float zigadd = (zig_zag ? 0.5 : 0.0),
  4680. offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
  4681. _7p_triple_circle ? zigadd + 0.5 :
  4682. _7p_double_circle ? zigadd : 0;
  4683. for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
  4684. const float a = RADIANS(180 + 30 * axis),
  4685. r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
  4686. #if ENABLED(PROBE_MANUALLY)
  4687. z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
  4688. #else
  4689. z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
  4690. if (isnan(z_at_pt[axis])) return G33_CLEANUP();
  4691. #endif
  4692. }
  4693. zig_zag = !zig_zag;
  4694. z_at_pt[axis] /= (2 * offset_circles + 1);
  4695. }
  4696. }
  4697. if (_7p_intermed_points) // average intermediates to tower and opposites
  4698. for (uint8_t axis = 1; axis < 13; axis += 2)
  4699. z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
  4700. }
  4701. float S1 = z_at_pt[0],
  4702. S2 = sq(z_at_pt[0]);
  4703. int16_t N = 1;
  4704. if (!_1p_calibration) // std dev from zero plane
  4705. for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
  4706. S1 += z_at_pt[axis];
  4707. S2 += sq(z_at_pt[axis]);
  4708. N++;
  4709. }
  4710. zero_std_dev_old = zero_std_dev;
  4711. zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
  4712. // Solve matrices
  4713. if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) {
  4714. if (zero_std_dev < zero_std_dev_min) {
  4715. COPY(e_old, endstop_adj);
  4716. dr_old = delta_radius;
  4717. zh_old = home_offset[Z_AXIS];
  4718. COPY(ta_old, delta_tower_angle_trim);
  4719. }
  4720. float e_delta[ABC] = { 0.0 }, r_delta = 0.0, t_delta[ABC] = { 0.0 };
  4721. const float r_diff = delta_radius - delta_calibration_radius,
  4722. h_factor = (1.00 + r_diff * 0.001) / 6.0, // 1.02 for r_diff = 20mm
  4723. r_factor = (-(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff))) / 6.0, // 2.25 for r_diff = 20mm
  4724. a_factor = (66.66 / delta_calibration_radius) / (iterations == 1 ? 16.0 : 2.0); // 0.83 for cal_rd = 80mm (Slow down on 1st iteration)
  4725. #define ZP(N,I) ((N) * z_at_pt[I])
  4726. #define Z6(I) ZP(6, I)
  4727. #define Z4(I) ZP(4, I)
  4728. #define Z2(I) ZP(2, I)
  4729. #define Z1(I) ZP(1, I)
  4730. #if ENABLED(PROBE_MANUALLY)
  4731. test_precision = 0.00; // forced end
  4732. #endif
  4733. switch (probe_points) {
  4734. case 0:
  4735. #if DISABLED(PROBE_MANUALLY)
  4736. test_precision = 0.00; // forced end
  4737. #endif
  4738. break;
  4739. case 1:
  4740. #if DISABLED(PROBE_MANUALLY)
  4741. test_precision = 0.00; // forced end
  4742. #endif
  4743. LOOP_XYZ(axis) e_delta[axis] = Z1(0);
  4744. break;
  4745. case 2:
  4746. if (towers_set) {
  4747. e_delta[A_AXIS] = (Z6(0) + Z4(1) - Z2(5) - Z2(9)) * h_factor;
  4748. e_delta[B_AXIS] = (Z6(0) - Z2(1) + Z4(5) - Z2(9)) * h_factor;
  4749. e_delta[C_AXIS] = (Z6(0) - Z2(1) - Z2(5) + Z4(9)) * h_factor;
  4750. r_delta = (Z6(0) - Z2(1) - Z2(5) - Z2(9)) * r_factor;
  4751. }
  4752. else {
  4753. e_delta[A_AXIS] = (Z6(0) - Z4(7) + Z2(11) + Z2(3)) * h_factor;
  4754. e_delta[B_AXIS] = (Z6(0) + Z2(7) - Z4(11) + Z2(3)) * h_factor;
  4755. e_delta[C_AXIS] = (Z6(0) + Z2(7) + Z2(11) - Z4(3)) * h_factor;
  4756. r_delta = (Z6(0) - Z2(7) - Z2(11) - Z2(3)) * r_factor;
  4757. }
  4758. break;
  4759. default:
  4760. e_delta[A_AXIS] = (Z6(0) + Z2(1) - Z1(5) - Z1(9) - Z2(7) + Z1(11) + Z1(3)) * h_factor;
  4761. e_delta[B_AXIS] = (Z6(0) - Z1(1) + Z2(5) - Z1(9) + Z1(7) - Z2(11) + Z1(3)) * h_factor;
  4762. e_delta[C_AXIS] = (Z6(0) - Z1(1) - Z1(5) + Z2(9) + Z1(7) + Z1(11) - Z2(3)) * h_factor;
  4763. r_delta = (Z6(0) - Z1(1) - Z1(5) - Z1(9) - Z1(7) - Z1(11) - Z1(3)) * r_factor;
  4764. if (towers_set) {
  4765. t_delta[A_AXIS] = ( - Z2(5) + Z2(9) - Z2(11) + Z2(3)) * a_factor;
  4766. t_delta[B_AXIS] = ( Z2(1) - Z2(9) + Z2(7) - Z2(3)) * a_factor;
  4767. t_delta[C_AXIS] = (-Z2(1) + Z2(5) - Z2(7) + Z2(11) ) * a_factor;
  4768. e_delta[A_AXIS] += (t_delta[B_AXIS] - t_delta[C_AXIS]) / 4.5;
  4769. e_delta[B_AXIS] += (t_delta[C_AXIS] - t_delta[A_AXIS]) / 4.5;
  4770. e_delta[C_AXIS] += (t_delta[A_AXIS] - t_delta[B_AXIS]) / 4.5;
  4771. }
  4772. break;
  4773. }
  4774. LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
  4775. delta_radius += r_delta;
  4776. LOOP_XYZ(axis) delta_tower_angle_trim[axis] += t_delta[axis];
  4777. }
  4778. else if (zero_std_dev >= test_precision) { // step one back
  4779. COPY(endstop_adj, e_old);
  4780. delta_radius = dr_old;
  4781. home_offset[Z_AXIS] = zh_old;
  4782. COPY(delta_tower_angle_trim, ta_old);
  4783. }
  4784. if (verbose_level != 0) { // !dry run
  4785. // normalise angles to least squares
  4786. float a_sum = 0.0;
  4787. LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis];
  4788. LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0;
  4789. // adjust delta_height and endstops by the max amount
  4790. const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
  4791. home_offset[Z_AXIS] -= z_temp;
  4792. LOOP_XYZ(axis) endstop_adj[axis] -= z_temp;
  4793. }
  4794. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  4795. NOMORE(zero_std_dev_min, zero_std_dev);
  4796. // print report
  4797. if (verbose_level != 1) {
  4798. SERIAL_PROTOCOLPGM(". ");
  4799. print_signed_float(PSTR("c"), z_at_pt[0]);
  4800. if (_4p_towers_points || _7p_calibration) {
  4801. print_signed_float(PSTR(" x"), z_at_pt[1]);
  4802. print_signed_float(PSTR(" y"), z_at_pt[5]);
  4803. print_signed_float(PSTR(" z"), z_at_pt[9]);
  4804. }
  4805. if (!_4p_opposite_points) SERIAL_EOL();
  4806. if ((_4p_opposite_points) || _7p_calibration) {
  4807. if (_7p_calibration) {
  4808. SERIAL_CHAR('.');
  4809. SERIAL_PROTOCOL_SP(13);
  4810. }
  4811. print_signed_float(PSTR(" yz"), z_at_pt[7]);
  4812. print_signed_float(PSTR("zx"), z_at_pt[11]);
  4813. print_signed_float(PSTR("xy"), z_at_pt[3]);
  4814. SERIAL_EOL();
  4815. }
  4816. }
  4817. if (verbose_level != 0) { // !dry run
  4818. if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations
  4819. SERIAL_PROTOCOLPGM("Calibration OK");
  4820. SERIAL_PROTOCOL_SP(36);
  4821. #if DISABLED(PROBE_MANUALLY)
  4822. if (zero_std_dev >= test_precision && !_1p_calibration)
  4823. SERIAL_PROTOCOLPGM("rolling back.");
  4824. else
  4825. #endif
  4826. {
  4827. SERIAL_PROTOCOLPGM("std dev:");
  4828. SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
  4829. }
  4830. SERIAL_EOL();
  4831. char mess[21];
  4832. sprintf_P(mess, PSTR("Calibration sd:"));
  4833. if (zero_std_dev_min < 1)
  4834. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
  4835. else
  4836. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
  4837. lcd_setstatus(mess);
  4838. print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
  4839. serialprintPGM(save_message);
  4840. SERIAL_EOL();
  4841. }
  4842. else { // !end iterations
  4843. char mess[15];
  4844. if (iterations < 31)
  4845. sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
  4846. else
  4847. sprintf_P(mess, PSTR("No convergence"));
  4848. SERIAL_PROTOCOL(mess);
  4849. SERIAL_PROTOCOL_SP(36);
  4850. SERIAL_PROTOCOLPGM("std dev:");
  4851. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  4852. SERIAL_EOL();
  4853. lcd_setstatus(mess);
  4854. print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
  4855. }
  4856. }
  4857. else { // dry run
  4858. const char *enddryrun = PSTR("End DRY-RUN");
  4859. serialprintPGM(enddryrun);
  4860. SERIAL_PROTOCOL_SP(39);
  4861. SERIAL_PROTOCOLPGM("std dev:");
  4862. SERIAL_PROTOCOL_F(zero_std_dev, 3);
  4863. SERIAL_EOL();
  4864. char mess[21];
  4865. sprintf_P(mess, enddryrun);
  4866. sprintf_P(&mess[11], PSTR(" sd:"));
  4867. if (zero_std_dev < 1)
  4868. sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
  4869. else
  4870. sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
  4871. lcd_setstatus(mess);
  4872. }
  4873. endstops.enable(true);
  4874. home_delta();
  4875. endstops.not_homing();
  4876. }
  4877. while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision);
  4878. G33_CLEANUP();
  4879. }
  4880. #endif // DELTA_AUTO_CALIBRATION
  4881. #endif // PROBE_SELECTED
  4882. #if ENABLED(G38_PROBE_TARGET)
  4883. static bool G38_run_probe() {
  4884. bool G38_pass_fail = false;
  4885. #if ENABLED(PROBE_DOUBLE_TOUCH)
  4886. // Get direction of move and retract
  4887. float retract_mm[XYZ];
  4888. LOOP_XYZ(i) {
  4889. float dist = destination[i] - current_position[i];
  4890. retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
  4891. }
  4892. #endif
  4893. stepper.synchronize(); // wait until the machine is idle
  4894. // Move until destination reached or target hit
  4895. endstops.enable(true);
  4896. G38_move = true;
  4897. G38_endstop_hit = false;
  4898. prepare_move_to_destination();
  4899. stepper.synchronize();
  4900. G38_move = false;
  4901. endstops.hit_on_purpose();
  4902. set_current_from_steppers_for_axis(ALL_AXES);
  4903. SYNC_PLAN_POSITION_KINEMATIC();
  4904. if (G38_endstop_hit) {
  4905. G38_pass_fail = true;
  4906. #if ENABLED(PROBE_DOUBLE_TOUCH)
  4907. // Move away by the retract distance
  4908. set_destination_from_current();
  4909. LOOP_XYZ(i) destination[i] += retract_mm[i];
  4910. endstops.enable(false);
  4911. prepare_move_to_destination();
  4912. stepper.synchronize();
  4913. feedrate_mm_s /= 4;
  4914. // Bump the target more slowly
  4915. LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  4916. endstops.enable(true);
  4917. G38_move = true;
  4918. prepare_move_to_destination();
  4919. stepper.synchronize();
  4920. G38_move = false;
  4921. set_current_from_steppers_for_axis(ALL_AXES);
  4922. SYNC_PLAN_POSITION_KINEMATIC();
  4923. #endif
  4924. }
  4925. endstops.hit_on_purpose();
  4926. endstops.not_homing();
  4927. return G38_pass_fail;
  4928. }
  4929. /**
  4930. * G38.2 - probe toward workpiece, stop on contact, signal error if failure
  4931. * G38.3 - probe toward workpiece, stop on contact
  4932. *
  4933. * Like G28 except uses Z min probe for all axes
  4934. */
  4935. inline void gcode_G38(bool is_38_2) {
  4936. // Get X Y Z E F
  4937. gcode_get_destination();
  4938. setup_for_endstop_or_probe_move();
  4939. // If any axis has enough movement, do the move
  4940. LOOP_XYZ(i)
  4941. if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
  4942. if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
  4943. // If G38.2 fails throw an error
  4944. if (!G38_run_probe() && is_38_2) {
  4945. SERIAL_ERROR_START();
  4946. SERIAL_ERRORLNPGM("Failed to reach target");
  4947. }
  4948. break;
  4949. }
  4950. clean_up_after_endstop_or_probe_move();
  4951. }
  4952. #endif // G38_PROBE_TARGET
  4953. #if HAS_MESH
  4954. /**
  4955. * G42: Move X & Y axes to mesh coordinates (I & J)
  4956. */
  4957. inline void gcode_G42() {
  4958. #if ENABLED(NO_MOTION_BEFORE_HOMING)
  4959. if (axis_unhomed_error()) return;
  4960. #endif
  4961. if (IsRunning()) {
  4962. const bool hasI = parser.seenval('I');
  4963. const int8_t ix = hasI ? parser.value_int() : 0;
  4964. const bool hasJ = parser.seenval('J');
  4965. const int8_t iy = hasJ ? parser.value_int() : 0;
  4966. if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
  4967. SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
  4968. return;
  4969. }
  4970. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  4971. #define _GET_MESH_X(I) bilinear_start[X_AXIS] + I * bilinear_grid_spacing[X_AXIS]
  4972. #define _GET_MESH_Y(J) bilinear_start[Y_AXIS] + J * bilinear_grid_spacing[Y_AXIS]
  4973. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  4974. #define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I)
  4975. #define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J)
  4976. #elif ENABLED(MESH_BED_LEVELING)
  4977. #define _GET_MESH_X(I) mbl.index_to_xpos[I]
  4978. #define _GET_MESH_Y(J) mbl.index_to_ypos[J]
  4979. #endif
  4980. set_destination_from_current();
  4981. if (hasI) destination[X_AXIS] = LOGICAL_X_POSITION(_GET_MESH_X(ix));
  4982. if (hasJ) destination[Y_AXIS] = LOGICAL_Y_POSITION(_GET_MESH_Y(iy));
  4983. if (parser.boolval('P')) {
  4984. if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
  4985. if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
  4986. }
  4987. const float fval = parser.linearval('F');
  4988. if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
  4989. // SCARA kinematic has "safe" XY raw moves
  4990. #if IS_SCARA
  4991. prepare_uninterpolated_move_to_destination();
  4992. #else
  4993. prepare_move_to_destination();
  4994. #endif
  4995. }
  4996. }
  4997. #endif // HAS_MESH
  4998. /**
  4999. * G92: Set current position to given X Y Z E
  5000. */
  5001. inline void gcode_G92() {
  5002. bool didXYZ = false,
  5003. didE = parser.seenval('E');
  5004. if (!didE) stepper.synchronize();
  5005. LOOP_XYZE(i) {
  5006. if (parser.seenval(axis_codes[i])) {
  5007. #if IS_SCARA
  5008. current_position[i] = parser.value_axis_units((AxisEnum)i);
  5009. if (i != E_AXIS) didXYZ = true;
  5010. #else
  5011. #if HAS_POSITION_SHIFT
  5012. const float p = current_position[i];
  5013. #endif
  5014. const float v = parser.value_axis_units((AxisEnum)i);
  5015. current_position[i] = v;
  5016. if (i != E_AXIS) {
  5017. didXYZ = true;
  5018. #if HAS_POSITION_SHIFT
  5019. position_shift[i] += v - p; // Offset the coordinate space
  5020. update_software_endstops((AxisEnum)i);
  5021. #if ENABLED(I2C_POSITION_ENCODERS)
  5022. I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]);
  5023. #endif
  5024. #endif
  5025. }
  5026. #endif
  5027. }
  5028. }
  5029. if (didXYZ)
  5030. SYNC_PLAN_POSITION_KINEMATIC();
  5031. else if (didE)
  5032. sync_plan_position_e();
  5033. report_current_position();
  5034. }
  5035. #if HAS_RESUME_CONTINUE
  5036. /**
  5037. * M0: Unconditional stop - Wait for user button press on LCD
  5038. * M1: Conditional stop - Wait for user button press on LCD
  5039. */
  5040. inline void gcode_M0_M1() {
  5041. const char * const args = parser.string_arg;
  5042. millis_t ms = 0;
  5043. bool hasP = false, hasS = false;
  5044. if (parser.seenval('P')) {
  5045. ms = parser.value_millis(); // milliseconds to wait
  5046. hasP = ms > 0;
  5047. }
  5048. if (parser.seenval('S')) {
  5049. ms = parser.value_millis_from_seconds(); // seconds to wait
  5050. hasS = ms > 0;
  5051. }
  5052. #if ENABLED(ULTIPANEL)
  5053. if (!hasP && !hasS && args && *args)
  5054. lcd_setstatus(args, true);
  5055. else {
  5056. LCD_MESSAGEPGM(MSG_USERWAIT);
  5057. #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
  5058. dontExpireStatus();
  5059. #endif
  5060. }
  5061. #else
  5062. if (!hasP && !hasS && args && *args) {
  5063. SERIAL_ECHO_START();
  5064. SERIAL_ECHOLN(args);
  5065. }
  5066. #endif
  5067. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5068. wait_for_user = true;
  5069. stepper.synchronize();
  5070. refresh_cmd_timeout();
  5071. if (ms > 0) {
  5072. ms += previous_cmd_ms; // wait until this time for a click
  5073. while (PENDING(millis(), ms) && wait_for_user) idle();
  5074. }
  5075. else {
  5076. #if ENABLED(ULTIPANEL)
  5077. if (lcd_detected()) {
  5078. while (wait_for_user) idle();
  5079. print_job_timer.isPaused() ? LCD_MESSAGEPGM(WELCOME_MSG) : LCD_MESSAGEPGM(MSG_RESUMING);
  5080. }
  5081. #else
  5082. while (wait_for_user) idle();
  5083. #endif
  5084. }
  5085. wait_for_user = false;
  5086. KEEPALIVE_STATE(IN_HANDLER);
  5087. }
  5088. #endif // HAS_RESUME_CONTINUE
  5089. #if ENABLED(SPINDLE_LASER_ENABLE)
  5090. /**
  5091. * M3: Spindle Clockwise
  5092. * M4: Spindle Counter-clockwise
  5093. *
  5094. * S0 turns off spindle.
  5095. *
  5096. * If no speed PWM output is defined then M3/M4 just turns it on.
  5097. *
  5098. * At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
  5099. * Hardware PWM is required. ISRs are too slow.
  5100. *
  5101. * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
  5102. * No other settings give a PWM signal that goes from 0 to 5 volts.
  5103. *
  5104. * The system automatically sets WGM to Mode 1, so no special
  5105. * initialization is needed.
  5106. *
  5107. * WGM bits for timer 2 are automatically set by the system to
  5108. * Mode 1. This produces an acceptable 0 to 5 volt signal.
  5109. * No special initialization is needed.
  5110. *
  5111. * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
  5112. * factors for timers 2, 3, 4, and 5 are acceptable.
  5113. *
  5114. * SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
  5115. * the spindle/laser during power-up or when connecting to the host
  5116. * (usually goes through a reset which sets all I/O pins to tri-state)
  5117. *
  5118. * PWM duty cycle goes from 0 (off) to 255 (always on).
  5119. */
  5120. // Wait for spindle to come up to speed
  5121. inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); }
  5122. // Wait for spindle to stop turning
  5123. inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); }
  5124. /**
  5125. * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
  5126. *
  5127. * it accepts inputs of 0-255
  5128. */
  5129. inline void ocr_val_mode() {
  5130. uint8_t spindle_laser_power = parser.value_byte();
  5131. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5132. if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
  5133. analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
  5134. }
  5135. inline void gcode_M3_M4(bool is_M3) {
  5136. stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
  5137. #if SPINDLE_DIR_CHANGE
  5138. const bool rotation_dir = (is_M3 && !SPINDLE_INVERT_DIR || !is_M3 && SPINDLE_INVERT_DIR) ? HIGH : LOW;
  5139. if (SPINDLE_STOP_ON_DIR_CHANGE \
  5140. && READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
  5141. && READ(SPINDLE_DIR_PIN) != rotation_dir
  5142. ) {
  5143. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
  5144. delay_for_power_down();
  5145. }
  5146. WRITE(SPINDLE_DIR_PIN, rotation_dir);
  5147. #endif
  5148. /**
  5149. * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
  5150. * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
  5151. * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
  5152. */
  5153. #if ENABLED(SPINDLE_LASER_PWM)
  5154. if (parser.seen('O')) ocr_val_mode();
  5155. else {
  5156. const float spindle_laser_power = parser.floatval('S');
  5157. if (spindle_laser_power == 0) {
  5158. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
  5159. delay_for_power_down();
  5160. }
  5161. else {
  5162. int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
  5163. NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
  5164. if (spindle_laser_power <= SPEED_POWER_MIN)
  5165. ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
  5166. if (spindle_laser_power >= SPEED_POWER_MAX)
  5167. ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
  5168. if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
  5169. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  5170. analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
  5171. delay_for_power_up();
  5172. }
  5173. }
  5174. #else
  5175. WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
  5176. delay_for_power_up();
  5177. #endif
  5178. }
  5179. /**
  5180. * M5 turn off spindle
  5181. */
  5182. inline void gcode_M5() {
  5183. stepper.synchronize();
  5184. WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
  5185. delay_for_power_down();
  5186. }
  5187. #endif // SPINDLE_LASER_ENABLE
  5188. /**
  5189. * M17: Enable power on all stepper motors
  5190. */
  5191. inline void gcode_M17() {
  5192. LCD_MESSAGEPGM(MSG_NO_MOVE);
  5193. enable_all_steppers();
  5194. }
  5195. #if IS_KINEMATIC
  5196. #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
  5197. #else
  5198. #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
  5199. #endif
  5200. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  5201. static float resume_position[XYZE];
  5202. static bool move_away_flag = false;
  5203. #if ENABLED(SDSUPPORT)
  5204. static bool sd_print_paused = false;
  5205. #endif
  5206. static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
  5207. static millis_t next_buzz = 0;
  5208. static int8_t runout_beep = 0;
  5209. if (init) next_buzz = runout_beep = 0;
  5210. const millis_t ms = millis();
  5211. if (ELAPSED(ms, next_buzz)) {
  5212. if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
  5213. next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400);
  5214. BUZZ(300, 2000);
  5215. runout_beep++;
  5216. }
  5217. }
  5218. }
  5219. static void ensure_safe_temperature() {
  5220. bool heaters_heating = true;
  5221. wait_for_heatup = true; // M108 will clear this
  5222. while (wait_for_heatup && heaters_heating) {
  5223. idle();
  5224. heaters_heating = false;
  5225. HOTEND_LOOP() {
  5226. if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) {
  5227. heaters_heating = true;
  5228. #if ENABLED(ULTIPANEL)
  5229. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
  5230. #endif
  5231. break;
  5232. }
  5233. }
  5234. }
  5235. }
  5236. static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos,
  5237. const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false
  5238. ) {
  5239. if (move_away_flag) return false; // already paused
  5240. if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) {
  5241. #if ENABLED(PREVENT_COLD_EXTRUSION)
  5242. if (!thermalManager.allow_cold_extrude &&
  5243. thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) {
  5244. SERIAL_ERROR_START();
  5245. SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
  5246. return false;
  5247. }
  5248. #endif
  5249. ensure_safe_temperature(); // wait for extruder to heat up before unloading
  5250. }
  5251. // Indicate that the printer is paused
  5252. move_away_flag = true;
  5253. // Pause the print job and timer
  5254. #if ENABLED(SDSUPPORT)
  5255. if (card.sdprinting) {
  5256. card.pauseSDPrint();
  5257. sd_print_paused = true;
  5258. }
  5259. #endif
  5260. print_job_timer.pause();
  5261. // Show initial message and wait for synchronize steppers
  5262. if (show_lcd) {
  5263. #if ENABLED(ULTIPANEL)
  5264. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
  5265. #endif
  5266. }
  5267. // Save current position
  5268. stepper.synchronize();
  5269. COPY(resume_position, current_position);
  5270. if (retract) {
  5271. // Initial retract before move to filament change position
  5272. set_destination_from_current();
  5273. destination[E_AXIS] += retract;
  5274. RUNPLAN(PAUSE_PARK_RETRACT_FEEDRATE);
  5275. stepper.synchronize();
  5276. }
  5277. // Lift Z axis
  5278. if (z_lift > 0)
  5279. do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE);
  5280. // Move XY axes to filament exchange position
  5281. do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE);
  5282. if (unload_length != 0) {
  5283. if (show_lcd) {
  5284. #if ENABLED(ULTIPANEL)
  5285. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD);
  5286. idle();
  5287. #endif
  5288. }
  5289. // Unload filament
  5290. set_destination_from_current();
  5291. destination[E_AXIS] += unload_length;
  5292. RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  5293. stepper.synchronize();
  5294. }
  5295. if (show_lcd) {
  5296. #if ENABLED(ULTIPANEL)
  5297. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5298. #endif
  5299. }
  5300. #if HAS_BUZZER
  5301. filament_change_beep(max_beep_count, true);
  5302. #endif
  5303. idle();
  5304. // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
  5305. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
  5306. disable_e_steppers();
  5307. safe_delay(100);
  5308. #endif
  5309. // Start the heater idle timers
  5310. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5311. HOTEND_LOOP()
  5312. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5313. return true;
  5314. }
  5315. static void wait_for_filament_reload(const int8_t max_beep_count = 0) {
  5316. bool nozzle_timed_out = false;
  5317. // Wait for filament insert by user and press button
  5318. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5319. wait_for_user = true; // LCD click or M108 will clear this
  5320. while (wait_for_user) {
  5321. #if HAS_BUZZER
  5322. filament_change_beep(max_beep_count);
  5323. #endif
  5324. // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
  5325. // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
  5326. if (!nozzle_timed_out)
  5327. HOTEND_LOOP()
  5328. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5329. if (nozzle_timed_out) {
  5330. #if ENABLED(ULTIPANEL)
  5331. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
  5332. #endif
  5333. // Wait for LCD click or M108
  5334. while (wait_for_user) idle(true);
  5335. // Re-enable the heaters if they timed out
  5336. HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
  5337. // Wait for the heaters to reach the target temperatures
  5338. ensure_safe_temperature();
  5339. #if ENABLED(ULTIPANEL)
  5340. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5341. #endif
  5342. // Start the heater idle timers
  5343. const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
  5344. HOTEND_LOOP()
  5345. thermalManager.start_heater_idle_timer(e, nozzle_timeout);
  5346. wait_for_user = true; /* Wait for user to load filament */
  5347. nozzle_timed_out = false;
  5348. #if HAS_BUZZER
  5349. filament_change_beep(max_beep_count, true);
  5350. #endif
  5351. }
  5352. idle(true);
  5353. }
  5354. KEEPALIVE_STATE(IN_HANDLER);
  5355. }
  5356. static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) {
  5357. bool nozzle_timed_out = false;
  5358. if (!move_away_flag) return;
  5359. // Re-enable the heaters if they timed out
  5360. HOTEND_LOOP() {
  5361. nozzle_timed_out |= thermalManager.is_heater_idle(e);
  5362. thermalManager.reset_heater_idle_timer(e);
  5363. }
  5364. if (nozzle_timed_out) ensure_safe_temperature();
  5365. #if HAS_BUZZER
  5366. filament_change_beep(max_beep_count, true);
  5367. #endif
  5368. set_destination_from_current();
  5369. if (load_length != 0) {
  5370. #if ENABLED(ULTIPANEL)
  5371. // Show "insert filament"
  5372. if (nozzle_timed_out)
  5373. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
  5374. #endif
  5375. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5376. wait_for_user = true; // LCD click or M108 will clear this
  5377. while (wait_for_user && nozzle_timed_out) {
  5378. #if HAS_BUZZER
  5379. filament_change_beep(max_beep_count);
  5380. #endif
  5381. idle(true);
  5382. }
  5383. KEEPALIVE_STATE(IN_HANDLER);
  5384. #if ENABLED(ULTIPANEL)
  5385. // Show "load" message
  5386. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD);
  5387. #endif
  5388. // Load filament
  5389. destination[E_AXIS] += load_length;
  5390. RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
  5391. stepper.synchronize();
  5392. }
  5393. #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0
  5394. float extrude_length = initial_extrude_length;
  5395. do {
  5396. if (extrude_length > 0) {
  5397. // "Wait for filament extrude"
  5398. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE);
  5399. // Extrude filament to get into hotend
  5400. destination[E_AXIS] += extrude_length;
  5401. RUNPLAN(ADVANCED_PAUSE_EXTRUDE_FEEDRATE);
  5402. stepper.synchronize();
  5403. }
  5404. // Show "Extrude More" / "Resume" menu and wait for reply
  5405. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5406. wait_for_user = false;
  5407. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION);
  5408. while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
  5409. KEEPALIVE_STATE(IN_HANDLER);
  5410. extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH;
  5411. // Keep looping if "Extrude More" was selected
  5412. } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE);
  5413. #endif
  5414. #if ENABLED(ULTIPANEL)
  5415. // "Wait for print to resume"
  5416. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
  5417. #endif
  5418. // Set extruder to saved position
  5419. destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
  5420. planner.set_e_position_mm(current_position[E_AXIS]);
  5421. // Move XY to starting position, then Z
  5422. do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE);
  5423. do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE);
  5424. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  5425. filament_ran_out = false;
  5426. #endif
  5427. #if ENABLED(ULTIPANEL)
  5428. // Show status screen
  5429. lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
  5430. #endif
  5431. #if ENABLED(SDSUPPORT)
  5432. if (sd_print_paused) {
  5433. card.startFileprint();
  5434. sd_print_paused = false;
  5435. }
  5436. #endif
  5437. move_away_flag = false;
  5438. }
  5439. #endif // ADVANCED_PAUSE_FEATURE
  5440. #if ENABLED(SDSUPPORT)
  5441. /**
  5442. * M20: List SD card to serial output
  5443. */
  5444. inline void gcode_M20() {
  5445. SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
  5446. card.ls();
  5447. SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
  5448. }
  5449. /**
  5450. * M21: Init SD Card
  5451. */
  5452. inline void gcode_M21() { card.initsd(); }
  5453. /**
  5454. * M22: Release SD Card
  5455. */
  5456. inline void gcode_M22() { card.release(); }
  5457. /**
  5458. * M23: Open a file
  5459. */
  5460. inline void gcode_M23() {
  5461. // Simplify3D includes the size, so zero out all spaces (#7227)
  5462. for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0';
  5463. card.openFile(parser.string_arg, true);
  5464. }
  5465. /**
  5466. * M24: Start or Resume SD Print
  5467. */
  5468. inline void gcode_M24() {
  5469. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5470. resume_print();
  5471. #endif
  5472. card.startFileprint();
  5473. print_job_timer.start();
  5474. }
  5475. /**
  5476. * M25: Pause SD Print
  5477. */
  5478. inline void gcode_M25() {
  5479. card.pauseSDPrint();
  5480. print_job_timer.pause();
  5481. #if ENABLED(PARK_HEAD_ON_PAUSE)
  5482. enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
  5483. #endif
  5484. }
  5485. /**
  5486. * M26: Set SD Card file index
  5487. */
  5488. inline void gcode_M26() {
  5489. if (card.cardOK && parser.seenval('S'))
  5490. card.setIndex(parser.value_long());
  5491. }
  5492. /**
  5493. * M27: Get SD Card status
  5494. */
  5495. inline void gcode_M27() { card.getStatus(); }
  5496. /**
  5497. * M28: Start SD Write
  5498. */
  5499. inline void gcode_M28() { card.openFile(parser.string_arg, false); }
  5500. /**
  5501. * M29: Stop SD Write
  5502. * Processed in write to file routine above
  5503. */
  5504. inline void gcode_M29() {
  5505. // card.saving = false;
  5506. }
  5507. /**
  5508. * M30 <filename>: Delete SD Card file
  5509. */
  5510. inline void gcode_M30() {
  5511. if (card.cardOK) {
  5512. card.closefile();
  5513. card.removeFile(parser.string_arg);
  5514. }
  5515. }
  5516. #endif // SDSUPPORT
  5517. /**
  5518. * M31: Get the time since the start of SD Print (or last M109)
  5519. */
  5520. inline void gcode_M31() {
  5521. char buffer[21];
  5522. duration_t elapsed = print_job_timer.duration();
  5523. elapsed.toString(buffer);
  5524. lcd_setstatus(buffer);
  5525. SERIAL_ECHO_START();
  5526. SERIAL_ECHOLNPAIR("Print time: ", buffer);
  5527. }
  5528. #if ENABLED(SDSUPPORT)
  5529. /**
  5530. * M32: Select file and start SD Print
  5531. */
  5532. inline void gcode_M32() {
  5533. if (card.sdprinting)
  5534. stepper.synchronize();
  5535. char* namestartpos = parser.string_arg;
  5536. const bool call_procedure = parser.boolval('P');
  5537. if (card.cardOK) {
  5538. card.openFile(namestartpos, true, call_procedure);
  5539. if (parser.seenval('S'))
  5540. card.setIndex(parser.value_long());
  5541. card.startFileprint();
  5542. // Procedure calls count as normal print time.
  5543. if (!call_procedure) print_job_timer.start();
  5544. }
  5545. }
  5546. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  5547. /**
  5548. * M33: Get the long full path of a file or folder
  5549. *
  5550. * Parameters:
  5551. * <dospath> Case-insensitive DOS-style path to a file or folder
  5552. *
  5553. * Example:
  5554. * M33 miscel~1/armchair/armcha~1.gco
  5555. *
  5556. * Output:
  5557. * /Miscellaneous/Armchair/Armchair.gcode
  5558. */
  5559. inline void gcode_M33() {
  5560. card.printLongPath(parser.string_arg);
  5561. }
  5562. #endif
  5563. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  5564. /**
  5565. * M34: Set SD Card Sorting Options
  5566. */
  5567. inline void gcode_M34() {
  5568. if (parser.seen('S')) card.setSortOn(parser.value_bool());
  5569. if (parser.seenval('F')) {
  5570. const int v = parser.value_long();
  5571. card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
  5572. }
  5573. //if (parser.seen('R')) card.setSortReverse(parser.value_bool());
  5574. }
  5575. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  5576. /**
  5577. * M928: Start SD Write
  5578. */
  5579. inline void gcode_M928() {
  5580. card.openLogFile(parser.string_arg);
  5581. }
  5582. #endif // SDSUPPORT
  5583. /**
  5584. * Sensitive pin test for M42, M226
  5585. */
  5586. static bool pin_is_protected(const int8_t pin) {
  5587. static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
  5588. for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
  5589. if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true;
  5590. return false;
  5591. }
  5592. /**
  5593. * M42: Change pin status via GCode
  5594. *
  5595. * P<pin> Pin number (LED if omitted)
  5596. * S<byte> Pin status from 0 - 255
  5597. */
  5598. inline void gcode_M42() {
  5599. if (!parser.seenval('S')) return;
  5600. const byte pin_status = parser.value_byte();
  5601. const int pin_number = parser.intval('P', LED_PIN);
  5602. if (pin_number < 0) return;
  5603. if (pin_is_protected(pin_number)) {
  5604. SERIAL_ERROR_START();
  5605. SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
  5606. return;
  5607. }
  5608. pinMode(pin_number, OUTPUT);
  5609. digitalWrite(pin_number, pin_status);
  5610. analogWrite(pin_number, pin_status);
  5611. #if FAN_COUNT > 0
  5612. switch (pin_number) {
  5613. #if HAS_FAN0
  5614. case FAN_PIN: fanSpeeds[0] = pin_status; break;
  5615. #endif
  5616. #if HAS_FAN1
  5617. case FAN1_PIN: fanSpeeds[1] = pin_status; break;
  5618. #endif
  5619. #if HAS_FAN2
  5620. case FAN2_PIN: fanSpeeds[2] = pin_status; break;
  5621. #endif
  5622. }
  5623. #endif
  5624. }
  5625. #if ENABLED(PINS_DEBUGGING)
  5626. #include "pinsDebug.h"
  5627. inline void toggle_pins() {
  5628. const bool I_flag = parser.boolval('I');
  5629. const int repeat = parser.intval('R', 1),
  5630. start = parser.intval('S'),
  5631. end = parser.intval('E', NUM_DIGITAL_PINS - 1),
  5632. wait = parser.intval('W', 500);
  5633. for (uint8_t pin = start; pin <= end; pin++) {
  5634. //report_pin_state_extended(pin, I_flag, false);
  5635. if (!I_flag && pin_is_protected(pin)) {
  5636. report_pin_state_extended(pin, I_flag, true, "Untouched ");
  5637. SERIAL_EOL();
  5638. }
  5639. else {
  5640. report_pin_state_extended(pin, I_flag, true, "Pulsing ");
  5641. #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
  5642. if (pin == TEENSY_E2) {
  5643. SET_OUTPUT(TEENSY_E2);
  5644. for (int16_t j = 0; j < repeat; j++) {
  5645. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5646. WRITE(TEENSY_E2, HIGH); safe_delay(wait);
  5647. WRITE(TEENSY_E2, LOW); safe_delay(wait);
  5648. }
  5649. }
  5650. else if (pin == TEENSY_E3) {
  5651. SET_OUTPUT(TEENSY_E3);
  5652. for (int16_t j = 0; j < repeat; j++) {
  5653. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5654. WRITE(TEENSY_E3, HIGH); safe_delay(wait);
  5655. WRITE(TEENSY_E3, LOW); safe_delay(wait);
  5656. }
  5657. }
  5658. else
  5659. #endif
  5660. {
  5661. pinMode(pin, OUTPUT);
  5662. for (int16_t j = 0; j < repeat; j++) {
  5663. digitalWrite(pin, 0); safe_delay(wait);
  5664. digitalWrite(pin, 1); safe_delay(wait);
  5665. digitalWrite(pin, 0); safe_delay(wait);
  5666. }
  5667. }
  5668. }
  5669. SERIAL_EOL();
  5670. }
  5671. SERIAL_ECHOLNPGM("Done.");
  5672. } // toggle_pins
  5673. inline void servo_probe_test() {
  5674. #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
  5675. SERIAL_ERROR_START();
  5676. SERIAL_ERRORLNPGM("SERVO not setup");
  5677. #elif !HAS_Z_SERVO_ENDSTOP
  5678. SERIAL_ERROR_START();
  5679. SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
  5680. #else // HAS_Z_SERVO_ENDSTOP
  5681. const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
  5682. SERIAL_PROTOCOLLNPGM("Servo probe test");
  5683. SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
  5684. SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
  5685. SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
  5686. bool probe_inverting;
  5687. #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
  5688. #define PROBE_TEST_PIN Z_MIN_PIN
  5689. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
  5690. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
  5691. SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
  5692. #if Z_MIN_ENDSTOP_INVERTING
  5693. SERIAL_PROTOCOLLNPGM("true");
  5694. #else
  5695. SERIAL_PROTOCOLLNPGM("false");
  5696. #endif
  5697. probe_inverting = Z_MIN_ENDSTOP_INVERTING;
  5698. #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
  5699. #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
  5700. SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
  5701. SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
  5702. SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
  5703. #if Z_MIN_PROBE_ENDSTOP_INVERTING
  5704. SERIAL_PROTOCOLLNPGM("true");
  5705. #else
  5706. SERIAL_PROTOCOLLNPGM("false");
  5707. #endif
  5708. probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
  5709. #endif
  5710. SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
  5711. SET_INPUT_PULLUP(PROBE_TEST_PIN);
  5712. bool deploy_state, stow_state;
  5713. for (uint8_t i = 0; i < 4; i++) {
  5714. MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
  5715. safe_delay(500);
  5716. deploy_state = READ(PROBE_TEST_PIN);
  5717. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  5718. safe_delay(500);
  5719. stow_state = READ(PROBE_TEST_PIN);
  5720. }
  5721. if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
  5722. refresh_cmd_timeout();
  5723. if (deploy_state != stow_state) {
  5724. SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
  5725. if (deploy_state) {
  5726. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
  5727. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
  5728. }
  5729. else {
  5730. SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
  5731. SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
  5732. }
  5733. #if ENABLED(BLTOUCH)
  5734. SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
  5735. #endif
  5736. }
  5737. else { // measure active signal length
  5738. MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
  5739. safe_delay(500);
  5740. SERIAL_PROTOCOLLNPGM("please trigger probe");
  5741. uint16_t probe_counter = 0;
  5742. // Allow 30 seconds max for operator to trigger probe
  5743. for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
  5744. safe_delay(2);
  5745. if (0 == j % (500 * 1)) // keep cmd_timeout happy
  5746. refresh_cmd_timeout();
  5747. if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
  5748. for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
  5749. safe_delay(2);
  5750. if (probe_counter == 50)
  5751. SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
  5752. else if (probe_counter >= 2)
  5753. SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
  5754. else
  5755. SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
  5756. MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
  5757. } // pulse detected
  5758. } // for loop waiting for trigger
  5759. if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
  5760. } // measure active signal length
  5761. #endif
  5762. } // servo_probe_test
  5763. /**
  5764. * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
  5765. *
  5766. * M43 - report name and state of pin(s)
  5767. * P<pin> Pin to read or watch. If omitted, reads all pins.
  5768. * I Flag to ignore Marlin's pin protection.
  5769. *
  5770. * M43 W - Watch pins -reporting changes- until reset, click, or M108.
  5771. * P<pin> Pin to read or watch. If omitted, read/watch all pins.
  5772. * I Flag to ignore Marlin's pin protection.
  5773. *
  5774. * M43 E<bool> - Enable / disable background endstop monitoring
  5775. * - Machine continues to operate
  5776. * - Reports changes to endstops
  5777. * - Toggles LED_PIN when an endstop changes
  5778. * - Can not reliably catch the 5mS pulse from BLTouch type probes
  5779. *
  5780. * M43 T - Toggle pin(s) and report which pin is being toggled
  5781. * S<pin> - Start Pin number. If not given, will default to 0
  5782. * L<pin> - End Pin number. If not given, will default to last pin defined for this board
  5783. * I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
  5784. * R - Repeat pulses on each pin this number of times before continueing to next pin
  5785. * W - Wait time (in miliseconds) between pulses. If not given will default to 500
  5786. *
  5787. * M43 S - Servo probe test
  5788. * P<index> - Probe index (optional - defaults to 0
  5789. */
  5790. inline void gcode_M43() {
  5791. if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
  5792. toggle_pins();
  5793. return;
  5794. }
  5795. // Enable or disable endstop monitoring
  5796. if (parser.seen('E')) {
  5797. endstop_monitor_flag = parser.value_bool();
  5798. SERIAL_PROTOCOLPGM("endstop monitor ");
  5799. serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis"));
  5800. SERIAL_PROTOCOLLNPGM("abled");
  5801. return;
  5802. }
  5803. if (parser.seen('S')) {
  5804. servo_probe_test();
  5805. return;
  5806. }
  5807. // Get the range of pins to test or watch
  5808. const uint8_t first_pin = parser.byteval('P'),
  5809. last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
  5810. if (first_pin > last_pin) return;
  5811. const bool ignore_protection = parser.boolval('I');
  5812. // Watch until click, M108, or reset
  5813. if (parser.boolval('W')) {
  5814. SERIAL_PROTOCOLLNPGM("Watching pins");
  5815. byte pin_state[last_pin - first_pin + 1];
  5816. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  5817. if (pin_is_protected(pin) && !ignore_protection) continue;
  5818. pinMode(pin, INPUT_PULLUP);
  5819. delay(1);
  5820. /*
  5821. if (IS_ANALOG(pin))
  5822. pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
  5823. else
  5824. //*/
  5825. pin_state[pin - first_pin] = digitalRead(pin);
  5826. }
  5827. #if HAS_RESUME_CONTINUE
  5828. wait_for_user = true;
  5829. KEEPALIVE_STATE(PAUSED_FOR_USER);
  5830. #endif
  5831. for (;;) {
  5832. for (int8_t pin = first_pin; pin <= last_pin; pin++) {
  5833. if (pin_is_protected(pin) && !ignore_protection) continue;
  5834. const byte val =
  5835. /*
  5836. IS_ANALOG(pin)
  5837. ? analogRead(pin - analogInputToDigitalPin(0)) : // int16_t val
  5838. :
  5839. //*/
  5840. digitalRead(pin);
  5841. if (val != pin_state[pin - first_pin]) {
  5842. report_pin_state_extended(pin, ignore_protection, false);
  5843. pin_state[pin - first_pin] = val;
  5844. }
  5845. }
  5846. #if HAS_RESUME_CONTINUE
  5847. if (!wait_for_user) {
  5848. KEEPALIVE_STATE(IN_HANDLER);
  5849. break;
  5850. }
  5851. #endif
  5852. safe_delay(200);
  5853. }
  5854. return;
  5855. }
  5856. // Report current state of selected pin(s)
  5857. for (uint8_t pin = first_pin; pin <= last_pin; pin++)
  5858. report_pin_state_extended(pin, ignore_protection, true);
  5859. }
  5860. #endif // PINS_DEBUGGING
  5861. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  5862. /**
  5863. * M48: Z probe repeatability measurement function.
  5864. *
  5865. * Usage:
  5866. * M48 <P#> <X#> <Y#> <V#> <E> <L#>
  5867. * P = Number of sampled points (4-50, default 10)
  5868. * X = Sample X position
  5869. * Y = Sample Y position
  5870. * V = Verbose level (0-4, default=1)
  5871. * E = Engage Z probe for each reading
  5872. * L = Number of legs of movement before probe
  5873. * S = Schizoid (Or Star if you prefer)
  5874. *
  5875. * This function assumes the bed has been homed. Specifically, that a G28 command
  5876. * as been issued prior to invoking the M48 Z probe repeatability measurement function.
  5877. * Any information generated by a prior G29 Bed leveling command will be lost and need to be
  5878. * regenerated.
  5879. */
  5880. inline void gcode_M48() {
  5881. if (axis_unhomed_error()) return;
  5882. const int8_t verbose_level = parser.byteval('V', 1);
  5883. if (!WITHIN(verbose_level, 0, 4)) {
  5884. SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
  5885. return;
  5886. }
  5887. if (verbose_level > 0)
  5888. SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  5889. const int8_t n_samples = parser.byteval('P', 10);
  5890. if (!WITHIN(n_samples, 4, 50)) {
  5891. SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
  5892. return;
  5893. }
  5894. const bool stow_probe_after_each = parser.boolval('E');
  5895. float X_current = current_position[X_AXIS],
  5896. Y_current = current_position[Y_AXIS];
  5897. const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
  5898. Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
  5899. #if DISABLED(DELTA)
  5900. if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
  5901. out_of_range_error(PSTR("X"));
  5902. return;
  5903. }
  5904. if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
  5905. out_of_range_error(PSTR("Y"));
  5906. return;
  5907. }
  5908. #else
  5909. if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) {
  5910. SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
  5911. return;
  5912. }
  5913. #endif
  5914. bool seen_L = parser.seen('L');
  5915. uint8_t n_legs = seen_L ? parser.value_byte() : 0;
  5916. if (n_legs > 15) {
  5917. SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
  5918. return;
  5919. }
  5920. if (n_legs == 1) n_legs = 2;
  5921. const bool schizoid_flag = parser.boolval('S');
  5922. if (schizoid_flag && !seen_L) n_legs = 7;
  5923. /**
  5924. * Now get everything to the specified probe point So we can safely do a
  5925. * probe to get us close to the bed. If the Z-Axis is far from the bed,
  5926. * we don't want to use that as a starting point for each probe.
  5927. */
  5928. if (verbose_level > 2)
  5929. SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  5930. // Disable bed level correction in M48 because we want the raw data when we probe
  5931. #if HAS_LEVELING
  5932. const bool was_enabled = planner.leveling_active;
  5933. set_bed_leveling_enabled(false);
  5934. #endif
  5935. setup_for_endstop_or_probe_move();
  5936. double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  5937. // Move to the first point, deploy, and probe
  5938. const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  5939. bool probing_good = !isnan(t);
  5940. if (probing_good) {
  5941. randomSeed(millis());
  5942. for (uint8_t n = 0; n < n_samples; n++) {
  5943. if (n_legs) {
  5944. const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
  5945. float angle = random(0.0, 360.0);
  5946. const float radius = random(
  5947. #if ENABLED(DELTA)
  5948. 0.1250000000 * (DELTA_PROBEABLE_RADIUS),
  5949. 0.3333333333 * (DELTA_PROBEABLE_RADIUS)
  5950. #else
  5951. 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
  5952. #endif
  5953. );
  5954. if (verbose_level > 3) {
  5955. SERIAL_ECHOPAIR("Starting radius: ", radius);
  5956. SERIAL_ECHOPAIR(" angle: ", angle);
  5957. SERIAL_ECHOPGM(" Direction: ");
  5958. if (dir > 0) SERIAL_ECHOPGM("Counter-");
  5959. SERIAL_ECHOLNPGM("Clockwise");
  5960. }
  5961. for (uint8_t l = 0; l < n_legs - 1; l++) {
  5962. double delta_angle;
  5963. if (schizoid_flag)
  5964. // The points of a 5 point star are 72 degrees apart. We need to
  5965. // skip a point and go to the next one on the star.
  5966. delta_angle = dir * 2.0 * 72.0;
  5967. else
  5968. // If we do this line, we are just trying to move further
  5969. // around the circle.
  5970. delta_angle = dir * (float) random(25, 45);
  5971. angle += delta_angle;
  5972. while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
  5973. angle -= 360.0; // Arduino documentation says the trig functions should not be given values
  5974. while (angle < 0.0) // outside of this range. It looks like they behave correctly with
  5975. angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
  5976. X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
  5977. Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  5978. #if DISABLED(DELTA)
  5979. X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
  5980. Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
  5981. #else
  5982. // If we have gone out too far, we can do a simple fix and scale the numbers
  5983. // back in closer to the origin.
  5984. while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
  5985. X_current *= 0.8;
  5986. Y_current *= 0.8;
  5987. if (verbose_level > 3) {
  5988. SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
  5989. SERIAL_ECHOLNPAIR(", ", Y_current);
  5990. }
  5991. }
  5992. #endif
  5993. if (verbose_level > 3) {
  5994. SERIAL_PROTOCOLPGM("Going to:");
  5995. SERIAL_ECHOPAIR(" X", X_current);
  5996. SERIAL_ECHOPAIR(" Y", Y_current);
  5997. SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
  5998. }
  5999. do_blocking_move_to_xy(X_current, Y_current);
  6000. } // n_legs loop
  6001. } // n_legs
  6002. // Probe a single point
  6003. sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  6004. // Break the loop if the probe fails
  6005. probing_good = !isnan(sample_set[n]);
  6006. if (!probing_good) break;
  6007. /**
  6008. * Get the current mean for the data points we have so far
  6009. */
  6010. double sum = 0.0;
  6011. for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
  6012. mean = sum / (n + 1);
  6013. NOMORE(min, sample_set[n]);
  6014. NOLESS(max, sample_set[n]);
  6015. /**
  6016. * Now, use that mean to calculate the standard deviation for the
  6017. * data points we have so far
  6018. */
  6019. sum = 0.0;
  6020. for (uint8_t j = 0; j <= n; j++)
  6021. sum += sq(sample_set[j] - mean);
  6022. sigma = SQRT(sum / (n + 1));
  6023. if (verbose_level > 0) {
  6024. if (verbose_level > 1) {
  6025. SERIAL_PROTOCOL(n + 1);
  6026. SERIAL_PROTOCOLPGM(" of ");
  6027. SERIAL_PROTOCOL((int)n_samples);
  6028. SERIAL_PROTOCOLPGM(": z: ");
  6029. SERIAL_PROTOCOL_F(sample_set[n], 3);
  6030. if (verbose_level > 2) {
  6031. SERIAL_PROTOCOLPGM(" mean: ");
  6032. SERIAL_PROTOCOL_F(mean, 4);
  6033. SERIAL_PROTOCOLPGM(" sigma: ");
  6034. SERIAL_PROTOCOL_F(sigma, 6);
  6035. SERIAL_PROTOCOLPGM(" min: ");
  6036. SERIAL_PROTOCOL_F(min, 3);
  6037. SERIAL_PROTOCOLPGM(" max: ");
  6038. SERIAL_PROTOCOL_F(max, 3);
  6039. SERIAL_PROTOCOLPGM(" range: ");
  6040. SERIAL_PROTOCOL_F(max-min, 3);
  6041. }
  6042. SERIAL_EOL();
  6043. }
  6044. }
  6045. } // n_samples loop
  6046. }
  6047. STOW_PROBE();
  6048. if (probing_good) {
  6049. SERIAL_PROTOCOLLNPGM("Finished!");
  6050. if (verbose_level > 0) {
  6051. SERIAL_PROTOCOLPGM("Mean: ");
  6052. SERIAL_PROTOCOL_F(mean, 6);
  6053. SERIAL_PROTOCOLPGM(" Min: ");
  6054. SERIAL_PROTOCOL_F(min, 3);
  6055. SERIAL_PROTOCOLPGM(" Max: ");
  6056. SERIAL_PROTOCOL_F(max, 3);
  6057. SERIAL_PROTOCOLPGM(" Range: ");
  6058. SERIAL_PROTOCOL_F(max-min, 3);
  6059. SERIAL_EOL();
  6060. }
  6061. SERIAL_PROTOCOLPGM("Standard Deviation: ");
  6062. SERIAL_PROTOCOL_F(sigma, 6);
  6063. SERIAL_EOL();
  6064. SERIAL_EOL();
  6065. }
  6066. clean_up_after_endstop_or_probe_move();
  6067. // Re-enable bed level correction if it had been on
  6068. #if HAS_LEVELING
  6069. set_bed_leveling_enabled(was_enabled);
  6070. #endif
  6071. report_current_position();
  6072. }
  6073. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  6074. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  6075. inline void gcode_M49() {
  6076. ubl.g26_debug_flag ^= true;
  6077. SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
  6078. serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
  6079. }
  6080. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
  6081. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  6082. /**
  6083. * M73: Set percentage complete (for display on LCD)
  6084. *
  6085. * Example:
  6086. * M73 P25 ; Set progress to 25%
  6087. *
  6088. * Notes:
  6089. * This has no effect during an SD print job
  6090. */
  6091. inline void gcode_M73() {
  6092. if (!IS_SD_PRINTING && parser.seen('P')) {
  6093. progress_bar_percent = parser.value_byte();
  6094. NOMORE(progress_bar_percent, 100);
  6095. }
  6096. }
  6097. #endif // ULTRA_LCD && LCD_SET_PROGRESS_MANUALLY
  6098. /**
  6099. * M75: Start print timer
  6100. */
  6101. inline void gcode_M75() { print_job_timer.start(); }
  6102. /**
  6103. * M76: Pause print timer
  6104. */
  6105. inline void gcode_M76() { print_job_timer.pause(); }
  6106. /**
  6107. * M77: Stop print timer
  6108. */
  6109. inline void gcode_M77() { print_job_timer.stop(); }
  6110. #if ENABLED(PRINTCOUNTER)
  6111. /**
  6112. * M78: Show print statistics
  6113. */
  6114. inline void gcode_M78() {
  6115. // "M78 S78" will reset the statistics
  6116. if (parser.intval('S') == 78)
  6117. print_job_timer.initStats();
  6118. else
  6119. print_job_timer.showStats();
  6120. }
  6121. #endif
  6122. /**
  6123. * M104: Set hot end temperature
  6124. */
  6125. inline void gcode_M104() {
  6126. if (get_target_extruder_from_command(104)) return;
  6127. if (DEBUGGING(DRYRUN)) return;
  6128. #if ENABLED(SINGLENOZZLE)
  6129. if (target_extruder != active_extruder) return;
  6130. #endif
  6131. if (parser.seenval('S')) {
  6132. const int16_t temp = parser.value_celsius();
  6133. thermalManager.setTargetHotend(temp, target_extruder);
  6134. #if ENABLED(DUAL_X_CARRIAGE)
  6135. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6136. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6137. #endif
  6138. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6139. /**
  6140. * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
  6141. * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
  6142. * standby mode, for instance in a dual extruder setup, without affecting
  6143. * the running print timer.
  6144. */
  6145. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6146. print_job_timer.stop();
  6147. LCD_MESSAGEPGM(WELCOME_MSG);
  6148. }
  6149. #endif
  6150. if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
  6151. lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6152. }
  6153. #if ENABLED(AUTOTEMP)
  6154. planner.autotemp_M104_M109();
  6155. #endif
  6156. }
  6157. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6158. void print_heater_state(const float &c, const float &t,
  6159. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6160. const float r,
  6161. #endif
  6162. const int8_t e=-2
  6163. ) {
  6164. #if !(HAS_TEMP_BED && HAS_TEMP_HOTEND) && HOTENDS <= 1
  6165. UNUSED(e);
  6166. #endif
  6167. SERIAL_PROTOCOLCHAR(' ');
  6168. SERIAL_PROTOCOLCHAR(
  6169. #if HAS_TEMP_BED && HAS_TEMP_HOTEND
  6170. e == -1 ? 'B' : 'T'
  6171. #elif HAS_TEMP_HOTEND
  6172. 'T'
  6173. #else
  6174. 'B'
  6175. #endif
  6176. );
  6177. #if HOTENDS > 1
  6178. if (e >= 0) SERIAL_PROTOCOLCHAR('0' + e);
  6179. #endif
  6180. SERIAL_PROTOCOLCHAR(':');
  6181. SERIAL_PROTOCOL(c);
  6182. SERIAL_PROTOCOLPAIR(" /" , t);
  6183. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6184. SERIAL_PROTOCOLPAIR(" (", r / OVERSAMPLENR);
  6185. SERIAL_PROTOCOLCHAR(')');
  6186. #endif
  6187. }
  6188. void print_heaterstates() {
  6189. #if HAS_TEMP_HOTEND
  6190. print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder)
  6191. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6192. , thermalManager.rawHotendTemp(target_extruder)
  6193. #endif
  6194. );
  6195. #endif
  6196. #if HAS_TEMP_BED
  6197. print_heater_state(thermalManager.degBed(), thermalManager.degTargetBed(),
  6198. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6199. thermalManager.rawBedTemp(),
  6200. #endif
  6201. -1 // BED
  6202. );
  6203. #endif
  6204. #if HOTENDS > 1
  6205. HOTEND_LOOP() print_heater_state(thermalManager.degHotend(e), thermalManager.degTargetHotend(e),
  6206. #if ENABLED(SHOW_TEMP_ADC_VALUES)
  6207. thermalManager.rawHotendTemp(e),
  6208. #endif
  6209. e
  6210. );
  6211. #endif
  6212. SERIAL_PROTOCOLPGM(" @:");
  6213. SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
  6214. #if HAS_TEMP_BED
  6215. SERIAL_PROTOCOLPGM(" B@:");
  6216. SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
  6217. #endif
  6218. #if HOTENDS > 1
  6219. HOTEND_LOOP() {
  6220. SERIAL_PROTOCOLPAIR(" @", e);
  6221. SERIAL_PROTOCOLCHAR(':');
  6222. SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
  6223. }
  6224. #endif
  6225. }
  6226. #endif
  6227. /**
  6228. * M105: Read hot end and bed temperature
  6229. */
  6230. inline void gcode_M105() {
  6231. if (get_target_extruder_from_command(105)) return;
  6232. #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  6233. SERIAL_PROTOCOLPGM(MSG_OK);
  6234. print_heaterstates();
  6235. #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
  6236. SERIAL_ERROR_START();
  6237. SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  6238. #endif
  6239. SERIAL_EOL();
  6240. }
  6241. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  6242. static uint8_t auto_report_temp_interval;
  6243. static millis_t next_temp_report_ms;
  6244. /**
  6245. * M155: Set temperature auto-report interval. M155 S<seconds>
  6246. */
  6247. inline void gcode_M155() {
  6248. if (parser.seenval('S')) {
  6249. auto_report_temp_interval = parser.value_byte();
  6250. NOMORE(auto_report_temp_interval, 60);
  6251. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6252. }
  6253. }
  6254. inline void auto_report_temperatures() {
  6255. if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
  6256. next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
  6257. print_heaterstates();
  6258. SERIAL_EOL();
  6259. }
  6260. }
  6261. #endif // AUTO_REPORT_TEMPERATURES
  6262. #if FAN_COUNT > 0
  6263. /**
  6264. * M106: Set Fan Speed
  6265. *
  6266. * S<int> Speed between 0-255
  6267. * P<index> Fan index, if more than one fan
  6268. *
  6269. * With EXTRA_FAN_SPEED enabled:
  6270. *
  6271. * T<int> Restore/Use/Set Temporary Speed:
  6272. * 1 = Restore previous speed after T2
  6273. * 2 = Use temporary speed set with T3-255
  6274. * 3-255 = Set the speed for use with T2
  6275. */
  6276. inline void gcode_M106() {
  6277. const uint8_t p = parser.byteval('P');
  6278. if (p < FAN_COUNT) {
  6279. #if ENABLED(EXTRA_FAN_SPEED)
  6280. const int16_t t = parser.intval('T');
  6281. NOMORE(t, 255);
  6282. if (t > 0) {
  6283. switch (t) {
  6284. case 1:
  6285. fanSpeeds[p] = old_fanSpeeds[p];
  6286. break;
  6287. case 2:
  6288. old_fanSpeeds[p] = fanSpeeds[p];
  6289. fanSpeeds[p] = new_fanSpeeds[p];
  6290. break;
  6291. default:
  6292. new_fanSpeeds[p] = t;
  6293. break;
  6294. }
  6295. return;
  6296. }
  6297. #endif // EXTRA_FAN_SPEED
  6298. const uint16_t s = parser.ushortval('S', 255);
  6299. fanSpeeds[p] = min(s, 255);
  6300. }
  6301. }
  6302. /**
  6303. * M107: Fan Off
  6304. */
  6305. inline void gcode_M107() {
  6306. const uint16_t p = parser.ushortval('P');
  6307. if (p < FAN_COUNT) fanSpeeds[p] = 0;
  6308. }
  6309. #endif // FAN_COUNT > 0
  6310. #if DISABLED(EMERGENCY_PARSER)
  6311. /**
  6312. * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
  6313. */
  6314. inline void gcode_M108() { wait_for_heatup = false; }
  6315. /**
  6316. * M112: Emergency Stop
  6317. */
  6318. inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  6319. /**
  6320. * M410: Quickstop - Abort all planned moves
  6321. *
  6322. * This will stop the carriages mid-move, so most likely they
  6323. * will be out of sync with the stepper position after this.
  6324. */
  6325. inline void gcode_M410() { quickstop_stepper(); }
  6326. #endif
  6327. /**
  6328. * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
  6329. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
  6330. */
  6331. #ifndef MIN_COOLING_SLOPE_DEG
  6332. #define MIN_COOLING_SLOPE_DEG 1.50
  6333. #endif
  6334. #ifndef MIN_COOLING_SLOPE_TIME
  6335. #define MIN_COOLING_SLOPE_TIME 60
  6336. #endif
  6337. inline void gcode_M109() {
  6338. if (get_target_extruder_from_command(109)) return;
  6339. if (DEBUGGING(DRYRUN)) return;
  6340. #if ENABLED(SINGLENOZZLE)
  6341. if (target_extruder != active_extruder) return;
  6342. #endif
  6343. const bool no_wait_for_cooling = parser.seenval('S');
  6344. if (no_wait_for_cooling || parser.seenval('R')) {
  6345. const int16_t temp = parser.value_celsius();
  6346. thermalManager.setTargetHotend(temp, target_extruder);
  6347. #if ENABLED(DUAL_X_CARRIAGE)
  6348. if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
  6349. thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
  6350. #endif
  6351. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6352. /**
  6353. * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
  6354. * standby mode, (e.g., in a dual extruder setup) without affecting
  6355. * the running print timer.
  6356. */
  6357. if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
  6358. print_job_timer.stop();
  6359. LCD_MESSAGEPGM(WELCOME_MSG);
  6360. }
  6361. else
  6362. print_job_timer.start();
  6363. #endif
  6364. if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
  6365. }
  6366. else return;
  6367. #if ENABLED(AUTOTEMP)
  6368. planner.autotemp_M104_M109();
  6369. #endif
  6370. #if TEMP_RESIDENCY_TIME > 0
  6371. millis_t residency_start_ms = 0;
  6372. // Loop until the temperature has stabilized
  6373. #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
  6374. #else
  6375. // Loop until the temperature is very close target
  6376. #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
  6377. #endif
  6378. float target_temp = -1.0, old_temp = 9999.0;
  6379. bool wants_to_cool = false;
  6380. wait_for_heatup = true;
  6381. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6382. #if DISABLED(BUSY_WHILE_HEATING)
  6383. KEEPALIVE_STATE(NOT_BUSY);
  6384. #endif
  6385. #if ENABLED(PRINTER_EVENT_LEDS)
  6386. const float start_temp = thermalManager.degHotend(target_extruder);
  6387. uint8_t old_blue = 0;
  6388. #endif
  6389. do {
  6390. // Target temperature might be changed during the loop
  6391. if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
  6392. wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
  6393. target_temp = thermalManager.degTargetHotend(target_extruder);
  6394. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6395. if (no_wait_for_cooling && wants_to_cool) break;
  6396. }
  6397. now = millis();
  6398. if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
  6399. next_temp_ms = now + 1000UL;
  6400. print_heaterstates();
  6401. #if TEMP_RESIDENCY_TIME > 0
  6402. SERIAL_PROTOCOLPGM(" W:");
  6403. if (residency_start_ms)
  6404. SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6405. else
  6406. SERIAL_PROTOCOLCHAR('?');
  6407. #endif
  6408. SERIAL_EOL();
  6409. }
  6410. idle();
  6411. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6412. const float temp = thermalManager.degHotend(target_extruder);
  6413. #if ENABLED(PRINTER_EVENT_LEDS)
  6414. // Gradually change LED strip from violet to red as nozzle heats up
  6415. if (!wants_to_cool) {
  6416. const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
  6417. if (blue != old_blue) {
  6418. old_blue = blue;
  6419. set_led_color(255, 0, blue
  6420. #if ENABLED(NEOPIXEL_LED)
  6421. , 0
  6422. , pixels.getBrightness()
  6423. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6424. , true
  6425. #endif
  6426. #endif
  6427. );
  6428. }
  6429. }
  6430. #endif
  6431. #if TEMP_RESIDENCY_TIME > 0
  6432. const float temp_diff = FABS(target_temp - temp);
  6433. if (!residency_start_ms) {
  6434. // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
  6435. if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
  6436. }
  6437. else if (temp_diff > TEMP_HYSTERESIS) {
  6438. // Restart the timer whenever the temperature falls outside the hysteresis.
  6439. residency_start_ms = now;
  6440. }
  6441. #endif
  6442. // Prevent a wait-forever situation if R is misused i.e. M109 R0
  6443. if (wants_to_cool) {
  6444. // break after MIN_COOLING_SLOPE_TIME seconds
  6445. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
  6446. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6447. if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
  6448. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
  6449. old_temp = temp;
  6450. }
  6451. }
  6452. } while (wait_for_heatup && TEMP_CONDITIONS);
  6453. if (wait_for_heatup) {
  6454. LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  6455. #if ENABLED(PRINTER_EVENT_LEDS)
  6456. #if ENABLED(RGB_LED) || ENABLED(BLINKM) || ENABLED(PCA9632) || ENABLED(RGBW_LED)
  6457. set_led_color(LED_WHITE);
  6458. #endif
  6459. #if ENABLED(NEOPIXEL_LED)
  6460. set_neopixel_color(pixels.Color(NEO_WHITE));
  6461. #endif
  6462. #endif
  6463. }
  6464. #if DISABLED(BUSY_WHILE_HEATING)
  6465. KEEPALIVE_STATE(IN_HANDLER);
  6466. #endif
  6467. }
  6468. #if HAS_TEMP_BED
  6469. #ifndef MIN_COOLING_SLOPE_DEG_BED
  6470. #define MIN_COOLING_SLOPE_DEG_BED 1.50
  6471. #endif
  6472. #ifndef MIN_COOLING_SLOPE_TIME_BED
  6473. #define MIN_COOLING_SLOPE_TIME_BED 60
  6474. #endif
  6475. /**
  6476. * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
  6477. * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
  6478. */
  6479. inline void gcode_M190() {
  6480. if (DEBUGGING(DRYRUN)) return;
  6481. LCD_MESSAGEPGM(MSG_BED_HEATING);
  6482. const bool no_wait_for_cooling = parser.seenval('S');
  6483. if (no_wait_for_cooling || parser.seenval('R')) {
  6484. thermalManager.setTargetBed(parser.value_celsius());
  6485. #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
  6486. if (parser.value_celsius() > BED_MINTEMP)
  6487. print_job_timer.start();
  6488. #endif
  6489. }
  6490. else return;
  6491. #if TEMP_BED_RESIDENCY_TIME > 0
  6492. millis_t residency_start_ms = 0;
  6493. // Loop until the temperature has stabilized
  6494. #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
  6495. #else
  6496. // Loop until the temperature is very close target
  6497. #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
  6498. #endif
  6499. float target_temp = -1.0, old_temp = 9999.0;
  6500. bool wants_to_cool = false;
  6501. wait_for_heatup = true;
  6502. millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  6503. #if DISABLED(BUSY_WHILE_HEATING)
  6504. KEEPALIVE_STATE(NOT_BUSY);
  6505. #endif
  6506. target_extruder = active_extruder; // for print_heaterstates
  6507. #if ENABLED(PRINTER_EVENT_LEDS)
  6508. const float start_temp = thermalManager.degBed();
  6509. uint8_t old_red = 255;
  6510. #endif
  6511. do {
  6512. // Target temperature might be changed during the loop
  6513. if (target_temp != thermalManager.degTargetBed()) {
  6514. wants_to_cool = thermalManager.isCoolingBed();
  6515. target_temp = thermalManager.degTargetBed();
  6516. // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
  6517. if (no_wait_for_cooling && wants_to_cool) break;
  6518. }
  6519. now = millis();
  6520. if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
  6521. next_temp_ms = now + 1000UL;
  6522. print_heaterstates();
  6523. #if TEMP_BED_RESIDENCY_TIME > 0
  6524. SERIAL_PROTOCOLPGM(" W:");
  6525. if (residency_start_ms)
  6526. SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
  6527. else
  6528. SERIAL_PROTOCOLCHAR('?');
  6529. #endif
  6530. SERIAL_EOL();
  6531. }
  6532. idle();
  6533. refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  6534. const float temp = thermalManager.degBed();
  6535. #if ENABLED(PRINTER_EVENT_LEDS)
  6536. // Gradually change LED strip from blue to violet as bed heats up
  6537. if (!wants_to_cool) {
  6538. const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
  6539. if (red != old_red) {
  6540. old_red = red;
  6541. set_led_color(red, 0, 255
  6542. #if ENABLED(NEOPIXEL_LED)
  6543. , 0, pixels.getBrightness()
  6544. #if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
  6545. , true
  6546. #endif
  6547. #endif
  6548. );
  6549. }
  6550. }
  6551. #endif
  6552. #if TEMP_BED_RESIDENCY_TIME > 0
  6553. const float temp_diff = FABS(target_temp - temp);
  6554. if (!residency_start_ms) {
  6555. // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
  6556. if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
  6557. }
  6558. else if (temp_diff > TEMP_BED_HYSTERESIS) {
  6559. // Restart the timer whenever the temperature falls outside the hysteresis.
  6560. residency_start_ms = now;
  6561. }
  6562. #endif // TEMP_BED_RESIDENCY_TIME > 0
  6563. // Prevent a wait-forever situation if R is misused i.e. M190 R0
  6564. if (wants_to_cool) {
  6565. // Break after MIN_COOLING_SLOPE_TIME_BED seconds
  6566. // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
  6567. if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
  6568. if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
  6569. next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
  6570. old_temp = temp;
  6571. }
  6572. }
  6573. } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  6574. if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
  6575. #if DISABLED(BUSY_WHILE_HEATING)
  6576. KEEPALIVE_STATE(IN_HANDLER);
  6577. #endif
  6578. }
  6579. #endif // HAS_TEMP_BED
  6580. /**
  6581. * M110: Set Current Line Number
  6582. */
  6583. inline void gcode_M110() {
  6584. if (parser.seenval('N')) gcode_LastN = parser.value_long();
  6585. }
  6586. /**
  6587. * M111: Set the debug level
  6588. */
  6589. inline void gcode_M111() {
  6590. if (parser.seen('S')) marlin_debug_flags = parser.byteval('S');
  6591. const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO,
  6592. str_debug_2[] PROGMEM = MSG_DEBUG_INFO,
  6593. str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS,
  6594. str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
  6595. str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
  6596. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6597. , str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
  6598. #endif
  6599. ;
  6600. const static char* const debug_strings[] PROGMEM = {
  6601. str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
  6602. #if ENABLED(DEBUG_LEVELING_FEATURE)
  6603. , str_debug_32
  6604. #endif
  6605. };
  6606. SERIAL_ECHO_START();
  6607. SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
  6608. if (marlin_debug_flags) {
  6609. uint8_t comma = 0;
  6610. for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
  6611. if (TEST(marlin_debug_flags, i)) {
  6612. if (comma++) SERIAL_CHAR(',');
  6613. serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
  6614. }
  6615. }
  6616. }
  6617. else {
  6618. SERIAL_ECHOPGM(MSG_DEBUG_OFF);
  6619. }
  6620. SERIAL_EOL();
  6621. }
  6622. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  6623. /**
  6624. * M113: Get or set Host Keepalive interval (0 to disable)
  6625. *
  6626. * S<seconds> Optional. Set the keepalive interval.
  6627. */
  6628. inline void gcode_M113() {
  6629. if (parser.seenval('S')) {
  6630. host_keepalive_interval = parser.value_byte();
  6631. NOMORE(host_keepalive_interval, 60);
  6632. }
  6633. else {
  6634. SERIAL_ECHO_START();
  6635. SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
  6636. }
  6637. }
  6638. #endif
  6639. #if ENABLED(BARICUDA)
  6640. #if HAS_HEATER_1
  6641. /**
  6642. * M126: Heater 1 valve open
  6643. */
  6644. inline void gcode_M126() { baricuda_valve_pressure = parser.byteval('S', 255); }
  6645. /**
  6646. * M127: Heater 1 valve close
  6647. */
  6648. inline void gcode_M127() { baricuda_valve_pressure = 0; }
  6649. #endif
  6650. #if HAS_HEATER_2
  6651. /**
  6652. * M128: Heater 2 valve open
  6653. */
  6654. inline void gcode_M128() { baricuda_e_to_p_pressure = parser.byteval('S', 255); }
  6655. /**
  6656. * M129: Heater 2 valve close
  6657. */
  6658. inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
  6659. #endif
  6660. #endif // BARICUDA
  6661. /**
  6662. * M140: Set bed temperature
  6663. */
  6664. inline void gcode_M140() {
  6665. if (DEBUGGING(DRYRUN)) return;
  6666. if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
  6667. }
  6668. #if ENABLED(ULTIPANEL)
  6669. /**
  6670. * M145: Set the heatup state for a material in the LCD menu
  6671. *
  6672. * S<material> (0=PLA, 1=ABS)
  6673. * H<hotend temp>
  6674. * B<bed temp>
  6675. * F<fan speed>
  6676. */
  6677. inline void gcode_M145() {
  6678. const uint8_t material = (uint8_t)parser.intval('S');
  6679. if (material >= COUNT(lcd_preheat_hotend_temp)) {
  6680. SERIAL_ERROR_START();
  6681. SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
  6682. }
  6683. else {
  6684. int v;
  6685. if (parser.seenval('H')) {
  6686. v = parser.value_int();
  6687. lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
  6688. }
  6689. if (parser.seenval('F')) {
  6690. v = parser.value_int();
  6691. lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
  6692. }
  6693. #if TEMP_SENSOR_BED != 0
  6694. if (parser.seenval('B')) {
  6695. v = parser.value_int();
  6696. lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
  6697. }
  6698. #endif
  6699. }
  6700. }
  6701. #endif // ULTIPANEL
  6702. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  6703. /**
  6704. * M149: Set temperature units
  6705. */
  6706. inline void gcode_M149() {
  6707. if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C);
  6708. else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K);
  6709. else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F);
  6710. }
  6711. #endif
  6712. #if HAS_POWER_SWITCH
  6713. /**
  6714. * M80 : Turn on the Power Supply
  6715. * M80 S : Report the current state and exit
  6716. */
  6717. inline void gcode_M80() {
  6718. // S: Report the current power supply state and exit
  6719. if (parser.seen('S')) {
  6720. serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
  6721. return;
  6722. }
  6723. OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
  6724. /**
  6725. * If you have a switch on suicide pin, this is useful
  6726. * if you want to start another print with suicide feature after
  6727. * a print without suicide...
  6728. */
  6729. #if HAS_SUICIDE
  6730. OUT_WRITE(SUICIDE_PIN, HIGH);
  6731. #endif
  6732. #if ENABLED(HAVE_TMC2130)
  6733. delay(100);
  6734. tmc2130_init(); // Settings only stick when the driver has power
  6735. #endif
  6736. powersupply_on = true;
  6737. #if ENABLED(ULTIPANEL)
  6738. LCD_MESSAGEPGM(WELCOME_MSG);
  6739. #endif
  6740. }
  6741. #endif // HAS_POWER_SWITCH
  6742. /**
  6743. * M81: Turn off Power, including Power Supply, if there is one.
  6744. *
  6745. * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
  6746. */
  6747. inline void gcode_M81() {
  6748. thermalManager.disable_all_heaters();
  6749. stepper.finish_and_disable();
  6750. #if FAN_COUNT > 0
  6751. for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
  6752. #if ENABLED(PROBING_FANS_OFF)
  6753. fans_paused = false;
  6754. ZERO(paused_fanSpeeds);
  6755. #endif
  6756. #endif
  6757. safe_delay(1000); // Wait 1 second before switching off
  6758. #if HAS_SUICIDE
  6759. stepper.synchronize();
  6760. suicide();
  6761. #elif HAS_POWER_SWITCH
  6762. OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  6763. powersupply_on = false;
  6764. #endif
  6765. #if ENABLED(ULTIPANEL)
  6766. LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
  6767. #endif
  6768. }
  6769. /**
  6770. * M82: Set E codes absolute (default)
  6771. */
  6772. inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
  6773. /**
  6774. * M83: Set E codes relative while in Absolute Coordinates (G90) mode
  6775. */
  6776. inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
  6777. /**
  6778. * M18, M84: Disable stepper motors
  6779. */
  6780. inline void gcode_M18_M84() {
  6781. if (parser.seenval('S')) {
  6782. stepper_inactive_time = parser.value_millis_from_seconds();
  6783. }
  6784. else {
  6785. bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E')));
  6786. if (all_axis) {
  6787. stepper.finish_and_disable();
  6788. }
  6789. else {
  6790. stepper.synchronize();
  6791. if (parser.seen('X')) disable_X();
  6792. if (parser.seen('Y')) disable_Y();
  6793. if (parser.seen('Z')) disable_Z();
  6794. #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS
  6795. if (parser.seen('E')) disable_e_steppers();
  6796. #endif
  6797. }
  6798. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  6799. ubl_lcd_map_control = defer_return_to_status = false;
  6800. #endif
  6801. }
  6802. }
  6803. /**
  6804. * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  6805. */
  6806. inline void gcode_M85() {
  6807. if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds();
  6808. }
  6809. /**
  6810. * Multi-stepper support for M92, M201, M203
  6811. */
  6812. #if ENABLED(DISTINCT_E_FACTORS)
  6813. #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
  6814. #define TARGET_EXTRUDER target_extruder
  6815. #else
  6816. #define GET_TARGET_EXTRUDER(CMD) NOOP
  6817. #define TARGET_EXTRUDER 0
  6818. #endif
  6819. /**
  6820. * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
  6821. * (Follows the same syntax as G92)
  6822. *
  6823. * With multiple extruders use T to specify which one.
  6824. */
  6825. inline void gcode_M92() {
  6826. GET_TARGET_EXTRUDER(92);
  6827. LOOP_XYZE(i) {
  6828. if (parser.seen(axis_codes[i])) {
  6829. if (i == E_AXIS) {
  6830. const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
  6831. if (value < 20.0) {
  6832. float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
  6833. planner.max_jerk[E_AXIS] *= factor;
  6834. planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
  6835. planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
  6836. }
  6837. planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
  6838. }
  6839. else {
  6840. planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i);
  6841. }
  6842. }
  6843. }
  6844. planner.refresh_positioning();
  6845. }
  6846. /**
  6847. * Output the current position to serial
  6848. */
  6849. void report_current_position() {
  6850. SERIAL_PROTOCOLPGM("X:");
  6851. SERIAL_PROTOCOL(current_position[X_AXIS]);
  6852. SERIAL_PROTOCOLPGM(" Y:");
  6853. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  6854. SERIAL_PROTOCOLPGM(" Z:");
  6855. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  6856. SERIAL_PROTOCOLPGM(" E:");
  6857. SERIAL_PROTOCOL(current_position[E_AXIS]);
  6858. stepper.report_positions();
  6859. #if IS_SCARA
  6860. SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
  6861. SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
  6862. SERIAL_EOL();
  6863. #endif
  6864. }
  6865. #ifdef M114_DETAIL
  6866. void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
  6867. char str[12];
  6868. for (uint8_t i = 0; i < n; i++) {
  6869. SERIAL_CHAR(' ');
  6870. SERIAL_CHAR(axis_codes[i]);
  6871. SERIAL_CHAR(':');
  6872. SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
  6873. }
  6874. SERIAL_EOL();
  6875. }
  6876. inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
  6877. void report_current_position_detail() {
  6878. stepper.synchronize();
  6879. SERIAL_PROTOCOLPGM("\nLogical:");
  6880. report_xyze(current_position);
  6881. SERIAL_PROTOCOLPGM("Raw: ");
  6882. const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
  6883. report_xyz(raw);
  6884. SERIAL_PROTOCOLPGM("Leveled:");
  6885. float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
  6886. planner.apply_leveling(leveled);
  6887. report_xyz(leveled);
  6888. SERIAL_PROTOCOLPGM("UnLevel:");
  6889. float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
  6890. planner.unapply_leveling(unleveled);
  6891. report_xyz(unleveled);
  6892. #if IS_KINEMATIC
  6893. #if IS_SCARA
  6894. SERIAL_PROTOCOLPGM("ScaraK: ");
  6895. #else
  6896. SERIAL_PROTOCOLPGM("DeltaK: ");
  6897. #endif
  6898. inverse_kinematics(leveled); // writes delta[]
  6899. report_xyz(delta);
  6900. #endif
  6901. SERIAL_PROTOCOLPGM("Stepper:");
  6902. const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
  6903. report_xyze(step_count, 4, 0);
  6904. #if IS_SCARA
  6905. const float deg[XYZ] = {
  6906. stepper.get_axis_position_degrees(A_AXIS),
  6907. stepper.get_axis_position_degrees(B_AXIS)
  6908. };
  6909. SERIAL_PROTOCOLPGM("Degrees:");
  6910. report_xyze(deg, 2);
  6911. #endif
  6912. SERIAL_PROTOCOLPGM("FromStp:");
  6913. get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
  6914. const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
  6915. report_xyze(from_steppers);
  6916. const float diff[XYZE] = {
  6917. from_steppers[X_AXIS] - leveled[X_AXIS],
  6918. from_steppers[Y_AXIS] - leveled[Y_AXIS],
  6919. from_steppers[Z_AXIS] - leveled[Z_AXIS],
  6920. from_steppers[E_AXIS] - current_position[E_AXIS]
  6921. };
  6922. SERIAL_PROTOCOLPGM("Differ: ");
  6923. report_xyze(diff);
  6924. }
  6925. #endif // M114_DETAIL
  6926. /**
  6927. * M114: Report current position to host
  6928. */
  6929. inline void gcode_M114() {
  6930. #ifdef M114_DETAIL
  6931. if (parser.seen('D')) {
  6932. report_current_position_detail();
  6933. return;
  6934. }
  6935. #endif
  6936. stepper.synchronize();
  6937. report_current_position();
  6938. }
  6939. /**
  6940. * M115: Capabilities string
  6941. */
  6942. inline void gcode_M115() {
  6943. SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  6944. #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  6945. // EEPROM (M500, M501)
  6946. #if ENABLED(EEPROM_SETTINGS)
  6947. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
  6948. #else
  6949. SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
  6950. #endif
  6951. // AUTOREPORT_TEMP (M155)
  6952. #if ENABLED(AUTO_REPORT_TEMPERATURES)
  6953. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
  6954. #else
  6955. SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
  6956. #endif
  6957. // PROGRESS (M530 S L, M531 <file>, M532 X L)
  6958. SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  6959. // Print Job timer M75, M76, M77
  6960. SERIAL_PROTOCOLLNPGM("Cap:PRINT_JOB:1");
  6961. // AUTOLEVEL (G29)
  6962. #if HAS_ABL
  6963. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
  6964. #else
  6965. SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
  6966. #endif
  6967. // Z_PROBE (G30)
  6968. #if HAS_BED_PROBE
  6969. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
  6970. #else
  6971. SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
  6972. #endif
  6973. // MESH_REPORT (M420 V)
  6974. #if HAS_LEVELING
  6975. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
  6976. #else
  6977. SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
  6978. #endif
  6979. // BUILD_PERCENT (M73)
  6980. #if ENABLED(LCD_SET_PROGRESS_MANUALLY)
  6981. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:1");
  6982. #else
  6983. SERIAL_PROTOCOLLNPGM("Cap:BUILD_PERCENT:0");
  6984. #endif
  6985. // SOFTWARE_POWER (M80, M81)
  6986. #if HAS_POWER_SWITCH
  6987. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
  6988. #else
  6989. SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
  6990. #endif
  6991. // CASE LIGHTS (M355)
  6992. #if HAS_CASE_LIGHT
  6993. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
  6994. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
  6995. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:1");
  6996. }
  6997. else
  6998. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  6999. #else
  7000. SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
  7001. SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
  7002. #endif
  7003. // EMERGENCY_PARSER (M108, M112, M410)
  7004. #if ENABLED(EMERGENCY_PARSER)
  7005. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
  7006. #else
  7007. SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
  7008. #endif
  7009. #endif // EXTENDED_CAPABILITIES_REPORT
  7010. }
  7011. /**
  7012. * M117: Set LCD Status Message
  7013. */
  7014. inline void gcode_M117() { lcd_setstatus(parser.string_arg); }
  7015. /**
  7016. * M118: Display a message in the host console.
  7017. *
  7018. * A Append '// ' for an action command, as in OctoPrint
  7019. * E Have the host 'echo:' the text
  7020. */
  7021. inline void gcode_M118() {
  7022. if (parser.boolval('E')) SERIAL_ECHO_START();
  7023. if (parser.boolval('A')) SERIAL_ECHOPGM("// ");
  7024. SERIAL_ECHOLN(parser.string_arg);
  7025. }
  7026. /**
  7027. * M119: Output endstop states to serial output
  7028. */
  7029. inline void gcode_M119() { endstops.M119(); }
  7030. /**
  7031. * M120: Enable endstops and set non-homing endstop state to "enabled"
  7032. */
  7033. inline void gcode_M120() { endstops.enable_globally(true); }
  7034. /**
  7035. * M121: Disable endstops and set non-homing endstop state to "disabled"
  7036. */
  7037. inline void gcode_M121() { endstops.enable_globally(false); }
  7038. #if ENABLED(PARK_HEAD_ON_PAUSE)
  7039. /**
  7040. * M125: Store current position and move to filament change position.
  7041. * Called on pause (by M25) to prevent material leaking onto the
  7042. * object. On resume (M24) the head will be moved back and the
  7043. * print will resume.
  7044. *
  7045. * If Marlin is compiled without SD Card support, M125 can be
  7046. * used directly to pause the print and move to park position,
  7047. * resuming with a button click or M108.
  7048. *
  7049. * L = override retract length
  7050. * X = override X
  7051. * Y = override Y
  7052. * Z = override Z raise
  7053. */
  7054. inline void gcode_M125() {
  7055. // Initial retract before move to filament change position
  7056. const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  7057. #ifdef PAUSE_PARK_RETRACT_LENGTH
  7058. - (PAUSE_PARK_RETRACT_LENGTH)
  7059. #endif
  7060. ;
  7061. // Lift Z axis
  7062. const float z_lift = parser.linearval('Z')
  7063. #ifdef PAUSE_PARK_Z_ADD
  7064. + PAUSE_PARK_Z_ADD
  7065. #endif
  7066. ;
  7067. // Move XY axes to filament change position or given position
  7068. const float x_pos = parser.linearval('X')
  7069. #ifdef PAUSE_PARK_X_POS
  7070. + PAUSE_PARK_X_POS
  7071. #endif
  7072. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7073. + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0)
  7074. #endif
  7075. ;
  7076. const float y_pos = parser.linearval('Y')
  7077. #ifdef PAUSE_PARK_Y_POS
  7078. + PAUSE_PARK_Y_POS
  7079. #endif
  7080. #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
  7081. + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0)
  7082. #endif
  7083. ;
  7084. #if DISABLED(SDSUPPORT)
  7085. const bool job_running = print_job_timer.isRunning();
  7086. #endif
  7087. if (pause_print(retract, z_lift, x_pos, y_pos)) {
  7088. #if DISABLED(SDSUPPORT)
  7089. // Wait for lcd click or M108
  7090. wait_for_filament_reload();
  7091. // Return to print position and continue
  7092. resume_print();
  7093. if (job_running) print_job_timer.start();
  7094. #endif
  7095. }
  7096. }
  7097. #endif // PARK_HEAD_ON_PAUSE
  7098. #if HAS_COLOR_LEDS
  7099. /**
  7100. * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
  7101. * and Brightness - Use P (for NEOPIXEL only)
  7102. *
  7103. * Always sets all 3 or 4 components. If a component is left out, set to 0.
  7104. * If brightness is left out, no value changed
  7105. *
  7106. * Examples:
  7107. *
  7108. * M150 R255 ; Turn LED red
  7109. * M150 R255 U127 ; Turn LED orange (PWM only)
  7110. * M150 ; Turn LED off
  7111. * M150 R U B ; Turn LED white
  7112. * M150 W ; Turn LED white using a white LED
  7113. * M150 P127 ; Set LED 50% brightness
  7114. * M150 P ; Set LED full brightness
  7115. */
  7116. inline void gcode_M150() {
  7117. set_led_color(
  7118. parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7119. parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
  7120. parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7121. #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_LED)
  7122. , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0
  7123. #if ENABLED(NEOPIXEL_LED)
  7124. , parser.seen('P') ? (parser.has_value() ? parser.value_byte() : 255) : pixels.getBrightness()
  7125. #endif
  7126. #endif
  7127. );
  7128. }
  7129. #endif // HAS_COLOR_LEDS
  7130. /**
  7131. * M200: Set filament diameter and set E axis units to cubic units
  7132. *
  7133. * T<extruder> - Optional extruder number. Current extruder if omitted.
  7134. * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
  7135. */
  7136. inline void gcode_M200() {
  7137. if (get_target_extruder_from_command(200)) return;
  7138. if (parser.seen('D')) {
  7139. // setting any extruder filament size disables volumetric on the assumption that
  7140. // slicers either generate in extruder values as cubic mm or as as filament feeds
  7141. // for all extruders
  7142. volumetric_enabled = (parser.value_linear_units() != 0.0);
  7143. if (volumetric_enabled) {
  7144. filament_size[target_extruder] = parser.value_linear_units();
  7145. // make sure all extruders have some sane value for the filament size
  7146. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  7147. if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
  7148. }
  7149. }
  7150. calculate_volumetric_multipliers();
  7151. }
  7152. /**
  7153. * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  7154. *
  7155. * With multiple extruders use T to specify which one.
  7156. */
  7157. inline void gcode_M201() {
  7158. GET_TARGET_EXTRUDER(201);
  7159. LOOP_XYZE(i) {
  7160. if (parser.seen(axis_codes[i])) {
  7161. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7162. planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
  7163. }
  7164. }
  7165. // 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)
  7166. planner.reset_acceleration_rates();
  7167. }
  7168. #if 0 // Not used for Sprinter/grbl gen6
  7169. inline void gcode_M202() {
  7170. LOOP_XYZE(i) {
  7171. if (parser.seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = parser.value_axis_units((AxisEnum)i) * planner.axis_steps_per_mm[i];
  7172. }
  7173. }
  7174. #endif
  7175. /**
  7176. * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
  7177. *
  7178. * With multiple extruders use T to specify which one.
  7179. */
  7180. inline void gcode_M203() {
  7181. GET_TARGET_EXTRUDER(203);
  7182. LOOP_XYZE(i)
  7183. if (parser.seen(axis_codes[i])) {
  7184. const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
  7185. planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a);
  7186. }
  7187. }
  7188. /**
  7189. * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
  7190. *
  7191. * P = Printing moves
  7192. * R = Retract only (no X, Y, Z) moves
  7193. * T = Travel (non printing) moves
  7194. *
  7195. * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
  7196. */
  7197. inline void gcode_M204() {
  7198. if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
  7199. planner.travel_acceleration = planner.acceleration = parser.value_linear_units();
  7200. SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
  7201. }
  7202. if (parser.seen('P')) {
  7203. planner.acceleration = parser.value_linear_units();
  7204. SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
  7205. }
  7206. if (parser.seen('R')) {
  7207. planner.retract_acceleration = parser.value_linear_units();
  7208. SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
  7209. }
  7210. if (parser.seen('T')) {
  7211. planner.travel_acceleration = parser.value_linear_units();
  7212. SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
  7213. }
  7214. }
  7215. /**
  7216. * M205: Set Advanced Settings
  7217. *
  7218. * S = Min Feed Rate (units/s)
  7219. * T = Min Travel Feed Rate (units/s)
  7220. * B = Min Segment Time (µs)
  7221. * X = Max X Jerk (units/sec^2)
  7222. * Y = Max Y Jerk (units/sec^2)
  7223. * Z = Max Z Jerk (units/sec^2)
  7224. * E = Max E Jerk (units/sec^2)
  7225. */
  7226. inline void gcode_M205() {
  7227. if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
  7228. if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
  7229. if (parser.seen('B')) planner.min_segment_time = parser.value_millis();
  7230. if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
  7231. if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
  7232. if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units();
  7233. if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
  7234. }
  7235. #if HAS_M206_COMMAND
  7236. /**
  7237. * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
  7238. *
  7239. * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
  7240. * *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
  7241. * *** In the next 1.2 release, it will simply be disabled by default.
  7242. */
  7243. inline void gcode_M206() {
  7244. LOOP_XYZ(i)
  7245. if (parser.seen(axis_codes[i]))
  7246. set_home_offset((AxisEnum)i, parser.value_linear_units());
  7247. #if ENABLED(MORGAN_SCARA)
  7248. if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta
  7249. if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi
  7250. #endif
  7251. SYNC_PLAN_POSITION_KINEMATIC();
  7252. report_current_position();
  7253. }
  7254. #endif // HAS_M206_COMMAND
  7255. #if ENABLED(DELTA)
  7256. /**
  7257. * M665: Set delta configurations
  7258. *
  7259. * H = delta height
  7260. * L = diagonal rod
  7261. * R = delta radius
  7262. * S = segments per second
  7263. * B = delta calibration radius
  7264. * X = Alpha (Tower 1) angle trim
  7265. * Y = Beta (Tower 2) angle trim
  7266. * Z = Rotate A and B by this angle
  7267. */
  7268. inline void gcode_M665() {
  7269. if (parser.seen('H')) {
  7270. home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
  7271. update_software_endstops(Z_AXIS);
  7272. }
  7273. if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
  7274. if (parser.seen('R')) delta_radius = parser.value_linear_units();
  7275. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7276. if (parser.seen('B')) delta_calibration_radius = parser.value_float();
  7277. if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
  7278. if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
  7279. if (parser.seen('Z')) delta_tower_angle_trim[C_AXIS] = parser.value_float();
  7280. recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
  7281. }
  7282. /**
  7283. * M666: Set delta endstop adjustment
  7284. */
  7285. inline void gcode_M666() {
  7286. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7287. if (DEBUGGING(LEVELING)) {
  7288. SERIAL_ECHOLNPGM(">>> gcode_M666");
  7289. }
  7290. #endif
  7291. LOOP_XYZ(i) {
  7292. if (parser.seen(axis_codes[i])) {
  7293. if (parser.value_linear_units() * Z_HOME_DIR <= 0)
  7294. endstop_adj[i] = parser.value_linear_units();
  7295. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7296. if (DEBUGGING(LEVELING)) {
  7297. SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
  7298. SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
  7299. }
  7300. #endif
  7301. }
  7302. }
  7303. #if ENABLED(DEBUG_LEVELING_FEATURE)
  7304. if (DEBUGGING(LEVELING)) {
  7305. SERIAL_ECHOLNPGM("<<< gcode_M666");
  7306. }
  7307. #endif
  7308. }
  7309. #elif IS_SCARA
  7310. /**
  7311. * M665: Set SCARA settings
  7312. *
  7313. * Parameters:
  7314. *
  7315. * S[segments-per-second] - Segments-per-second
  7316. * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
  7317. * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
  7318. *
  7319. * A, P, and X are all aliases for the shoulder angle
  7320. * B, T, and Y are all aliases for the elbow angle
  7321. */
  7322. inline void gcode_M665() {
  7323. if (parser.seen('S')) delta_segments_per_second = parser.value_float();
  7324. const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
  7325. const uint8_t sumAPX = hasA + hasP + hasX;
  7326. if (sumAPX == 1)
  7327. home_offset[A_AXIS] = parser.value_float();
  7328. else if (sumAPX > 1) {
  7329. SERIAL_ERROR_START();
  7330. SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
  7331. return;
  7332. }
  7333. const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
  7334. const uint8_t sumBTY = hasB + hasT + hasY;
  7335. if (sumBTY == 1)
  7336. home_offset[B_AXIS] = parser.value_float();
  7337. else if (sumBTY > 1) {
  7338. SERIAL_ERROR_START();
  7339. SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
  7340. return;
  7341. }
  7342. }
  7343. #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  7344. /**
  7345. * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
  7346. */
  7347. inline void gcode_M666() {
  7348. if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units();
  7349. SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
  7350. }
  7351. #endif // !DELTA && Z_DUAL_ENDSTOPS
  7352. #if ENABLED(FWRETRACT)
  7353. /**
  7354. * M207: Set firmware retraction values
  7355. *
  7356. * S[+units] retract_length
  7357. * W[+units] swap_retract_length (multi-extruder)
  7358. * F[units/min] retract_feedrate_mm_s
  7359. * Z[units] retract_zlift
  7360. */
  7361. inline void gcode_M207() {
  7362. if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
  7363. if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7364. if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
  7365. if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
  7366. }
  7367. /**
  7368. * M208: Set firmware un-retraction values
  7369. *
  7370. * S[+units] retract_recover_length (in addition to M207 S*)
  7371. * W[+units] swap_retract_recover_length (multi-extruder)
  7372. * F[units/min] retract_recover_feedrate_mm_s
  7373. * R[units/min] swap_retract_recover_feedrate_mm_s
  7374. */
  7375. inline void gcode_M208() {
  7376. if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
  7377. if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7378. if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
  7379. if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
  7380. }
  7381. /**
  7382. * M209: Enable automatic retract (M209 S1)
  7383. * For slicers that don't support G10/11, reversed extrude-only
  7384. * moves will be classified as retraction.
  7385. */
  7386. inline void gcode_M209() {
  7387. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
  7388. if (parser.seen('S')) {
  7389. autoretract_enabled = parser.value_bool();
  7390. for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
  7391. }
  7392. }
  7393. }
  7394. #endif // FWRETRACT
  7395. /**
  7396. * M211: Enable, Disable, and/or Report software endstops
  7397. *
  7398. * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
  7399. */
  7400. inline void gcode_M211() {
  7401. SERIAL_ECHO_START();
  7402. #if HAS_SOFTWARE_ENDSTOPS
  7403. if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
  7404. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7405. serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
  7406. #else
  7407. SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
  7408. SERIAL_ECHOPGM(MSG_OFF);
  7409. #endif
  7410. SERIAL_ECHOPGM(MSG_SOFT_MIN);
  7411. SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
  7412. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
  7413. SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
  7414. SERIAL_ECHOPGM(MSG_SOFT_MAX);
  7415. SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
  7416. SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
  7417. SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  7418. }
  7419. #if HOTENDS > 1
  7420. /**
  7421. * M218 - set hotend offset (in linear units)
  7422. *
  7423. * T<tool>
  7424. * X<xoffset>
  7425. * Y<yoffset>
  7426. * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE
  7427. */
  7428. inline void gcode_M218() {
  7429. if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  7430. if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
  7431. if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
  7432. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7433. if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
  7434. #endif
  7435. SERIAL_ECHO_START();
  7436. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  7437. HOTEND_LOOP() {
  7438. SERIAL_CHAR(' ');
  7439. SERIAL_ECHO(hotend_offset[X_AXIS][e]);
  7440. SERIAL_CHAR(',');
  7441. SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
  7442. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
  7443. SERIAL_CHAR(',');
  7444. SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
  7445. #endif
  7446. }
  7447. SERIAL_EOL();
  7448. }
  7449. #endif // HOTENDS > 1
  7450. /**
  7451. * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
  7452. */
  7453. inline void gcode_M220() {
  7454. if (parser.seenval('S')) feedrate_percentage = parser.value_int();
  7455. }
  7456. /**
  7457. * M221: Set extrusion percentage (M221 T0 S95)
  7458. */
  7459. inline void gcode_M221() {
  7460. if (get_target_extruder_from_command(221)) return;
  7461. if (parser.seenval('S'))
  7462. flow_percentage[target_extruder] = parser.value_int();
  7463. }
  7464. /**
  7465. * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
  7466. */
  7467. inline void gcode_M226() {
  7468. if (parser.seen('P')) {
  7469. const int pin_number = parser.value_int(),
  7470. pin_state = parser.intval('S', -1); // required pin state - default is inverted
  7471. if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) {
  7472. int target = LOW;
  7473. stepper.synchronize();
  7474. pinMode(pin_number, INPUT);
  7475. switch (pin_state) {
  7476. case 1:
  7477. target = HIGH;
  7478. break;
  7479. case 0:
  7480. target = LOW;
  7481. break;
  7482. case -1:
  7483. target = !digitalRead(pin_number);
  7484. break;
  7485. }
  7486. while (digitalRead(pin_number) != target) idle();
  7487. } // pin_state -1 0 1 && pin_number > -1
  7488. } // parser.seen('P')
  7489. }
  7490. #if ENABLED(EXPERIMENTAL_I2CBUS)
  7491. /**
  7492. * M260: Send data to a I2C slave device
  7493. *
  7494. * This is a PoC, the formating and arguments for the GCODE will
  7495. * change to be more compatible, the current proposal is:
  7496. *
  7497. * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
  7498. *
  7499. * M260 B<byte-1 value in base 10>
  7500. * M260 B<byte-2 value in base 10>
  7501. * M260 B<byte-3 value in base 10>
  7502. *
  7503. * M260 S1 ; Send the buffered data and reset the buffer
  7504. * M260 R1 ; Reset the buffer without sending data
  7505. *
  7506. */
  7507. inline void gcode_M260() {
  7508. // Set the target address
  7509. if (parser.seen('A')) i2c.address(parser.value_byte());
  7510. // Add a new byte to the buffer
  7511. if (parser.seen('B')) i2c.addbyte(parser.value_byte());
  7512. // Flush the buffer to the bus
  7513. if (parser.seen('S')) i2c.send();
  7514. // Reset and rewind the buffer
  7515. else if (parser.seen('R')) i2c.reset();
  7516. }
  7517. /**
  7518. * M261: Request X bytes from I2C slave device
  7519. *
  7520. * Usage: M261 A<slave device address base 10> B<number of bytes>
  7521. */
  7522. inline void gcode_M261() {
  7523. if (parser.seen('A')) i2c.address(parser.value_byte());
  7524. uint8_t bytes = parser.byteval('B', 1);
  7525. if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
  7526. i2c.relay(bytes);
  7527. }
  7528. else {
  7529. SERIAL_ERROR_START();
  7530. SERIAL_ERRORLN("Bad i2c request");
  7531. }
  7532. }
  7533. #endif // EXPERIMENTAL_I2CBUS
  7534. #if HAS_SERVOS
  7535. /**
  7536. * M280: Get or set servo position. P<index> [S<angle>]
  7537. */
  7538. inline void gcode_M280() {
  7539. if (!parser.seen('P')) return;
  7540. const int servo_index = parser.value_int();
  7541. if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
  7542. if (parser.seen('S'))
  7543. MOVE_SERVO(servo_index, parser.value_int());
  7544. else {
  7545. SERIAL_ECHO_START();
  7546. SERIAL_ECHOPAIR(" Servo ", servo_index);
  7547. SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
  7548. }
  7549. }
  7550. else {
  7551. SERIAL_ERROR_START();
  7552. SERIAL_ECHOPAIR("Servo ", servo_index);
  7553. SERIAL_ECHOLNPGM(" out of range");
  7554. }
  7555. }
  7556. #endif // HAS_SERVOS
  7557. #if ENABLED(BABYSTEPPING)
  7558. /**
  7559. * M290: Babystepping
  7560. */
  7561. inline void gcode_M290() {
  7562. #if ENABLED(BABYSTEP_XY)
  7563. for (uint8_t a = X_AXIS; a <= Z_AXIS; a++)
  7564. if (parser.seenval(axis_codes[a]) || (a == Z_AXIS && parser.seenval('S'))) {
  7565. float offs = parser.value_axis_units(a);
  7566. constrain(offs, -2, 2);
  7567. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7568. if (a == Z_AXIS) {
  7569. zprobe_zoffset += offs;
  7570. refresh_zprobe_zoffset(true); // 'true' to not babystep
  7571. }
  7572. #endif
  7573. thermalManager.babystep_axis(a, offs * planner.axis_steps_per_mm[a]);
  7574. }
  7575. #else
  7576. if (parser.seenval('Z') || parser.seenval('S')) {
  7577. float offs = parser.value_axis_units(Z_AXIS);
  7578. constrain(offs, -2, 2);
  7579. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  7580. zprobe_zoffset += offs;
  7581. refresh_zprobe_zoffset(); // This will babystep the axis
  7582. #else
  7583. thermalManager.babystep_axis(Z_AXIS, parser.value_axis_units(Z_AXIS) * planner.axis_steps_per_mm[Z_AXIS]);
  7584. #endif
  7585. }
  7586. #endif
  7587. }
  7588. #endif // BABYSTEPPING
  7589. #if HAS_BUZZER
  7590. /**
  7591. * M300: Play beep sound S<frequency Hz> P<duration ms>
  7592. */
  7593. inline void gcode_M300() {
  7594. uint16_t const frequency = parser.ushortval('S', 260);
  7595. uint16_t duration = parser.ushortval('P', 1000);
  7596. // Limits the tone duration to 0-5 seconds.
  7597. NOMORE(duration, 5000);
  7598. BUZZ(duration, frequency);
  7599. }
  7600. #endif // HAS_BUZZER
  7601. #if ENABLED(PIDTEMP)
  7602. /**
  7603. * M301: Set PID parameters P I D (and optionally C, L)
  7604. *
  7605. * P[float] Kp term
  7606. * I[float] Ki term (unscaled)
  7607. * D[float] Kd term (unscaled)
  7608. *
  7609. * With PID_EXTRUSION_SCALING:
  7610. *
  7611. * C[float] Kc term
  7612. * L[float] LPQ length
  7613. */
  7614. inline void gcode_M301() {
  7615. // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
  7616. // default behaviour (omitting E parameter) is to update for extruder 0 only
  7617. const uint8_t e = parser.byteval('E'); // extruder being updated
  7618. if (e < HOTENDS) { // catch bad input value
  7619. if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
  7620. if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
  7621. if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
  7622. #if ENABLED(PID_EXTRUSION_SCALING)
  7623. if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
  7624. if (parser.seen('L')) lpq_len = parser.value_float();
  7625. NOMORE(lpq_len, LPQ_MAX_LEN);
  7626. #endif
  7627. thermalManager.updatePID();
  7628. SERIAL_ECHO_START();
  7629. #if ENABLED(PID_PARAMS_PER_HOTEND)
  7630. SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
  7631. #endif // PID_PARAMS_PER_HOTEND
  7632. SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
  7633. SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
  7634. SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
  7635. #if ENABLED(PID_EXTRUSION_SCALING)
  7636. //Kc does not have scaling applied above, or in resetting defaults
  7637. SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
  7638. #endif
  7639. SERIAL_EOL();
  7640. }
  7641. else {
  7642. SERIAL_ERROR_START();
  7643. SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
  7644. }
  7645. }
  7646. #endif // PIDTEMP
  7647. #if ENABLED(PIDTEMPBED)
  7648. inline void gcode_M304() {
  7649. if (parser.seen('P')) thermalManager.bedKp = parser.value_float();
  7650. if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float());
  7651. if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float());
  7652. thermalManager.updatePID();
  7653. SERIAL_ECHO_START();
  7654. SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
  7655. SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
  7656. SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
  7657. }
  7658. #endif // PIDTEMPBED
  7659. #if defined(CHDK) || HAS_PHOTOGRAPH
  7660. /**
  7661. * M240: Trigger a camera by emulating a Canon RC-1
  7662. * See http://www.doc-diy.net/photo/rc-1_hacked/
  7663. */
  7664. inline void gcode_M240() {
  7665. #ifdef CHDK
  7666. OUT_WRITE(CHDK, HIGH);
  7667. chdkHigh = millis();
  7668. chdkActive = true;
  7669. #elif HAS_PHOTOGRAPH
  7670. const uint8_t NUM_PULSES = 16;
  7671. const float PULSE_LENGTH = 0.01524;
  7672. for (int i = 0; i < NUM_PULSES; i++) {
  7673. WRITE(PHOTOGRAPH_PIN, HIGH);
  7674. _delay_ms(PULSE_LENGTH);
  7675. WRITE(PHOTOGRAPH_PIN, LOW);
  7676. _delay_ms(PULSE_LENGTH);
  7677. }
  7678. delay(7.33);
  7679. for (int i = 0; i < NUM_PULSES; i++) {
  7680. WRITE(PHOTOGRAPH_PIN, HIGH);
  7681. _delay_ms(PULSE_LENGTH);
  7682. WRITE(PHOTOGRAPH_PIN, LOW);
  7683. _delay_ms(PULSE_LENGTH);
  7684. }
  7685. #endif // !CHDK && HAS_PHOTOGRAPH
  7686. }
  7687. #endif // CHDK || PHOTOGRAPH_PIN
  7688. #if HAS_LCD_CONTRAST
  7689. /**
  7690. * M250: Read and optionally set the LCD contrast
  7691. */
  7692. inline void gcode_M250() {
  7693. if (parser.seen('C')) set_lcd_contrast(parser.value_int());
  7694. SERIAL_PROTOCOLPGM("lcd contrast value: ");
  7695. SERIAL_PROTOCOL(lcd_contrast);
  7696. SERIAL_EOL();
  7697. }
  7698. #endif // HAS_LCD_CONTRAST
  7699. #if ENABLED(PREVENT_COLD_EXTRUSION)
  7700. /**
  7701. * M302: Allow cold extrudes, or set the minimum extrude temperature
  7702. *
  7703. * S<temperature> sets the minimum extrude temperature
  7704. * P<bool> enables (1) or disables (0) cold extrusion
  7705. *
  7706. * Examples:
  7707. *
  7708. * M302 ; report current cold extrusion state
  7709. * M302 P0 ; enable cold extrusion checking
  7710. * M302 P1 ; disables cold extrusion checking
  7711. * M302 S0 ; always allow extrusion (disables checking)
  7712. * M302 S170 ; only allow extrusion above 170
  7713. * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
  7714. */
  7715. inline void gcode_M302() {
  7716. const bool seen_S = parser.seen('S');
  7717. if (seen_S) {
  7718. thermalManager.extrude_min_temp = parser.value_celsius();
  7719. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
  7720. }
  7721. if (parser.seen('P'))
  7722. thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool();
  7723. else if (!seen_S) {
  7724. // Report current state
  7725. SERIAL_ECHO_START();
  7726. SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
  7727. SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
  7728. SERIAL_ECHOLNPGM("C)");
  7729. }
  7730. }
  7731. #endif // PREVENT_COLD_EXTRUSION
  7732. /**
  7733. * M303: PID relay autotune
  7734. *
  7735. * S<temperature> sets the target temperature. (default 150C)
  7736. * E<extruder> (-1 for the bed) (default 0)
  7737. * C<cycles>
  7738. * U<bool> with a non-zero value will apply the result to current settings
  7739. */
  7740. inline void gcode_M303() {
  7741. #if HAS_PID_HEATING
  7742. const int e = parser.intval('E'), c = parser.intval('C', 5);
  7743. const bool u = parser.boolval('U');
  7744. int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
  7745. if (WITHIN(e, 0, HOTENDS - 1))
  7746. target_extruder = e;
  7747. #if DISABLED(BUSY_WHILE_HEATING)
  7748. KEEPALIVE_STATE(NOT_BUSY);
  7749. #endif
  7750. thermalManager.PID_autotune(temp, e, c, u);
  7751. #if DISABLED(BUSY_WHILE_HEATING)
  7752. KEEPALIVE_STATE(IN_HANDLER);
  7753. #endif
  7754. #else
  7755. SERIAL_ERROR_START();
  7756. SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
  7757. #endif
  7758. }
  7759. #if ENABLED(MORGAN_SCARA)
  7760. bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
  7761. if (IsRunning()) {
  7762. forward_kinematics_SCARA(delta_a, delta_b);
  7763. destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
  7764. destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
  7765. destination[Z_AXIS] = current_position[Z_AXIS];
  7766. prepare_move_to_destination();
  7767. return true;
  7768. }
  7769. return false;
  7770. }
  7771. /**
  7772. * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
  7773. */
  7774. inline bool gcode_M360() {
  7775. SERIAL_ECHOLNPGM(" Cal: Theta 0");
  7776. return SCARA_move_to_cal(0, 120);
  7777. }
  7778. /**
  7779. * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
  7780. */
  7781. inline bool gcode_M361() {
  7782. SERIAL_ECHOLNPGM(" Cal: Theta 90");
  7783. return SCARA_move_to_cal(90, 130);
  7784. }
  7785. /**
  7786. * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
  7787. */
  7788. inline bool gcode_M362() {
  7789. SERIAL_ECHOLNPGM(" Cal: Psi 0");
  7790. return SCARA_move_to_cal(60, 180);
  7791. }
  7792. /**
  7793. * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
  7794. */
  7795. inline bool gcode_M363() {
  7796. SERIAL_ECHOLNPGM(" Cal: Psi 90");
  7797. return SCARA_move_to_cal(50, 90);
  7798. }
  7799. /**
  7800. * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
  7801. */
  7802. inline bool gcode_M364() {
  7803. SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
  7804. return SCARA_move_to_cal(45, 135);
  7805. }
  7806. #endif // SCARA
  7807. #if ENABLED(EXT_SOLENOID)
  7808. void enable_solenoid(const uint8_t num) {
  7809. switch (num) {
  7810. case 0:
  7811. OUT_WRITE(SOL0_PIN, HIGH);
  7812. break;
  7813. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  7814. case 1:
  7815. OUT_WRITE(SOL1_PIN, HIGH);
  7816. break;
  7817. #endif
  7818. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  7819. case 2:
  7820. OUT_WRITE(SOL2_PIN, HIGH);
  7821. break;
  7822. #endif
  7823. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  7824. case 3:
  7825. OUT_WRITE(SOL3_PIN, HIGH);
  7826. break;
  7827. #endif
  7828. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  7829. case 4:
  7830. OUT_WRITE(SOL4_PIN, HIGH);
  7831. break;
  7832. #endif
  7833. default:
  7834. SERIAL_ECHO_START();
  7835. SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
  7836. break;
  7837. }
  7838. }
  7839. void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
  7840. void disable_all_solenoids() {
  7841. OUT_WRITE(SOL0_PIN, LOW);
  7842. #if HAS_SOLENOID_1 && EXTRUDERS > 1
  7843. OUT_WRITE(SOL1_PIN, LOW);
  7844. #endif
  7845. #if HAS_SOLENOID_2 && EXTRUDERS > 2
  7846. OUT_WRITE(SOL2_PIN, LOW);
  7847. #endif
  7848. #if HAS_SOLENOID_3 && EXTRUDERS > 3
  7849. OUT_WRITE(SOL3_PIN, LOW);
  7850. #endif
  7851. #if HAS_SOLENOID_4 && EXTRUDERS > 4
  7852. OUT_WRITE(SOL4_PIN, LOW);
  7853. #endif
  7854. }
  7855. /**
  7856. * M380: Enable solenoid on the active extruder
  7857. */
  7858. inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
  7859. /**
  7860. * M381: Disable all solenoids
  7861. */
  7862. inline void gcode_M381() { disable_all_solenoids(); }
  7863. #endif // EXT_SOLENOID
  7864. /**
  7865. * M400: Finish all moves
  7866. */
  7867. inline void gcode_M400() { stepper.synchronize(); }
  7868. #if HAS_BED_PROBE
  7869. /**
  7870. * M401: Engage Z Servo endstop if available
  7871. */
  7872. inline void gcode_M401() { DEPLOY_PROBE(); }
  7873. /**
  7874. * M402: Retract Z Servo endstop if enabled
  7875. */
  7876. inline void gcode_M402() { STOW_PROBE(); }
  7877. #endif // HAS_BED_PROBE
  7878. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  7879. /**
  7880. * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
  7881. */
  7882. inline void gcode_M404() {
  7883. if (parser.seen('W')) {
  7884. filament_width_nominal = parser.value_linear_units();
  7885. }
  7886. else {
  7887. SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
  7888. SERIAL_PROTOCOLLN(filament_width_nominal);
  7889. }
  7890. }
  7891. /**
  7892. * M405: Turn on filament sensor for control
  7893. */
  7894. inline void gcode_M405() {
  7895. // This is technically a linear measurement, but since it's quantized to centimeters and is a different
  7896. // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units().
  7897. if (parser.seen('D')) {
  7898. meas_delay_cm = parser.value_byte();
  7899. NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  7900. }
  7901. if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
  7902. const uint8_t temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
  7903. for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
  7904. measurement_delay[i] = temp_ratio;
  7905. filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
  7906. }
  7907. filament_sensor = true;
  7908. //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  7909. //SERIAL_PROTOCOL(filament_width_meas);
  7910. //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
  7911. //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
  7912. }
  7913. /**
  7914. * M406: Turn off filament sensor for control
  7915. */
  7916. inline void gcode_M406() {
  7917. filament_sensor = false;
  7918. calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value
  7919. }
  7920. /**
  7921. * M407: Get measured filament diameter on serial output
  7922. */
  7923. inline void gcode_M407() {
  7924. SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
  7925. SERIAL_PROTOCOLLN(filament_width_meas);
  7926. }
  7927. #endif // FILAMENT_WIDTH_SENSOR
  7928. void quickstop_stepper() {
  7929. stepper.quick_stop();
  7930. stepper.synchronize();
  7931. set_current_from_steppers_for_axis(ALL_AXES);
  7932. SYNC_PLAN_POSITION_KINEMATIC();
  7933. }
  7934. #if HAS_LEVELING
  7935. /**
  7936. * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
  7937. *
  7938. * S[bool] Turns leveling on or off
  7939. * Z[height] Sets the Z fade height (0 or none to disable)
  7940. * V[bool] Verbose - Print the leveling grid
  7941. *
  7942. * With AUTO_BED_LEVELING_UBL only:
  7943. *
  7944. * L[index] Load UBL mesh from index (0 is default)
  7945. */
  7946. inline void gcode_M420() {
  7947. #if ENABLED(AUTO_BED_LEVELING_UBL)
  7948. // L to load a mesh from the EEPROM
  7949. if (parser.seen('L')) {
  7950. #if ENABLED(EEPROM_SETTINGS)
  7951. const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot;
  7952. const int16_t a = settings.calc_num_meshes();
  7953. if (!a) {
  7954. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  7955. return;
  7956. }
  7957. if (!WITHIN(storage_slot, 0, a - 1)) {
  7958. SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
  7959. SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
  7960. return;
  7961. }
  7962. settings.load_mesh(storage_slot);
  7963. ubl.storage_slot = storage_slot;
  7964. #else
  7965. SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
  7966. return;
  7967. #endif
  7968. }
  7969. // L to load a mesh from the EEPROM
  7970. if (parser.seen('L') || parser.seen('V')) {
  7971. ubl.display_map(0); // Currently only supports one map type
  7972. SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
  7973. SERIAL_ECHOLNPAIR("ubl.storage_slot = ", ubl.storage_slot);
  7974. }
  7975. #endif // AUTO_BED_LEVELING_UBL
  7976. // V to print the matrix or mesh
  7977. if (parser.seen('V')) {
  7978. #if ABL_PLANAR
  7979. planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
  7980. #else
  7981. if (leveling_is_valid()) {
  7982. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  7983. print_bilinear_leveling_grid();
  7984. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  7985. print_bilinear_leveling_grid_virt();
  7986. #endif
  7987. #elif ENABLED(MESH_BED_LEVELING)
  7988. SERIAL_ECHOLNPGM("Mesh Bed Level data:");
  7989. mbl_mesh_report();
  7990. #endif
  7991. }
  7992. #endif
  7993. }
  7994. const bool to_enable = parser.boolval('S');
  7995. if (parser.seen('S'))
  7996. set_bed_leveling_enabled(to_enable);
  7997. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  7998. if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units());
  7999. #endif
  8000. const bool new_status = planner.leveling_active;
  8001. if (to_enable && !new_status) {
  8002. SERIAL_ERROR_START();
  8003. SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
  8004. }
  8005. SERIAL_ECHO_START();
  8006. SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
  8007. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  8008. SERIAL_ECHO_START();
  8009. SERIAL_ECHOPGM("Fade Height ");
  8010. if (planner.z_fade_height > 0.0)
  8011. SERIAL_ECHOLN(planner.z_fade_height);
  8012. else
  8013. SERIAL_ECHOLNPGM(MSG_OFF);
  8014. #endif
  8015. }
  8016. #endif
  8017. #if ENABLED(MESH_BED_LEVELING)
  8018. /**
  8019. * M421: Set a single Mesh Bed Leveling Z coordinate
  8020. *
  8021. * Usage:
  8022. * M421 X<linear> Y<linear> Z<linear>
  8023. * M421 X<linear> Y<linear> Q<offset>
  8024. * M421 I<xindex> J<yindex> Z<linear>
  8025. * M421 I<xindex> J<yindex> Q<offset>
  8026. */
  8027. inline void gcode_M421() {
  8028. const bool hasX = parser.seen('X'), hasI = parser.seen('I');
  8029. const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
  8030. const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
  8031. const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1;
  8032. const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
  8033. if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
  8034. SERIAL_ERROR_START();
  8035. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8036. }
  8037. else if (ix < 0 || iy < 0) {
  8038. SERIAL_ERROR_START();
  8039. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8040. }
  8041. else
  8042. mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
  8043. }
  8044. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8045. /**
  8046. * M421: Set a single Mesh Bed Leveling Z coordinate
  8047. *
  8048. * Usage:
  8049. * M421 I<xindex> J<yindex> Z<linear>
  8050. * M421 I<xindex> J<yindex> Q<offset>
  8051. */
  8052. inline void gcode_M421() {
  8053. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8054. const bool hasI = ix >= 0,
  8055. hasJ = iy >= 0,
  8056. hasZ = parser.seen('Z'),
  8057. hasQ = !hasZ && parser.seen('Q');
  8058. if (!hasI || !hasJ || !(hasZ || hasQ)) {
  8059. SERIAL_ERROR_START();
  8060. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8061. }
  8062. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8063. SERIAL_ERROR_START();
  8064. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8065. }
  8066. else {
  8067. z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
  8068. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8069. bed_level_virt_interpolate();
  8070. #endif
  8071. }
  8072. }
  8073. #elif ENABLED(AUTO_BED_LEVELING_UBL)
  8074. /**
  8075. * M421: Set a single Mesh Bed Leveling Z coordinate
  8076. *
  8077. * Usage:
  8078. * M421 I<xindex> J<yindex> Z<linear>
  8079. * M421 I<xindex> J<yindex> Q<offset>
  8080. * M421 C Z<linear>
  8081. * M421 C Q<offset>
  8082. */
  8083. inline void gcode_M421() {
  8084. int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
  8085. const bool hasI = ix >= 0,
  8086. hasJ = iy >= 0,
  8087. hasC = parser.seen('C'),
  8088. hasZ = parser.seen('Z'),
  8089. hasQ = !hasZ && parser.seen('Q');
  8090. if (hasC) {
  8091. const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
  8092. ix = location.x_index;
  8093. iy = location.y_index;
  8094. }
  8095. if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
  8096. SERIAL_ERROR_START();
  8097. SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
  8098. }
  8099. else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
  8100. SERIAL_ERROR_START();
  8101. SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
  8102. }
  8103. else
  8104. ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
  8105. }
  8106. #endif // AUTO_BED_LEVELING_UBL
  8107. #if HAS_M206_COMMAND
  8108. /**
  8109. * M428: Set home_offset based on the distance between the
  8110. * current_position and the nearest "reference point."
  8111. * If an axis is past center its endstop position
  8112. * is the reference-point. Otherwise it uses 0. This allows
  8113. * the Z offset to be set near the bed when using a max endstop.
  8114. *
  8115. * M428 can't be used more than 2cm away from 0 or an endstop.
  8116. *
  8117. * Use M206 to set these values directly.
  8118. */
  8119. inline void gcode_M428() {
  8120. bool err = false;
  8121. LOOP_XYZ(i) {
  8122. if (axis_homed[i]) {
  8123. const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
  8124. diff = base - RAW_POSITION(current_position[i], i);
  8125. if (WITHIN(diff, -20, 20)) {
  8126. set_home_offset((AxisEnum)i, diff);
  8127. }
  8128. else {
  8129. SERIAL_ERROR_START();
  8130. SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
  8131. LCD_ALERTMESSAGEPGM("Err: Too far!");
  8132. BUZZ(200, 40);
  8133. err = true;
  8134. break;
  8135. }
  8136. }
  8137. }
  8138. if (!err) {
  8139. SYNC_PLAN_POSITION_KINEMATIC();
  8140. report_current_position();
  8141. LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
  8142. BUZZ(100, 659);
  8143. BUZZ(100, 698);
  8144. }
  8145. }
  8146. #endif // HAS_M206_COMMAND
  8147. /**
  8148. * M500: Store settings in EEPROM
  8149. */
  8150. inline void gcode_M500() {
  8151. (void)settings.save();
  8152. }
  8153. /**
  8154. * M501: Read settings from EEPROM
  8155. */
  8156. inline void gcode_M501() {
  8157. (void)settings.load();
  8158. }
  8159. /**
  8160. * M502: Revert to default settings
  8161. */
  8162. inline void gcode_M502() {
  8163. (void)settings.reset();
  8164. }
  8165. #if DISABLED(DISABLE_M503)
  8166. /**
  8167. * M503: print settings currently in memory
  8168. */
  8169. inline void gcode_M503() {
  8170. (void)settings.report(parser.boolval('S'));
  8171. }
  8172. #endif
  8173. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  8174. /**
  8175. * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
  8176. */
  8177. inline void gcode_M540() {
  8178. if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool();
  8179. }
  8180. #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  8181. #if HAS_BED_PROBE
  8182. void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
  8183. static float last_zoffset = NAN;
  8184. if (!isnan(last_zoffset)) {
  8185. #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
  8186. const float diff = zprobe_zoffset - last_zoffset;
  8187. #endif
  8188. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  8189. // Correct bilinear grid for new probe offset
  8190. if (diff) {
  8191. for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
  8192. for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
  8193. z_values[x][y] -= diff;
  8194. }
  8195. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  8196. bed_level_virt_interpolate();
  8197. #endif
  8198. #endif
  8199. #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
  8200. if (!no_babystep && planner.leveling_active)
  8201. thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
  8202. #else
  8203. UNUSED(no_babystep);
  8204. #endif
  8205. #if ENABLED(DELTA) // correct the delta_height
  8206. home_offset[Z_AXIS] -= diff;
  8207. #endif
  8208. }
  8209. last_zoffset = zprobe_zoffset;
  8210. }
  8211. inline void gcode_M851() {
  8212. SERIAL_ECHO_START();
  8213. SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
  8214. if (parser.seen('Z')) {
  8215. const float value = parser.value_linear_units();
  8216. if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
  8217. zprobe_zoffset = value;
  8218. refresh_zprobe_zoffset();
  8219. SERIAL_ECHO(zprobe_zoffset);
  8220. }
  8221. else
  8222. SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
  8223. }
  8224. else
  8225. SERIAL_ECHOPAIR(": ", zprobe_zoffset);
  8226. SERIAL_EOL();
  8227. }
  8228. #endif // HAS_BED_PROBE
  8229. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  8230. /**
  8231. * M600: Pause for filament change
  8232. *
  8233. * E[distance] - Retract the filament this far (negative value)
  8234. * Z[distance] - Move the Z axis by this distance
  8235. * X[position] - Move to this X position, with Y
  8236. * Y[position] - Move to this Y position, with X
  8237. * U[distance] - Retract distance for removal (negative value) (manual reload)
  8238. * L[distance] - Extrude distance for insertion (positive value) (manual reload)
  8239. * B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
  8240. *
  8241. * Default values are used for omitted arguments.
  8242. *
  8243. */
  8244. inline void gcode_M600() {
  8245. #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
  8246. // Don't allow filament change without homing first
  8247. if (axis_unhomed_error()) home_all_axes();
  8248. #endif
  8249. // Initial retract before move to filament change position
  8250. const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
  8251. #ifdef PAUSE_PARK_RETRACT_LENGTH
  8252. - (PAUSE_PARK_RETRACT_LENGTH)
  8253. #endif
  8254. ;
  8255. // Lift Z axis
  8256. const float z_lift = parser.linearval('Z', 0
  8257. #ifdef PAUSE_PARK_Z_ADD
  8258. + PAUSE_PARK_Z_ADD
  8259. #endif
  8260. );
  8261. // Move XY axes to filament exchange position
  8262. const float x_pos = parser.linearval('X', 0
  8263. #ifdef PAUSE_PARK_X_POS
  8264. + PAUSE_PARK_X_POS
  8265. #endif
  8266. );
  8267. const float y_pos = parser.linearval('Y', 0
  8268. #ifdef PAUSE_PARK_Y_POS
  8269. + PAUSE_PARK_Y_POS
  8270. #endif
  8271. );
  8272. // Unload filament
  8273. const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0
  8274. #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
  8275. - (FILAMENT_CHANGE_UNLOAD_LENGTH)
  8276. #endif
  8277. ;
  8278. // Load filament
  8279. const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
  8280. #ifdef FILAMENT_CHANGE_LOAD_LENGTH
  8281. + FILAMENT_CHANGE_LOAD_LENGTH
  8282. #endif
  8283. ;
  8284. const int beep_count = parser.intval('B',
  8285. #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8286. FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
  8287. #else
  8288. -1
  8289. #endif
  8290. );
  8291. const bool job_running = print_job_timer.isRunning();
  8292. if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) {
  8293. wait_for_filament_reload(beep_count);
  8294. resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count);
  8295. }
  8296. // Resume the print job timer if it was running
  8297. if (job_running) print_job_timer.start();
  8298. }
  8299. #endif // ADVANCED_PAUSE_FEATURE
  8300. #if ENABLED(MK2_MULTIPLEXER)
  8301. inline void select_multiplexed_stepper(const uint8_t e) {
  8302. stepper.synchronize();
  8303. disable_e_steppers();
  8304. WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  8305. WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  8306. WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
  8307. safe_delay(100);
  8308. }
  8309. /**
  8310. * M702: Unload all extruders
  8311. */
  8312. inline void gcode_M702() {
  8313. for (uint8_t s = 0; s < E_STEPPERS; s++) {
  8314. select_multiplexed_stepper(e);
  8315. // TODO: standard unload filament function
  8316. // MK2 firmware behavior:
  8317. // - Make sure temperature is high enough
  8318. // - Raise Z to at least 15 to make room
  8319. // - Extrude 1cm of filament in 1 second
  8320. // - Under 230C quickly purge ~12mm, over 230C purge ~10mm
  8321. // - Change E max feedrate to 80, eject the filament from the tube. Sync.
  8322. // - Restore E max feedrate to 50
  8323. }
  8324. // Go back to the last active extruder
  8325. select_multiplexed_stepper(active_extruder);
  8326. disable_e_steppers();
  8327. }
  8328. #endif // MK2_MULTIPLEXER
  8329. #if ENABLED(DUAL_X_CARRIAGE)
  8330. /**
  8331. * M605: Set dual x-carriage movement mode
  8332. *
  8333. * M605 S0: Full control mode. The slicer has full control over x-carriage movement
  8334. * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
  8335. * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
  8336. * units x-offset and an optional differential hotend temperature of
  8337. * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
  8338. * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
  8339. *
  8340. * Note: the X axis should be homed after changing dual x-carriage mode.
  8341. */
  8342. inline void gcode_M605() {
  8343. stepper.synchronize();
  8344. if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
  8345. switch (dual_x_carriage_mode) {
  8346. case DXC_FULL_CONTROL_MODE:
  8347. case DXC_AUTO_PARK_MODE:
  8348. break;
  8349. case DXC_DUPLICATION_MODE:
  8350. if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0));
  8351. if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
  8352. SERIAL_ECHO_START();
  8353. SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
  8354. SERIAL_CHAR(' ');
  8355. SERIAL_ECHO(hotend_offset[X_AXIS][0]);
  8356. SERIAL_CHAR(',');
  8357. SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
  8358. SERIAL_CHAR(' ');
  8359. SERIAL_ECHO(duplicate_extruder_x_offset);
  8360. SERIAL_CHAR(',');
  8361. SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
  8362. break;
  8363. default:
  8364. dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  8365. break;
  8366. }
  8367. active_extruder_parked = false;
  8368. extruder_duplication_enabled = false;
  8369. delayed_move_time = 0;
  8370. }
  8371. #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  8372. inline void gcode_M605() {
  8373. stepper.synchronize();
  8374. extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
  8375. SERIAL_ECHO_START();
  8376. SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
  8377. }
  8378. #endif // DUAL_NOZZLE_DUPLICATION_MODE
  8379. #if ENABLED(LIN_ADVANCE)
  8380. /**
  8381. * M900: Set and/or Get advance K factor and WH/D ratio
  8382. *
  8383. * K<factor> Set advance K factor
  8384. * R<ratio> Set ratio directly (overrides WH/D)
  8385. * W<width> H<height> D<diam> Set ratio from WH/D
  8386. */
  8387. inline void gcode_M900() {
  8388. stepper.synchronize();
  8389. const float newK = parser.floatval('K', -1);
  8390. if (newK >= 0) planner.extruder_advance_k = newK;
  8391. float newR = parser.floatval('R', -1);
  8392. if (newR < 0) {
  8393. const float newD = parser.floatval('D', -1),
  8394. newW = parser.floatval('W', -1),
  8395. newH = parser.floatval('H', -1);
  8396. if (newD >= 0 && newW >= 0 && newH >= 0)
  8397. newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
  8398. }
  8399. if (newR >= 0) planner.advance_ed_ratio = newR;
  8400. SERIAL_ECHO_START();
  8401. SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
  8402. SERIAL_ECHOPGM(" E/D=");
  8403. const float ratio = planner.advance_ed_ratio;
  8404. if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
  8405. SERIAL_EOL();
  8406. }
  8407. #endif // LIN_ADVANCE
  8408. #if ENABLED(HAVE_TMC2130)
  8409. static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
  8410. SERIAL_CHAR(name);
  8411. SERIAL_ECHOPGM(" axis driver current: ");
  8412. SERIAL_ECHOLN(st.getCurrent());
  8413. }
  8414. static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
  8415. st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
  8416. tmc2130_get_current(st, name);
  8417. }
  8418. static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
  8419. SERIAL_CHAR(name);
  8420. SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
  8421. serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
  8422. SERIAL_EOL();
  8423. }
  8424. static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
  8425. st.clear_otpw();
  8426. SERIAL_CHAR(name);
  8427. SERIAL_ECHOLNPGM(" prewarn flag cleared");
  8428. }
  8429. static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
  8430. SERIAL_CHAR(name);
  8431. SERIAL_ECHOPGM(" stealthChop max speed set to ");
  8432. SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
  8433. }
  8434. static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
  8435. st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
  8436. tmc2130_get_pwmthrs(st, name, spmm);
  8437. }
  8438. static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
  8439. SERIAL_CHAR(name);
  8440. SERIAL_ECHOPGM(" driver homing sensitivity set to ");
  8441. SERIAL_ECHOLN(st.sgt());
  8442. }
  8443. static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
  8444. st.sgt(sgt_val);
  8445. tmc2130_get_sgt(st, name);
  8446. }
  8447. /**
  8448. * M906: Set motor current in milliamps using axis codes X, Y, Z, E
  8449. * Report driver currents when no axis specified
  8450. *
  8451. * S1: Enable automatic current control
  8452. * S0: Disable
  8453. */
  8454. inline void gcode_M906() {
  8455. uint16_t values[XYZE];
  8456. LOOP_XYZE(i)
  8457. values[i] = parser.intval(axis_codes[i]);
  8458. #if ENABLED(X_IS_TMC2130)
  8459. if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
  8460. else tmc2130_get_current(stepperX, 'X');
  8461. #endif
  8462. #if ENABLED(Y_IS_TMC2130)
  8463. if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
  8464. else tmc2130_get_current(stepperY, 'Y');
  8465. #endif
  8466. #if ENABLED(Z_IS_TMC2130)
  8467. if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
  8468. else tmc2130_get_current(stepperZ, 'Z');
  8469. #endif
  8470. #if ENABLED(E0_IS_TMC2130)
  8471. if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
  8472. else tmc2130_get_current(stepperE0, 'E');
  8473. #endif
  8474. #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
  8475. if (parser.seen('S')) auto_current_control = parser.value_bool();
  8476. #endif
  8477. }
  8478. /**
  8479. * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
  8480. * The flag is held by the library and persist until manually cleared by M912
  8481. */
  8482. inline void gcode_M911() {
  8483. const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
  8484. reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
  8485. #if ENABLED(X_IS_TMC2130)
  8486. if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
  8487. #endif
  8488. #if ENABLED(Y_IS_TMC2130)
  8489. if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
  8490. #endif
  8491. #if ENABLED(Z_IS_TMC2130)
  8492. if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
  8493. #endif
  8494. #if ENABLED(E0_IS_TMC2130)
  8495. if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
  8496. #endif
  8497. }
  8498. /**
  8499. * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
  8500. */
  8501. inline void gcode_M912() {
  8502. const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
  8503. clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
  8504. #if ENABLED(X_IS_TMC2130)
  8505. if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
  8506. #endif
  8507. #if ENABLED(Y_IS_TMC2130)
  8508. if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
  8509. #endif
  8510. #if ENABLED(Z_IS_TMC2130)
  8511. if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
  8512. #endif
  8513. #if ENABLED(E0_IS_TMC2130)
  8514. if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
  8515. #endif
  8516. }
  8517. /**
  8518. * M913: Set HYBRID_THRESHOLD speed.
  8519. */
  8520. #if ENABLED(HYBRID_THRESHOLD)
  8521. inline void gcode_M913() {
  8522. uint16_t values[XYZE];
  8523. LOOP_XYZE(i)
  8524. values[i] = parser.intval(axis_codes[i]);
  8525. #if ENABLED(X_IS_TMC2130)
  8526. if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
  8527. else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
  8528. #endif
  8529. #if ENABLED(Y_IS_TMC2130)
  8530. if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
  8531. else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
  8532. #endif
  8533. #if ENABLED(Z_IS_TMC2130)
  8534. if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
  8535. else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
  8536. #endif
  8537. #if ENABLED(E0_IS_TMC2130)
  8538. if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
  8539. else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
  8540. #endif
  8541. }
  8542. #endif // HYBRID_THRESHOLD
  8543. /**
  8544. * M914: Set SENSORLESS_HOMING sensitivity.
  8545. */
  8546. #if ENABLED(SENSORLESS_HOMING)
  8547. inline void gcode_M914() {
  8548. #if ENABLED(X_IS_TMC2130)
  8549. if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
  8550. else tmc2130_get_sgt(stepperX, 'X');
  8551. #endif
  8552. #if ENABLED(Y_IS_TMC2130)
  8553. if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
  8554. else tmc2130_get_sgt(stepperY, 'Y');
  8555. #endif
  8556. }
  8557. #endif // SENSORLESS_HOMING
  8558. #endif // HAVE_TMC2130
  8559. /**
  8560. * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
  8561. */
  8562. inline void gcode_M907() {
  8563. #if HAS_DIGIPOTSS
  8564. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
  8565. if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
  8566. if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
  8567. #elif HAS_MOTOR_CURRENT_PWM
  8568. #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
  8569. if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
  8570. #endif
  8571. #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
  8572. if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
  8573. #endif
  8574. #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
  8575. if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
  8576. #endif
  8577. #endif
  8578. #if ENABLED(DIGIPOT_I2C)
  8579. // this one uses actual amps in floating point
  8580. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
  8581. // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
  8582. for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
  8583. #endif
  8584. #if ENABLED(DAC_STEPPER_CURRENT)
  8585. if (parser.seen('S')) {
  8586. const float dac_percent = parser.value_float();
  8587. for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
  8588. }
  8589. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
  8590. #endif
  8591. }
  8592. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  8593. /**
  8594. * M908: Control digital trimpot directly (M908 P<pin> S<current>)
  8595. */
  8596. inline void gcode_M908() {
  8597. #if HAS_DIGIPOTSS
  8598. stepper.digitalPotWrite(
  8599. parser.intval('P'),
  8600. parser.intval('S')
  8601. );
  8602. #endif
  8603. #ifdef DAC_STEPPER_CURRENT
  8604. dac_current_raw(
  8605. parser.byteval('P', -1),
  8606. parser.ushortval('S', 0)
  8607. );
  8608. #endif
  8609. }
  8610. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  8611. inline void gcode_M909() { dac_print_values(); }
  8612. inline void gcode_M910() { dac_commit_eeprom(); }
  8613. #endif
  8614. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  8615. #if HAS_MICROSTEPS
  8616. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  8617. inline void gcode_M350() {
  8618. if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte());
  8619. LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
  8620. if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
  8621. stepper.microstep_readings();
  8622. }
  8623. /**
  8624. * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
  8625. * S# determines MS1 or MS2, X# sets the pin high/low.
  8626. */
  8627. inline void gcode_M351() {
  8628. if (parser.seenval('S')) switch (parser.value_byte()) {
  8629. case 1:
  8630. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1);
  8631. if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1);
  8632. break;
  8633. case 2:
  8634. LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte());
  8635. if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte());
  8636. break;
  8637. }
  8638. stepper.microstep_readings();
  8639. }
  8640. #endif // HAS_MICROSTEPS
  8641. #if HAS_CASE_LIGHT
  8642. #ifndef INVERT_CASE_LIGHT
  8643. #define INVERT_CASE_LIGHT false
  8644. #endif
  8645. uint8_t case_light_brightness; // LCD routine wants INT
  8646. bool case_light_on;
  8647. void update_case_light() {
  8648. pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
  8649. if (case_light_on) {
  8650. if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
  8651. analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness);
  8652. }
  8653. else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH);
  8654. }
  8655. else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW);
  8656. }
  8657. #endif // HAS_CASE_LIGHT
  8658. /**
  8659. * M355: Turn case light on/off and set brightness
  8660. *
  8661. * P<byte> Set case light brightness (PWM pin required - ignored otherwise)
  8662. *
  8663. * S<bool> Set case light on/off
  8664. *
  8665. * When S turns on the light on a PWM pin then the current brightness level is used/restored
  8666. *
  8667. * M355 P200 S0 turns off the light & sets the brightness level
  8668. * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
  8669. */
  8670. inline void gcode_M355() {
  8671. #if HAS_CASE_LIGHT
  8672. uint8_t args = 0;
  8673. if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
  8674. if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
  8675. if (args) update_case_light();
  8676. // always report case light status
  8677. SERIAL_ECHO_START();
  8678. if (!case_light_on) {
  8679. SERIAL_ECHOLN("Case light: off");
  8680. }
  8681. else {
  8682. if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on");
  8683. else SERIAL_ECHOLNPAIR("Case light: ", (int)case_light_brightness);
  8684. }
  8685. #else
  8686. SERIAL_ERROR_START();
  8687. SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
  8688. #endif // HAS_CASE_LIGHT
  8689. }
  8690. #if ENABLED(MIXING_EXTRUDER)
  8691. /**
  8692. * M163: Set a single mix factor for a mixing extruder
  8693. * This is called "weight" by some systems.
  8694. *
  8695. * S[index] The channel index to set
  8696. * P[float] The mix value
  8697. *
  8698. */
  8699. inline void gcode_M163() {
  8700. const int mix_index = parser.intval('S');
  8701. if (mix_index < MIXING_STEPPERS) {
  8702. float mix_value = parser.floatval('P');
  8703. NOLESS(mix_value, 0.0);
  8704. mixing_factor[mix_index] = RECIPROCAL(mix_value);
  8705. }
  8706. }
  8707. #if MIXING_VIRTUAL_TOOLS > 1
  8708. /**
  8709. * M164: Store the current mix factors as a virtual tool.
  8710. *
  8711. * S[index] The virtual tool to store
  8712. *
  8713. */
  8714. inline void gcode_M164() {
  8715. const int tool_index = parser.intval('S');
  8716. if (tool_index < MIXING_VIRTUAL_TOOLS) {
  8717. normalize_mix();
  8718. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  8719. mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
  8720. }
  8721. }
  8722. #endif
  8723. #if ENABLED(DIRECT_MIXING_IN_G1)
  8724. /**
  8725. * M165: Set multiple mix factors for a mixing extruder.
  8726. * Factors that are left out will be set to 0.
  8727. * All factors together must add up to 1.0.
  8728. *
  8729. * A[factor] Mix factor for extruder stepper 1
  8730. * B[factor] Mix factor for extruder stepper 2
  8731. * C[factor] Mix factor for extruder stepper 3
  8732. * D[factor] Mix factor for extruder stepper 4
  8733. * H[factor] Mix factor for extruder stepper 5
  8734. * I[factor] Mix factor for extruder stepper 6
  8735. *
  8736. */
  8737. inline void gcode_M165() { gcode_get_mix(); }
  8738. #endif
  8739. #endif // MIXING_EXTRUDER
  8740. /**
  8741. * M999: Restart after being stopped
  8742. *
  8743. * Default behaviour is to flush the serial buffer and request
  8744. * a resend to the host starting on the last N line received.
  8745. *
  8746. * Sending "M999 S1" will resume printing without flushing the
  8747. * existing command buffer.
  8748. *
  8749. */
  8750. inline void gcode_M999() {
  8751. Running = true;
  8752. lcd_reset_alert_level();
  8753. if (parser.boolval('S')) return;
  8754. // gcode_LastN = Stopped_gcode_LastN;
  8755. FlushSerialRequestResend();
  8756. }
  8757. #if ENABLED(SWITCHING_EXTRUDER)
  8758. #if EXTRUDERS > 3
  8759. #define REQ_ANGLES 4
  8760. #define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
  8761. #else
  8762. #define REQ_ANGLES 2
  8763. #define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
  8764. #endif
  8765. inline void move_extruder_servo(const uint8_t e) {
  8766. constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
  8767. static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
  8768. stepper.synchronize();
  8769. #if EXTRUDERS & 1
  8770. if (e < EXTRUDERS - 1)
  8771. #endif
  8772. {
  8773. MOVE_SERVO(_SERVO_NR, angles[e]);
  8774. safe_delay(500);
  8775. }
  8776. }
  8777. #endif // SWITCHING_EXTRUDER
  8778. #if ENABLED(SWITCHING_NOZZLE)
  8779. inline void move_nozzle_servo(const uint8_t e) {
  8780. const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
  8781. stepper.synchronize();
  8782. MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
  8783. safe_delay(500);
  8784. }
  8785. #endif
  8786. inline void invalid_extruder_error(const uint8_t e) {
  8787. SERIAL_ECHO_START();
  8788. SERIAL_CHAR('T');
  8789. SERIAL_ECHO_F(e, DEC);
  8790. SERIAL_CHAR(' ');
  8791. SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  8792. }
  8793. #if ENABLED(PARKING_EXTRUDER)
  8794. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  8795. #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  8796. #else
  8797. #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
  8798. #endif
  8799. void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
  8800. switch (extruder_num) {
  8801. case 1: OUT_WRITE(SOL1_PIN, state); break;
  8802. default: OUT_WRITE(SOL0_PIN, state); break;
  8803. }
  8804. #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
  8805. dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
  8806. #endif
  8807. }
  8808. inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); }
  8809. inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); }
  8810. #endif // PARKING_EXTRUDER
  8811. #if HAS_FANMUX
  8812. void fanmux_switch(const uint8_t e) {
  8813. WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
  8814. #if PIN_EXISTS(FANMUX1)
  8815. WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
  8816. #if PIN_EXISTS(FANMUX2)
  8817. WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
  8818. #endif
  8819. #endif
  8820. }
  8821. FORCE_INLINE void fanmux_init(void){
  8822. SET_OUTPUT(FANMUX0_PIN);
  8823. #if PIN_EXISTS(FANMUX1)
  8824. SET_OUTPUT(FANMUX1_PIN);
  8825. #if PIN_EXISTS(FANMUX2)
  8826. SET_OUTPUT(FANMUX2_PIN);
  8827. #endif
  8828. #endif
  8829. fanmux_switch(0);
  8830. }
  8831. #endif // HAS_FANMUX
  8832. /**
  8833. * Perform a tool-change, which may result in moving the
  8834. * previous tool out of the way and the new tool into place.
  8835. */
  8836. void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
  8837. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  8838. if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
  8839. return invalid_extruder_error(tmp_extruder);
  8840. // T0-Tnnn: Switch virtual tool by changing the mix
  8841. for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
  8842. mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  8843. #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  8844. if (tmp_extruder >= EXTRUDERS)
  8845. return invalid_extruder_error(tmp_extruder);
  8846. #if HOTENDS > 1
  8847. const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
  8848. feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  8849. if (tmp_extruder != active_extruder) {
  8850. if (!no_move && axis_unhomed_error()) {
  8851. no_move = true;
  8852. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8853. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
  8854. #endif
  8855. }
  8856. // Save current position to destination, for use later
  8857. set_destination_from_current();
  8858. #if ENABLED(DUAL_X_CARRIAGE)
  8859. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8860. if (DEBUGGING(LEVELING)) {
  8861. SERIAL_ECHOPGM("Dual X Carriage Mode ");
  8862. switch (dual_x_carriage_mode) {
  8863. case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
  8864. case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
  8865. case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
  8866. }
  8867. }
  8868. #endif
  8869. const float xhome = x_home_pos(active_extruder);
  8870. if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
  8871. && IsRunning()
  8872. && (delayed_move_time || current_position[X_AXIS] != xhome)
  8873. ) {
  8874. float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
  8875. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  8876. NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
  8877. #endif
  8878. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8879. if (DEBUGGING(LEVELING)) {
  8880. SERIAL_ECHOLNPAIR("Raise to ", raised_z);
  8881. SERIAL_ECHOLNPAIR("MoveX to ", xhome);
  8882. SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
  8883. }
  8884. #endif
  8885. // Park old head: 1) raise 2) move to park position 3) lower
  8886. for (uint8_t i = 0; i < 3; i++)
  8887. planner.buffer_line(
  8888. i == 0 ? current_position[X_AXIS] : xhome,
  8889. current_position[Y_AXIS],
  8890. i == 2 ? current_position[Z_AXIS] : raised_z,
  8891. current_position[E_AXIS],
  8892. planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
  8893. active_extruder
  8894. );
  8895. stepper.synchronize();
  8896. }
  8897. // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
  8898. current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
  8899. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  8900. // Activate the new extruder ahead of calling set_axis_is_at_home!
  8901. active_extruder = tmp_extruder;
  8902. // This function resets the max/min values - the current position may be overwritten below.
  8903. set_axis_is_at_home(X_AXIS);
  8904. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8905. if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
  8906. #endif
  8907. // Only when auto-parking are carriages safe to move
  8908. if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  8909. switch (dual_x_carriage_mode) {
  8910. case DXC_FULL_CONTROL_MODE:
  8911. // New current position is the position of the activated extruder
  8912. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  8913. // Save the inactive extruder's position (from the old current_position)
  8914. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  8915. break;
  8916. case DXC_AUTO_PARK_MODE:
  8917. // record raised toolhead position for use by unpark
  8918. COPY(raised_parked_position, current_position);
  8919. raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
  8920. #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
  8921. NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
  8922. #endif
  8923. active_extruder_parked = true;
  8924. delayed_move_time = 0;
  8925. break;
  8926. case DXC_DUPLICATION_MODE:
  8927. // If the new extruder is the left one, set it "parked"
  8928. // This triggers the second extruder to move into the duplication position
  8929. active_extruder_parked = (active_extruder == 0);
  8930. if (active_extruder_parked)
  8931. current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
  8932. else
  8933. current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
  8934. inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
  8935. extruder_duplication_enabled = false;
  8936. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8937. if (DEBUGGING(LEVELING)) {
  8938. SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
  8939. SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
  8940. }
  8941. #endif
  8942. break;
  8943. }
  8944. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8945. if (DEBUGGING(LEVELING)) {
  8946. SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
  8947. DEBUG_POS("New extruder (parked)", current_position);
  8948. }
  8949. #endif
  8950. // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
  8951. #else // !DUAL_X_CARRIAGE
  8952. #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
  8953. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  8954. float z_raise = 0;
  8955. if (!no_move) {
  8956. const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
  8957. midpos = ((parkingposx[1] - parkingposx[0])/2) + parkingposx[0] + hotend_offset[X_AXIS][active_extruder],
  8958. grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
  8959. + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
  8960. /**
  8961. * Steps:
  8962. * 1. Raise Z-Axis to give enough clearance
  8963. * 2. Move to park position of old extruder
  8964. * 3. Disengage magnetic field, wait for delay
  8965. * 4. Move near new extruder
  8966. * 5. Engage magnetic field for new extruder
  8967. * 6. Move to parking incl. offset of new extruder
  8968. * 7. Lower Z-Axis
  8969. */
  8970. // STEP 1
  8971. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8972. SERIAL_ECHOLNPGM("Starting Autopark");
  8973. if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
  8974. #endif
  8975. z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
  8976. current_position[Z_AXIS] += z_raise;
  8977. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8978. SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
  8979. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
  8980. #endif
  8981. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  8982. stepper.synchronize();
  8983. // STEP 2
  8984. current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
  8985. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8986. SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
  8987. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
  8988. #endif
  8989. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  8990. stepper.synchronize();
  8991. // STEP 3
  8992. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8993. SERIAL_ECHOLNPGM("(3) Disengage magnet ");
  8994. #endif
  8995. pe_deactivate_magnet(active_extruder);
  8996. // STEP 4
  8997. #if ENABLED(DEBUG_LEVELING_FEATURE)
  8998. SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
  8999. #endif
  9000. current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
  9001. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9002. if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
  9003. #endif
  9004. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9005. stepper.synchronize();
  9006. // STEP 5
  9007. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9008. SERIAL_ECHOLNPGM("(5) Engage magnetic field");
  9009. #endif
  9010. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9011. pe_activate_magnet(active_extruder); //just save power for inverted magnets
  9012. #endif
  9013. pe_activate_magnet(tmp_extruder);
  9014. // STEP 6
  9015. current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
  9016. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9017. current_position[X_AXIS] = grabpos;
  9018. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9019. SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
  9020. if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
  9021. #endif
  9022. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
  9023. stepper.synchronize();
  9024. // Step 7
  9025. current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
  9026. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9027. SERIAL_ECHOLNPGM("(7) Move midway between hotends");
  9028. if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
  9029. #endif
  9030. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
  9031. stepper.synchronize();
  9032. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9033. SERIAL_ECHOLNPGM("Autopark done.");
  9034. #endif
  9035. }
  9036. else { // nomove == true
  9037. // Only engage magnetic field for new extruder
  9038. pe_activate_magnet(tmp_extruder);
  9039. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  9040. pe_activate_magnet(active_extruder); // Just save power for inverted magnets
  9041. #endif
  9042. }
  9043. current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
  9044. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9045. if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
  9046. #endif
  9047. #endif // dualParking extruder
  9048. #if ENABLED(SWITCHING_NOZZLE)
  9049. #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
  9050. // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
  9051. const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
  9052. z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  9053. // Always raise by some amount (destination copied from current_position earlier)
  9054. current_position[Z_AXIS] += z_raise;
  9055. planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
  9056. move_nozzle_servo(tmp_extruder);
  9057. #endif
  9058. /**
  9059. * Set current_position to the position of the new nozzle.
  9060. * Offsets are based on linear distance, so we need to get
  9061. * the resulting position in coordinate space.
  9062. *
  9063. * - With grid or 3-point leveling, offset XYZ by a tilted vector
  9064. * - With mesh leveling, update Z for the new position
  9065. * - Otherwise, just use the raw linear distance
  9066. *
  9067. * Software endstops are altered here too. Consider a case where:
  9068. * E0 at X=0 ... E1 at X=10
  9069. * When we switch to E1 now X=10, but E1 can't move left.
  9070. * To express this we apply the change in XY to the software endstops.
  9071. * E1 can move farther right than E0, so the right limit is extended.
  9072. *
  9073. * Note that we don't adjust the Z software endstops. Why not?
  9074. * Consider a case where Z=0 (here) and switching to E1 makes Z=1
  9075. * because the bed is 1mm lower at the new position. As long as
  9076. * the first nozzle is out of the way, the carriage should be
  9077. * allowed to move 1mm lower. This technically "breaks" the
  9078. * Z software endstop. But this is technically correct (and
  9079. * there is no viable alternative).
  9080. */
  9081. #if ABL_PLANAR
  9082. // Offset extruder, make sure to apply the bed level rotation matrix
  9083. vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
  9084. hotend_offset[Y_AXIS][tmp_extruder],
  9085. 0),
  9086. act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
  9087. hotend_offset[Y_AXIS][active_extruder],
  9088. 0),
  9089. offset_vec = tmp_offset_vec - act_offset_vec;
  9090. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9091. if (DEBUGGING(LEVELING)) {
  9092. tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
  9093. act_offset_vec.debug(PSTR("act_offset_vec"));
  9094. offset_vec.debug(PSTR("offset_vec (BEFORE)"));
  9095. }
  9096. #endif
  9097. offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  9098. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9099. if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
  9100. #endif
  9101. // Adjustments to the current position
  9102. const float xydiff[2] = { offset_vec.x, offset_vec.y };
  9103. current_position[Z_AXIS] += offset_vec.z;
  9104. #else // !ABL_PLANAR
  9105. const float xydiff[2] = {
  9106. hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
  9107. hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
  9108. };
  9109. #if ENABLED(MESH_BED_LEVELING)
  9110. if (planner.leveling_active) {
  9111. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9112. if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
  9113. #endif
  9114. float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
  9115. y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
  9116. z1 = current_position[Z_AXIS], z2 = z1;
  9117. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
  9118. planner.apply_leveling(x2, y2, z2);
  9119. current_position[Z_AXIS] += z2 - z1;
  9120. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9121. if (DEBUGGING(LEVELING))
  9122. SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
  9123. #endif
  9124. }
  9125. #endif // MESH_BED_LEVELING
  9126. #endif // !HAS_ABL
  9127. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9128. if (DEBUGGING(LEVELING)) {
  9129. SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
  9130. SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
  9131. SERIAL_ECHOLNPGM(" }");
  9132. }
  9133. #endif
  9134. // The newly-selected extruder XY is actually at...
  9135. current_position[X_AXIS] += xydiff[X_AXIS];
  9136. current_position[Y_AXIS] += xydiff[Y_AXIS];
  9137. #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(PARKING_EXTRUDER)
  9138. for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
  9139. #if HAS_POSITION_SHIFT
  9140. position_shift[i] += xydiff[i];
  9141. #endif
  9142. update_software_endstops((AxisEnum)i);
  9143. }
  9144. #endif
  9145. // Set the new active extruder
  9146. active_extruder = tmp_extruder;
  9147. #endif // !DUAL_X_CARRIAGE
  9148. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9149. if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
  9150. #endif
  9151. // Tell the planner the new "current position"
  9152. SYNC_PLAN_POSITION_KINEMATIC();
  9153. // Move to the "old position" (move the extruder into place)
  9154. if (!no_move && IsRunning()) {
  9155. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9156. if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
  9157. #endif
  9158. prepare_move_to_destination();
  9159. }
  9160. #if ENABLED(SWITCHING_NOZZLE)
  9161. // Move back down, if needed. (Including when the new tool is higher.)
  9162. if (z_raise != z_diff) {
  9163. destination[Z_AXIS] += z_diff;
  9164. feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
  9165. prepare_move_to_destination();
  9166. }
  9167. #endif
  9168. } // (tmp_extruder != active_extruder)
  9169. stepper.synchronize();
  9170. #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
  9171. disable_all_solenoids();
  9172. enable_solenoid_on_active_extruder();
  9173. #endif // EXT_SOLENOID
  9174. feedrate_mm_s = old_feedrate_mm_s;
  9175. #else // HOTENDS <= 1
  9176. UNUSED(fr_mm_s);
  9177. UNUSED(no_move);
  9178. #if ENABLED(MK2_MULTIPLEXER)
  9179. if (tmp_extruder >= E_STEPPERS)
  9180. return invalid_extruder_error(tmp_extruder);
  9181. select_multiplexed_stepper(tmp_extruder);
  9182. #endif
  9183. // Set the new active extruder
  9184. active_extruder = tmp_extruder;
  9185. #endif // HOTENDS <= 1
  9186. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  9187. stepper.synchronize();
  9188. move_extruder_servo(active_extruder);
  9189. #endif
  9190. #if HAS_FANMUX
  9191. fanmux_switch(active_extruder);
  9192. #endif
  9193. SERIAL_ECHO_START();
  9194. SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  9195. #endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  9196. }
  9197. /**
  9198. * T0-T3: Switch tool, usually switching extruders
  9199. *
  9200. * F[units/min] Set the movement feedrate
  9201. * S1 Don't move the tool in XY after change
  9202. */
  9203. inline void gcode_T(const uint8_t tmp_extruder) {
  9204. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9205. if (DEBUGGING(LEVELING)) {
  9206. SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
  9207. SERIAL_CHAR(')');
  9208. SERIAL_EOL();
  9209. DEBUG_POS("BEFORE", current_position);
  9210. }
  9211. #endif
  9212. #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  9213. tool_change(tmp_extruder);
  9214. #elif HOTENDS > 1
  9215. tool_change(
  9216. tmp_extruder,
  9217. MMM_TO_MMS(parser.linearval('F')),
  9218. (tmp_extruder == active_extruder) || parser.boolval('S')
  9219. );
  9220. #endif
  9221. #if ENABLED(DEBUG_LEVELING_FEATURE)
  9222. if (DEBUGGING(LEVELING)) {
  9223. DEBUG_POS("AFTER", current_position);
  9224. SERIAL_ECHOLNPGM("<<< gcode_T");
  9225. }
  9226. #endif
  9227. }
  9228. /**
  9229. * Process a single command and dispatch it to its handler
  9230. * This is called from the main loop()
  9231. */
  9232. void process_next_command() {
  9233. char * const current_command = command_queue[cmd_queue_index_r];
  9234. if (DEBUGGING(ECHO)) {
  9235. SERIAL_ECHO_START();
  9236. SERIAL_ECHOLN(current_command);
  9237. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  9238. SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
  9239. M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
  9240. #endif
  9241. }
  9242. KEEPALIVE_STATE(IN_HANDLER);
  9243. // Parse the next command in the queue
  9244. parser.parse(current_command);
  9245. // Handle a known G, M, or T
  9246. switch (parser.command_letter) {
  9247. case 'G': switch (parser.codenum) {
  9248. // G0, G1
  9249. case 0:
  9250. case 1:
  9251. #if IS_SCARA
  9252. gcode_G0_G1(parser.codenum == 0);
  9253. #else
  9254. gcode_G0_G1();
  9255. #endif
  9256. break;
  9257. // G2, G3
  9258. #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
  9259. case 2: // G2: CW ARC
  9260. case 3: // G3: CCW ARC
  9261. gcode_G2_G3(parser.codenum == 2);
  9262. break;
  9263. #endif
  9264. // G4 Dwell
  9265. case 4:
  9266. gcode_G4();
  9267. break;
  9268. #if ENABLED(BEZIER_CURVE_SUPPORT)
  9269. case 5: // G5: Cubic B_spline
  9270. gcode_G5();
  9271. break;
  9272. #endif // BEZIER_CURVE_SUPPORT
  9273. #if ENABLED(FWRETRACT)
  9274. case 10: // G10: retract
  9275. gcode_G10();
  9276. break;
  9277. case 11: // G11: retract_recover
  9278. gcode_G11();
  9279. break;
  9280. #endif // FWRETRACT
  9281. #if ENABLED(NOZZLE_CLEAN_FEATURE)
  9282. case 12:
  9283. gcode_G12(); // G12: Nozzle Clean
  9284. break;
  9285. #endif // NOZZLE_CLEAN_FEATURE
  9286. #if ENABLED(CNC_WORKSPACE_PLANES)
  9287. case 17: // G17: Select Plane XY
  9288. gcode_G17();
  9289. break;
  9290. case 18: // G18: Select Plane ZX
  9291. gcode_G18();
  9292. break;
  9293. case 19: // G19: Select Plane YZ
  9294. gcode_G19();
  9295. break;
  9296. #endif // CNC_WORKSPACE_PLANES
  9297. #if ENABLED(INCH_MODE_SUPPORT)
  9298. case 20: // G20: Inch Mode
  9299. gcode_G20();
  9300. break;
  9301. case 21: // G21: MM Mode
  9302. gcode_G21();
  9303. break;
  9304. #endif // INCH_MODE_SUPPORT
  9305. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  9306. case 26: // G26: Mesh Validation Pattern generation
  9307. gcode_G26();
  9308. break;
  9309. #endif // AUTO_BED_LEVELING_UBL
  9310. #if ENABLED(NOZZLE_PARK_FEATURE)
  9311. case 27: // G27: Nozzle Park
  9312. gcode_G27();
  9313. break;
  9314. #endif // NOZZLE_PARK_FEATURE
  9315. case 28: // G28: Home all axes, one at a time
  9316. gcode_G28(false);
  9317. break;
  9318. #if HAS_LEVELING
  9319. case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
  9320. // or provides access to the UBL System if enabled.
  9321. gcode_G29();
  9322. break;
  9323. #endif // HAS_LEVELING
  9324. #if HAS_BED_PROBE
  9325. case 30: // G30 Single Z probe
  9326. gcode_G30();
  9327. break;
  9328. #if ENABLED(Z_PROBE_SLED)
  9329. case 31: // G31: dock the sled
  9330. gcode_G31();
  9331. break;
  9332. case 32: // G32: undock the sled
  9333. gcode_G32();
  9334. break;
  9335. #endif // Z_PROBE_SLED
  9336. #endif // HAS_BED_PROBE
  9337. #if PROBE_SELECTED
  9338. #if ENABLED(DELTA_AUTO_CALIBRATION)
  9339. case 33: // G33: Delta Auto-Calibration
  9340. gcode_G33();
  9341. break;
  9342. #endif // DELTA_AUTO_CALIBRATION
  9343. #endif // PROBE_SELECTED
  9344. #if ENABLED(G38_PROBE_TARGET)
  9345. case 38: // G38.2 & G38.3
  9346. if (parser.subcode == 2 || parser.subcode == 3)
  9347. gcode_G38(parser.subcode == 2);
  9348. break;
  9349. #endif
  9350. case 90: // G90
  9351. relative_mode = false;
  9352. break;
  9353. case 91: // G91
  9354. relative_mode = true;
  9355. break;
  9356. case 92: // G92
  9357. gcode_G92();
  9358. break;
  9359. #if HAS_MESH
  9360. case 42:
  9361. gcode_G42();
  9362. break;
  9363. #endif
  9364. #if ENABLED(DEBUG_GCODE_PARSER)
  9365. case 800:
  9366. parser.debug(); // GCode Parser Test for G
  9367. break;
  9368. #endif
  9369. }
  9370. break;
  9371. case 'M': switch (parser.codenum) {
  9372. #if HAS_RESUME_CONTINUE
  9373. case 0: // M0: Unconditional stop - Wait for user button press on LCD
  9374. case 1: // M1: Conditional stop - Wait for user button press on LCD
  9375. gcode_M0_M1();
  9376. break;
  9377. #endif // ULTIPANEL
  9378. #if ENABLED(SPINDLE_LASER_ENABLE)
  9379. case 3:
  9380. gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
  9381. break; // synchronizes with movement commands
  9382. case 4:
  9383. gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
  9384. break; // synchronizes with movement commands
  9385. case 5:
  9386. gcode_M5(); // M5 - turn spindle/laser off
  9387. break; // synchronizes with movement commands
  9388. #endif
  9389. case 17: // M17: Enable all stepper motors
  9390. gcode_M17();
  9391. break;
  9392. #if ENABLED(SDSUPPORT)
  9393. case 20: // M20: list SD card
  9394. gcode_M20(); break;
  9395. case 21: // M21: init SD card
  9396. gcode_M21(); break;
  9397. case 22: // M22: release SD card
  9398. gcode_M22(); break;
  9399. case 23: // M23: Select file
  9400. gcode_M23(); break;
  9401. case 24: // M24: Start SD print
  9402. gcode_M24(); break;
  9403. case 25: // M25: Pause SD print
  9404. gcode_M25(); break;
  9405. case 26: // M26: Set SD index
  9406. gcode_M26(); break;
  9407. case 27: // M27: Get SD status
  9408. gcode_M27(); break;
  9409. case 28: // M28: Start SD write
  9410. gcode_M28(); break;
  9411. case 29: // M29: Stop SD write
  9412. gcode_M29(); break;
  9413. case 30: // M30 <filename> Delete File
  9414. gcode_M30(); break;
  9415. case 32: // M32: Select file and start SD print
  9416. gcode_M32(); break;
  9417. #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
  9418. case 33: // M33: Get the long full path to a file or folder
  9419. gcode_M33(); break;
  9420. #endif
  9421. #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
  9422. case 34: // M34: Set SD card sorting options
  9423. gcode_M34(); break;
  9424. #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
  9425. case 928: // M928: Start SD write
  9426. gcode_M928(); break;
  9427. #endif // SDSUPPORT
  9428. case 31: // M31: Report time since the start of SD print or last M109
  9429. gcode_M31(); break;
  9430. case 42: // M42: Change pin state
  9431. gcode_M42(); break;
  9432. #if ENABLED(PINS_DEBUGGING)
  9433. case 43: // M43: Read pin state
  9434. gcode_M43(); break;
  9435. #endif
  9436. #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
  9437. case 48: // M48: Z probe repeatability test
  9438. gcode_M48();
  9439. break;
  9440. #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  9441. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
  9442. case 49: // M49: Turn on or off G26 debug flag for verbose output
  9443. gcode_M49();
  9444. break;
  9445. #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
  9446. #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
  9447. case 73: // M73: Set print progress percentage
  9448. gcode_M73(); break;
  9449. #endif
  9450. case 75: // M75: Start print timer
  9451. gcode_M75(); break;
  9452. case 76: // M76: Pause print timer
  9453. gcode_M76(); break;
  9454. case 77: // M77: Stop print timer
  9455. gcode_M77(); break;
  9456. #if ENABLED(PRINTCOUNTER)
  9457. case 78: // M78: Show print statistics
  9458. gcode_M78(); break;
  9459. #endif
  9460. #if ENABLED(M100_FREE_MEMORY_WATCHER)
  9461. case 100: // M100: Free Memory Report
  9462. gcode_M100();
  9463. break;
  9464. #endif
  9465. case 104: // M104: Set hot end temperature
  9466. gcode_M104();
  9467. break;
  9468. case 110: // M110: Set Current Line Number
  9469. gcode_M110();
  9470. break;
  9471. case 111: // M111: Set debug level
  9472. gcode_M111();
  9473. break;
  9474. #if DISABLED(EMERGENCY_PARSER)
  9475. case 108: // M108: Cancel Waiting
  9476. gcode_M108();
  9477. break;
  9478. case 112: // M112: Emergency Stop
  9479. gcode_M112();
  9480. break;
  9481. case 410: // M410 quickstop - Abort all the planned moves.
  9482. gcode_M410();
  9483. break;
  9484. #endif
  9485. #if ENABLED(HOST_KEEPALIVE_FEATURE)
  9486. case 113: // M113: Set Host Keepalive interval
  9487. gcode_M113();
  9488. break;
  9489. #endif
  9490. case 140: // M140: Set bed temperature
  9491. gcode_M140();
  9492. break;
  9493. case 105: // M105: Report current temperature
  9494. gcode_M105();
  9495. KEEPALIVE_STATE(NOT_BUSY);
  9496. return; // "ok" already printed
  9497. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  9498. case 155: // M155: Set temperature auto-report interval
  9499. gcode_M155();
  9500. break;
  9501. #endif
  9502. case 109: // M109: Wait for hotend temperature to reach target
  9503. gcode_M109();
  9504. break;
  9505. #if HAS_TEMP_BED
  9506. case 190: // M190: Wait for bed temperature to reach target
  9507. gcode_M190();
  9508. break;
  9509. #endif // HAS_TEMP_BED
  9510. #if FAN_COUNT > 0
  9511. case 106: // M106: Fan On
  9512. gcode_M106();
  9513. break;
  9514. case 107: // M107: Fan Off
  9515. gcode_M107();
  9516. break;
  9517. #endif // FAN_COUNT > 0
  9518. #if ENABLED(PARK_HEAD_ON_PAUSE)
  9519. case 125: // M125: Store current position and move to filament change position
  9520. gcode_M125(); break;
  9521. #endif
  9522. #if ENABLED(BARICUDA)
  9523. // PWM for HEATER_1_PIN
  9524. #if HAS_HEATER_1
  9525. case 126: // M126: valve open
  9526. gcode_M126();
  9527. break;
  9528. case 127: // M127: valve closed
  9529. gcode_M127();
  9530. break;
  9531. #endif // HAS_HEATER_1
  9532. // PWM for HEATER_2_PIN
  9533. #if HAS_HEATER_2
  9534. case 128: // M128: valve open
  9535. gcode_M128();
  9536. break;
  9537. case 129: // M129: valve closed
  9538. gcode_M129();
  9539. break;
  9540. #endif // HAS_HEATER_2
  9541. #endif // BARICUDA
  9542. #if HAS_POWER_SWITCH
  9543. case 80: // M80: Turn on Power Supply
  9544. gcode_M80();
  9545. break;
  9546. #endif // HAS_POWER_SWITCH
  9547. case 81: // M81: Turn off Power, including Power Supply, if possible
  9548. gcode_M81();
  9549. break;
  9550. case 82: // M82: Set E axis normal mode (same as other axes)
  9551. gcode_M82();
  9552. break;
  9553. case 83: // M83: Set E axis relative mode
  9554. gcode_M83();
  9555. break;
  9556. case 18: // M18 => M84
  9557. case 84: // M84: Disable all steppers or set timeout
  9558. gcode_M18_M84();
  9559. break;
  9560. case 85: // M85: Set inactivity stepper shutdown timeout
  9561. gcode_M85();
  9562. break;
  9563. case 92: // M92: Set the steps-per-unit for one or more axes
  9564. gcode_M92();
  9565. break;
  9566. case 114: // M114: Report current position
  9567. gcode_M114();
  9568. break;
  9569. case 115: // M115: Report capabilities
  9570. gcode_M115();
  9571. break;
  9572. case 117: // M117: Set LCD message text, if possible
  9573. gcode_M117();
  9574. break;
  9575. case 118: // M118: Display a message in the host console
  9576. gcode_M118();
  9577. break;
  9578. case 119: // M119: Report endstop states
  9579. gcode_M119();
  9580. break;
  9581. case 120: // M120: Enable endstops
  9582. gcode_M120();
  9583. break;
  9584. case 121: // M121: Disable endstops
  9585. gcode_M121();
  9586. break;
  9587. #if ENABLED(ULTIPANEL)
  9588. case 145: // M145: Set material heatup parameters
  9589. gcode_M145();
  9590. break;
  9591. #endif
  9592. #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
  9593. case 149: // M149: Set temperature units
  9594. gcode_M149();
  9595. break;
  9596. #endif
  9597. #if HAS_COLOR_LEDS
  9598. case 150: // M150: Set Status LED Color
  9599. gcode_M150();
  9600. break;
  9601. #endif // HAS_COLOR_LEDS
  9602. #if ENABLED(MIXING_EXTRUDER)
  9603. case 163: // M163: Set a component weight for mixing extruder
  9604. gcode_M163();
  9605. break;
  9606. #if MIXING_VIRTUAL_TOOLS > 1
  9607. case 164: // M164: Save current mix as a virtual extruder
  9608. gcode_M164();
  9609. break;
  9610. #endif
  9611. #if ENABLED(DIRECT_MIXING_IN_G1)
  9612. case 165: // M165: Set multiple mix weights
  9613. gcode_M165();
  9614. break;
  9615. #endif
  9616. #endif
  9617. case 200: // M200: Set filament diameter, E to cubic units
  9618. gcode_M200();
  9619. break;
  9620. case 201: // M201: Set max acceleration for print moves (units/s^2)
  9621. gcode_M201();
  9622. break;
  9623. #if 0 // Not used for Sprinter/grbl gen6
  9624. case 202: // M202
  9625. gcode_M202();
  9626. break;
  9627. #endif
  9628. case 203: // M203: Set max feedrate (units/sec)
  9629. gcode_M203();
  9630. break;
  9631. case 204: // M204: Set acceleration
  9632. gcode_M204();
  9633. break;
  9634. case 205: // M205: Set advanced settings
  9635. gcode_M205();
  9636. break;
  9637. #if HAS_M206_COMMAND
  9638. case 206: // M206: Set home offsets
  9639. gcode_M206();
  9640. break;
  9641. #endif
  9642. #if ENABLED(DELTA)
  9643. case 665: // M665: Set delta configurations
  9644. gcode_M665();
  9645. break;
  9646. #endif
  9647. #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
  9648. case 666: // M666: Set delta or dual endstop adjustment
  9649. gcode_M666();
  9650. break;
  9651. #endif
  9652. #if ENABLED(FWRETRACT)
  9653. case 207: // M207: Set Retract Length, Feedrate, and Z lift
  9654. gcode_M207();
  9655. break;
  9656. case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
  9657. gcode_M208();
  9658. break;
  9659. case 209: // M209: Turn Automatic Retract Detection on/off
  9660. if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209();
  9661. break;
  9662. #endif // FWRETRACT
  9663. case 211: // M211: Enable, Disable, and/or Report software endstops
  9664. gcode_M211();
  9665. break;
  9666. #if HOTENDS > 1
  9667. case 218: // M218: Set a tool offset
  9668. gcode_M218();
  9669. break;
  9670. #endif // HOTENDS > 1
  9671. case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
  9672. gcode_M220();
  9673. break;
  9674. case 221: // M221: Set Flow Percentage
  9675. gcode_M221();
  9676. break;
  9677. case 226: // M226: Wait until a pin reaches a state
  9678. gcode_M226();
  9679. break;
  9680. #if HAS_SERVOS
  9681. case 280: // M280: Set servo position absolute
  9682. gcode_M280();
  9683. break;
  9684. #endif // HAS_SERVOS
  9685. #if ENABLED(BABYSTEPPING)
  9686. case 290: // M290: Babystepping
  9687. gcode_M290();
  9688. break;
  9689. #endif // BABYSTEPPING
  9690. #if HAS_BUZZER
  9691. case 300: // M300: Play beep tone
  9692. gcode_M300();
  9693. break;
  9694. #endif // HAS_BUZZER
  9695. #if ENABLED(PIDTEMP)
  9696. case 301: // M301: Set hotend PID parameters
  9697. gcode_M301();
  9698. break;
  9699. #endif // PIDTEMP
  9700. #if ENABLED(PIDTEMPBED)
  9701. case 304: // M304: Set bed PID parameters
  9702. gcode_M304();
  9703. break;
  9704. #endif // PIDTEMPBED
  9705. #if defined(CHDK) || HAS_PHOTOGRAPH
  9706. case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
  9707. gcode_M240();
  9708. break;
  9709. #endif // CHDK || PHOTOGRAPH_PIN
  9710. #if HAS_LCD_CONTRAST
  9711. case 250: // M250: Set LCD contrast
  9712. gcode_M250();
  9713. break;
  9714. #endif // HAS_LCD_CONTRAST
  9715. #if ENABLED(EXPERIMENTAL_I2CBUS)
  9716. case 260: // M260: Send data to an i2c slave
  9717. gcode_M260();
  9718. break;
  9719. case 261: // M261: Request data from an i2c slave
  9720. gcode_M261();
  9721. break;
  9722. #endif // EXPERIMENTAL_I2CBUS
  9723. #if ENABLED(PREVENT_COLD_EXTRUSION)
  9724. case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
  9725. gcode_M302();
  9726. break;
  9727. #endif // PREVENT_COLD_EXTRUSION
  9728. case 303: // M303: PID autotune
  9729. gcode_M303();
  9730. break;
  9731. #if ENABLED(MORGAN_SCARA)
  9732. case 360: // M360: SCARA Theta pos1
  9733. if (gcode_M360()) return;
  9734. break;
  9735. case 361: // M361: SCARA Theta pos2
  9736. if (gcode_M361()) return;
  9737. break;
  9738. case 362: // M362: SCARA Psi pos1
  9739. if (gcode_M362()) return;
  9740. break;
  9741. case 363: // M363: SCARA Psi pos2
  9742. if (gcode_M363()) return;
  9743. break;
  9744. case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
  9745. if (gcode_M364()) return;
  9746. break;
  9747. #endif // SCARA
  9748. case 400: // M400: Finish all moves
  9749. gcode_M400();
  9750. break;
  9751. #if HAS_BED_PROBE
  9752. case 401: // M401: Deploy probe
  9753. gcode_M401();
  9754. break;
  9755. case 402: // M402: Stow probe
  9756. gcode_M402();
  9757. break;
  9758. #endif // HAS_BED_PROBE
  9759. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  9760. case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
  9761. gcode_M404();
  9762. break;
  9763. case 405: // M405: Turn on filament sensor for control
  9764. gcode_M405();
  9765. break;
  9766. case 406: // M406: Turn off filament sensor for control
  9767. gcode_M406();
  9768. break;
  9769. case 407: // M407: Display measured filament diameter
  9770. gcode_M407();
  9771. break;
  9772. #endif // FILAMENT_WIDTH_SENSOR
  9773. #if HAS_LEVELING
  9774. case 420: // M420: Enable/Disable Bed Leveling
  9775. gcode_M420();
  9776. break;
  9777. #endif
  9778. #if HAS_MESH
  9779. case 421: // M421: Set a Mesh Bed Leveling Z coordinate
  9780. gcode_M421();
  9781. break;
  9782. #endif
  9783. #if HAS_M206_COMMAND
  9784. case 428: // M428: Apply current_position to home_offset
  9785. gcode_M428();
  9786. break;
  9787. #endif
  9788. case 500: // M500: Store settings in EEPROM
  9789. gcode_M500();
  9790. break;
  9791. case 501: // M501: Read settings from EEPROM
  9792. gcode_M501();
  9793. break;
  9794. case 502: // M502: Revert to default settings
  9795. gcode_M502();
  9796. break;
  9797. #if DISABLED(DISABLE_M503)
  9798. case 503: // M503: print settings currently in memory
  9799. gcode_M503();
  9800. break;
  9801. #endif
  9802. #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  9803. case 540: // M540: Set abort on endstop hit for SD printing
  9804. gcode_M540();
  9805. break;
  9806. #endif
  9807. #if HAS_BED_PROBE
  9808. case 851: // M851: Set Z Probe Z Offset
  9809. gcode_M851();
  9810. break;
  9811. #endif // HAS_BED_PROBE
  9812. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  9813. case 600: // M600: Pause for filament change
  9814. gcode_M600();
  9815. break;
  9816. #endif // ADVANCED_PAUSE_FEATURE
  9817. #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  9818. case 605: // M605: Set Dual X Carriage movement mode
  9819. gcode_M605();
  9820. break;
  9821. #endif // DUAL_X_CARRIAGE
  9822. #if ENABLED(MK2_MULTIPLEXER)
  9823. case 702: // M702: Unload all extruders
  9824. gcode_M702();
  9825. break;
  9826. #endif
  9827. #if ENABLED(LIN_ADVANCE)
  9828. case 900: // M900: Set advance K factor.
  9829. gcode_M900();
  9830. break;
  9831. #endif
  9832. #if ENABLED(HAVE_TMC2130)
  9833. case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
  9834. gcode_M906();
  9835. break;
  9836. #endif
  9837. case 907: // M907: Set digital trimpot motor current using axis codes.
  9838. gcode_M907();
  9839. break;
  9840. #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  9841. case 908: // M908: Control digital trimpot directly.
  9842. gcode_M908();
  9843. break;
  9844. #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  9845. case 909: // M909: Print digipot/DAC current value
  9846. gcode_M909();
  9847. break;
  9848. case 910: // M910: Commit digipot/DAC value to external EEPROM
  9849. gcode_M910();
  9850. break;
  9851. #endif
  9852. #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  9853. #if ENABLED(HAVE_TMC2130)
  9854. case 911: // M911: Report TMC2130 prewarn triggered flags
  9855. gcode_M911();
  9856. break;
  9857. case 912: // M911: Clear TMC2130 prewarn triggered flags
  9858. gcode_M912();
  9859. break;
  9860. #if ENABLED(HYBRID_THRESHOLD)
  9861. case 913: // M913: Set HYBRID_THRESHOLD speed.
  9862. gcode_M913();
  9863. break;
  9864. #endif
  9865. #if ENABLED(SENSORLESS_HOMING)
  9866. case 914: // M914: Set SENSORLESS_HOMING sensitivity.
  9867. gcode_M914();
  9868. break;
  9869. #endif
  9870. #endif
  9871. #if HAS_MICROSTEPS
  9872. case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  9873. gcode_M350();
  9874. break;
  9875. case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
  9876. gcode_M351();
  9877. break;
  9878. #endif // HAS_MICROSTEPS
  9879. case 355: // M355 set case light brightness
  9880. gcode_M355();
  9881. break;
  9882. #if ENABLED(DEBUG_GCODE_PARSER)
  9883. case 800:
  9884. parser.debug(); // GCode Parser Test for M
  9885. break;
  9886. #endif
  9887. #if ENABLED(I2C_POSITION_ENCODERS)
  9888. case 860: // M860 Report encoder module position
  9889. gcode_M860();
  9890. break;
  9891. case 861: // M861 Report encoder module status
  9892. gcode_M861();
  9893. break;
  9894. case 862: // M862 Perform axis test
  9895. gcode_M862();
  9896. break;
  9897. case 863: // M863 Calibrate steps/mm
  9898. gcode_M863();
  9899. break;
  9900. case 864: // M864 Change module address
  9901. gcode_M864();
  9902. break;
  9903. case 865: // M865 Check module firmware version
  9904. gcode_M865();
  9905. break;
  9906. case 866: // M866 Report axis error count
  9907. gcode_M866();
  9908. break;
  9909. case 867: // M867 Toggle error correction
  9910. gcode_M867();
  9911. break;
  9912. case 868: // M868 Set error correction threshold
  9913. gcode_M868();
  9914. break;
  9915. case 869: // M869 Report axis error
  9916. gcode_M869();
  9917. break;
  9918. #endif // I2C_POSITION_ENCODERS
  9919. case 999: // M999: Restart after being Stopped
  9920. gcode_M999();
  9921. break;
  9922. }
  9923. break;
  9924. case 'T':
  9925. gcode_T(parser.codenum);
  9926. break;
  9927. default: parser.unknown_command_error();
  9928. }
  9929. KEEPALIVE_STATE(NOT_BUSY);
  9930. ok_to_send();
  9931. }
  9932. /**
  9933. * Send a "Resend: nnn" message to the host to
  9934. * indicate that a command needs to be re-sent.
  9935. */
  9936. void FlushSerialRequestResend() {
  9937. //char command_queue[cmd_queue_index_r][100]="Resend:";
  9938. MYSERIAL.flush();
  9939. SERIAL_PROTOCOLPGM(MSG_RESEND);
  9940. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  9941. ok_to_send();
  9942. }
  9943. /**
  9944. * Send an "ok" message to the host, indicating
  9945. * that a command was successfully processed.
  9946. *
  9947. * If ADVANCED_OK is enabled also include:
  9948. * N<int> Line number of the command, if any
  9949. * P<int> Planner space remaining
  9950. * B<int> Block queue space remaining
  9951. */
  9952. void ok_to_send() {
  9953. refresh_cmd_timeout();
  9954. if (!send_ok[cmd_queue_index_r]) return;
  9955. SERIAL_PROTOCOLPGM(MSG_OK);
  9956. #if ENABLED(ADVANCED_OK)
  9957. char* p = command_queue[cmd_queue_index_r];
  9958. if (*p == 'N') {
  9959. SERIAL_PROTOCOL(' ');
  9960. SERIAL_ECHO(*p++);
  9961. while (NUMERIC_SIGNED(*p))
  9962. SERIAL_ECHO(*p++);
  9963. }
  9964. SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
  9965. SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  9966. #endif
  9967. SERIAL_EOL();
  9968. }
  9969. #if HAS_SOFTWARE_ENDSTOPS
  9970. /**
  9971. * Constrain the given coordinates to the software endstops.
  9972. */
  9973. /**
  9974. * Constrain the given coordinates to the software endstops.
  9975. *
  9976. * NOTE: This will only apply to Z on DELTA and SCARA. XY is
  9977. * constrained to a circle on these kinematic systems.
  9978. */
  9979. void clamp_to_software_endstops(float target[XYZ]) {
  9980. if (!soft_endstops_enabled) return;
  9981. #if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
  9982. NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
  9983. #endif
  9984. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
  9985. NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
  9986. #endif
  9987. #if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
  9988. NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
  9989. #endif
  9990. #if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
  9991. NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
  9992. #endif
  9993. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
  9994. NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
  9995. #endif
  9996. #if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
  9997. NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
  9998. #endif
  9999. }
  10000. #endif
  10001. #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10002. #if ENABLED(ABL_BILINEAR_SUBDIVISION)
  10003. #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
  10004. #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
  10005. #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
  10006. #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
  10007. #define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
  10008. #else
  10009. #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
  10010. #define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
  10011. #define ABL_BG_POINTS_X GRID_MAX_POINTS_X
  10012. #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
  10013. #define ABL_BG_GRID(X,Y) z_values[X][Y]
  10014. #endif
  10015. // Get the Z adjustment for non-linear bed leveling
  10016. float bilinear_z_offset(const float logical[XYZ]) {
  10017. static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
  10018. last_x = -999.999, last_y = -999.999;
  10019. // Whole units for the grid line indices. Constrained within bounds.
  10020. static int8_t gridx, gridy, nextx, nexty,
  10021. last_gridx = -99, last_gridy = -99;
  10022. // XY relative to the probed area
  10023. const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS],
  10024. y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS];
  10025. #if ENABLED(EXTRAPOLATE_BEYOND_GRID)
  10026. // Keep using the last grid box
  10027. #define FAR_EDGE_OR_BOX 2
  10028. #else
  10029. // Just use the grid far edge
  10030. #define FAR_EDGE_OR_BOX 1
  10031. #endif
  10032. if (last_x != x) {
  10033. last_x = x;
  10034. ratio_x = x * ABL_BG_FACTOR(X_AXIS);
  10035. const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX);
  10036. ratio_x -= gx; // Subtract whole to get the ratio within the grid box
  10037. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10038. // Beyond the grid maintain height at grid edges
  10039. NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
  10040. #endif
  10041. gridx = gx;
  10042. nextx = min(gridx + 1, ABL_BG_POINTS_X - 1);
  10043. }
  10044. if (last_y != y || last_gridx != gridx) {
  10045. if (last_y != y) {
  10046. last_y = y;
  10047. ratio_y = y * ABL_BG_FACTOR(Y_AXIS);
  10048. const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX);
  10049. ratio_y -= gy;
  10050. #if DISABLED(EXTRAPOLATE_BEYOND_GRID)
  10051. // Beyond the grid maintain height at grid edges
  10052. NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
  10053. #endif
  10054. gridy = gy;
  10055. nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  10056. }
  10057. if (last_gridx != gridx || last_gridy != gridy) {
  10058. last_gridx = gridx;
  10059. last_gridy = gridy;
  10060. // Z at the box corners
  10061. z1 = ABL_BG_GRID(gridx, gridy); // left-front
  10062. d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
  10063. z3 = ABL_BG_GRID(nextx, gridy); // right-front
  10064. d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
  10065. }
  10066. // Bilinear interpolate. Needed since y or gridx has changed.
  10067. L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
  10068. const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
  10069. D = R - L;
  10070. }
  10071. const float offset = L + ratio_x * D; // the offset almost always changes
  10072. /*
  10073. static float last_offset = 0;
  10074. if (FABS(last_offset - offset) > 0.2) {
  10075. SERIAL_ECHOPGM("Sudden Shift at ");
  10076. SERIAL_ECHOPAIR("x=", x);
  10077. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
  10078. SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
  10079. SERIAL_ECHOPAIR(" y=", y);
  10080. SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
  10081. SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
  10082. SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
  10083. SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
  10084. SERIAL_ECHOPAIR(" z1=", z1);
  10085. SERIAL_ECHOPAIR(" z2=", z2);
  10086. SERIAL_ECHOPAIR(" z3=", z3);
  10087. SERIAL_ECHOLNPAIR(" z4=", z4);
  10088. SERIAL_ECHOPAIR(" L=", L);
  10089. SERIAL_ECHOPAIR(" R=", R);
  10090. SERIAL_ECHOLNPAIR(" offset=", offset);
  10091. }
  10092. last_offset = offset;
  10093. //*/
  10094. return offset;
  10095. }
  10096. #endif // AUTO_BED_LEVELING_BILINEAR
  10097. #if ENABLED(DELTA)
  10098. /**
  10099. * Recalculate factors used for delta kinematics whenever
  10100. * settings have been changed (e.g., by M665).
  10101. */
  10102. void recalc_delta_settings(float radius, float diagonal_rod, float tower_angle_trim[ABC]) {
  10103. const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
  10104. drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
  10105. delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
  10106. delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
  10107. delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
  10108. delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
  10109. delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]); // back middle tower
  10110. delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]);
  10111. delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
  10112. delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
  10113. delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);
  10114. }
  10115. #if ENABLED(DELTA_FAST_SQRT)
  10116. /**
  10117. * Fast inverse sqrt from Quake III Arena
  10118. * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
  10119. */
  10120. float Q_rsqrt(float number) {
  10121. long i;
  10122. float x2, y;
  10123. const float threehalfs = 1.5f;
  10124. x2 = number * 0.5f;
  10125. y = number;
  10126. i = * ( long * ) &y; // evil floating point bit level hacking
  10127. i = 0x5F3759DF - ( i >> 1 ); // what the f***?
  10128. y = * ( float * ) &i;
  10129. y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
  10130. // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
  10131. return y;
  10132. }
  10133. #define _SQRT(n) (1.0f / Q_rsqrt(n))
  10134. #else
  10135. #define _SQRT(n) SQRT(n)
  10136. #endif
  10137. /**
  10138. * Delta Inverse Kinematics
  10139. *
  10140. * Calculate the tower positions for a given logical
  10141. * position, storing the result in the delta[] array.
  10142. *
  10143. * This is an expensive calculation, requiring 3 square
  10144. * roots per segmented linear move, and strains the limits
  10145. * of a Mega2560 with a Graphical Display.
  10146. *
  10147. * Suggested optimizations include:
  10148. *
  10149. * - Disable the home_offset (M206) and/or position_shift (G92)
  10150. * features to remove up to 12 float additions.
  10151. *
  10152. * - Use a fast-inverse-sqrt function and add the reciprocal.
  10153. * (see above)
  10154. */
  10155. // Macro to obtain the Z position of an individual tower
  10156. #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
  10157. delta_diagonal_rod_2_tower[T] - HYPOT2( \
  10158. delta_tower[T][X_AXIS] - raw[X_AXIS], \
  10159. delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
  10160. ) \
  10161. )
  10162. #define DELTA_RAW_IK() do { \
  10163. delta[A_AXIS] = DELTA_Z(A_AXIS); \
  10164. delta[B_AXIS] = DELTA_Z(B_AXIS); \
  10165. delta[C_AXIS] = DELTA_Z(C_AXIS); \
  10166. }while(0)
  10167. #define DELTA_LOGICAL_IK() do { \
  10168. const float raw[XYZ] = { \
  10169. RAW_X_POSITION(logical[X_AXIS]), \
  10170. RAW_Y_POSITION(logical[Y_AXIS]), \
  10171. RAW_Z_POSITION(logical[Z_AXIS]) \
  10172. }; \
  10173. DELTA_RAW_IK(); \
  10174. }while(0)
  10175. #define DELTA_DEBUG() do { \
  10176. SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
  10177. SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
  10178. SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
  10179. SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
  10180. SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
  10181. SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
  10182. }while(0)
  10183. void inverse_kinematics(const float logical[XYZ]) {
  10184. DELTA_LOGICAL_IK();
  10185. // DELTA_DEBUG();
  10186. }
  10187. /**
  10188. * Calculate the highest Z position where the
  10189. * effector has the full range of XY motion.
  10190. */
  10191. float delta_safe_distance_from_top() {
  10192. float cartesian[XYZ] = {
  10193. LOGICAL_X_POSITION(0),
  10194. LOGICAL_Y_POSITION(0),
  10195. LOGICAL_Z_POSITION(0)
  10196. };
  10197. inverse_kinematics(cartesian);
  10198. float distance = delta[A_AXIS];
  10199. cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
  10200. inverse_kinematics(cartesian);
  10201. return FABS(distance - delta[A_AXIS]);
  10202. }
  10203. /**
  10204. * Delta Forward Kinematics
  10205. *
  10206. * See the Wikipedia article "Trilateration"
  10207. * https://en.wikipedia.org/wiki/Trilateration
  10208. *
  10209. * Establish a new coordinate system in the plane of the
  10210. * three carriage points. This system has its origin at
  10211. * tower1, with tower2 on the X axis. Tower3 is in the X-Y
  10212. * plane with a Z component of zero.
  10213. * We will define unit vectors in this coordinate system
  10214. * in our original coordinate system. Then when we calculate
  10215. * the Xnew, Ynew and Znew values, we can translate back into
  10216. * the original system by moving along those unit vectors
  10217. * by the corresponding values.
  10218. *
  10219. * Variable names matched to Marlin, c-version, and avoid the
  10220. * use of any vector library.
  10221. *
  10222. * by Andreas Hardtung 2016-06-07
  10223. * based on a Java function from "Delta Robot Kinematics V3"
  10224. * by Steve Graves
  10225. *
  10226. * The result is stored in the cartes[] array.
  10227. */
  10228. void forward_kinematics_DELTA(float z1, float z2, float z3) {
  10229. // Create a vector in old coordinates along x axis of new coordinate
  10230. float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
  10231. // Get the Magnitude of vector.
  10232. float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  10233. // Create unit vector by dividing by magnitude.
  10234. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  10235. // Get the vector from the origin of the new system to the third point.
  10236. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
  10237. // Use the dot product to find the component of this vector on the X axis.
  10238. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  10239. // Create a vector along the x axis that represents the x component of p13.
  10240. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  10241. // Subtract the X component from the original vector leaving only Y. We use the
  10242. // variable that will be the unit vector after we scale it.
  10243. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  10244. // The magnitude of Y component
  10245. float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  10246. // Convert to a unit vector
  10247. ey[0] /= j; ey[1] /= j; ey[2] /= j;
  10248. // The cross product of the unit x and y is the unit z
  10249. // float[] ez = vectorCrossProd(ex, ey);
  10250. float ez[3] = {
  10251. ex[1] * ey[2] - ex[2] * ey[1],
  10252. ex[2] * ey[0] - ex[0] * ey[2],
  10253. ex[0] * ey[1] - ex[1] * ey[0]
  10254. };
  10255. // We now have the d, i and j values defined in Wikipedia.
  10256. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
  10257. float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
  10258. Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
  10259. Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
  10260. // Start from the origin of the old coordinates and add vectors in the
  10261. // old coords that represent the Xnew, Ynew and Znew to find the point
  10262. // in the old system.
  10263. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
  10264. cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
  10265. cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
  10266. }
  10267. void forward_kinematics_DELTA(float point[ABC]) {
  10268. forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
  10269. }
  10270. #endif // DELTA
  10271. /**
  10272. * Get the stepper positions in the cartes[] array.
  10273. * Forward kinematics are applied for DELTA and SCARA.
  10274. *
  10275. * The result is in the current coordinate space with
  10276. * leveling applied. The coordinates need to be run through
  10277. * unapply_leveling to obtain the "ideal" coordinates
  10278. * suitable for current_position, etc.
  10279. */
  10280. void get_cartesian_from_steppers() {
  10281. #if ENABLED(DELTA)
  10282. forward_kinematics_DELTA(
  10283. stepper.get_axis_position_mm(A_AXIS),
  10284. stepper.get_axis_position_mm(B_AXIS),
  10285. stepper.get_axis_position_mm(C_AXIS)
  10286. );
  10287. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  10288. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  10289. cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
  10290. #elif IS_SCARA
  10291. forward_kinematics_SCARA(
  10292. stepper.get_axis_position_degrees(A_AXIS),
  10293. stepper.get_axis_position_degrees(B_AXIS)
  10294. );
  10295. cartes[X_AXIS] += LOGICAL_X_POSITION(0);
  10296. cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
  10297. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  10298. #else
  10299. cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
  10300. cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
  10301. cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
  10302. #endif
  10303. }
  10304. /**
  10305. * Set the current_position for an axis based on
  10306. * the stepper positions, removing any leveling that
  10307. * may have been applied.
  10308. */
  10309. void set_current_from_steppers_for_axis(const AxisEnum axis) {
  10310. get_cartesian_from_steppers();
  10311. #if PLANNER_LEVELING
  10312. planner.unapply_leveling(cartes);
  10313. #endif
  10314. if (axis == ALL_AXES)
  10315. COPY(current_position, cartes);
  10316. else
  10317. current_position[axis] = cartes[axis];
  10318. }
  10319. #if ENABLED(MESH_BED_LEVELING)
  10320. /**
  10321. * Prepare a mesh-leveled linear move in a Cartesian setup,
  10322. * splitting the move where it crosses mesh borders.
  10323. */
  10324. void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
  10325. int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
  10326. cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
  10327. cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
  10328. cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
  10329. NOMORE(cx1, GRID_MAX_POINTS_X - 2);
  10330. NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
  10331. NOMORE(cx2, GRID_MAX_POINTS_X - 2);
  10332. NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
  10333. if (cx1 == cx2 && cy1 == cy2) {
  10334. // Start and end on same mesh square
  10335. line_to_destination(fr_mm_s);
  10336. set_current_from_destination();
  10337. return;
  10338. }
  10339. #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10340. float normalized_dist, end[XYZE];
  10341. // Split at the left/front border of the right/top square
  10342. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10343. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10344. COPY(end, destination);
  10345. destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
  10346. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10347. destination[Y_AXIS] = MBL_SEGMENT_END(Y);
  10348. CBI(x_splits, gcx);
  10349. }
  10350. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10351. COPY(end, destination);
  10352. destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
  10353. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10354. destination[X_AXIS] = MBL_SEGMENT_END(X);
  10355. CBI(y_splits, gcy);
  10356. }
  10357. else {
  10358. // Already split on a border
  10359. line_to_destination(fr_mm_s);
  10360. set_current_from_destination();
  10361. return;
  10362. }
  10363. destination[Z_AXIS] = MBL_SEGMENT_END(Z);
  10364. destination[E_AXIS] = MBL_SEGMENT_END(E);
  10365. // Do the split and look for more borders
  10366. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10367. // Restore destination from stack
  10368. COPY(destination, end);
  10369. mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  10370. }
  10371. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  10372. #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
  10373. /**
  10374. * Prepare a bilinear-leveled linear move on Cartesian,
  10375. * splitting the move where it crosses grid borders.
  10376. */
  10377. void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
  10378. int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
  10379. cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
  10380. cx2 = CELL_INDEX(X, destination[X_AXIS]),
  10381. cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
  10382. cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
  10383. cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
  10384. cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
  10385. cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  10386. if (cx1 == cx2 && cy1 == cy2) {
  10387. // Start and end on same mesh square
  10388. line_to_destination(fr_mm_s);
  10389. set_current_from_destination();
  10390. return;
  10391. }
  10392. #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  10393. float normalized_dist, end[XYZE];
  10394. // Split at the left/front border of the right/top square
  10395. const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
  10396. if (cx2 != cx1 && TEST(x_splits, gcx)) {
  10397. COPY(end, destination);
  10398. destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
  10399. normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
  10400. destination[Y_AXIS] = LINE_SEGMENT_END(Y);
  10401. CBI(x_splits, gcx);
  10402. }
  10403. else if (cy2 != cy1 && TEST(y_splits, gcy)) {
  10404. COPY(end, destination);
  10405. destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
  10406. normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
  10407. destination[X_AXIS] = LINE_SEGMENT_END(X);
  10408. CBI(y_splits, gcy);
  10409. }
  10410. else {
  10411. // Already split on a border
  10412. line_to_destination(fr_mm_s);
  10413. set_current_from_destination();
  10414. return;
  10415. }
  10416. destination[Z_AXIS] = LINE_SEGMENT_END(Z);
  10417. destination[E_AXIS] = LINE_SEGMENT_END(E);
  10418. // Do the split and look for more borders
  10419. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10420. // Restore destination from stack
  10421. COPY(destination, end);
  10422. bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  10423. }
  10424. #endif // AUTO_BED_LEVELING_BILINEAR
  10425. #if IS_KINEMATIC && !UBL_DELTA
  10426. /**
  10427. * Prepare a linear move in a DELTA or SCARA setup.
  10428. *
  10429. * This calls planner.buffer_line several times, adding
  10430. * small incremental moves for DELTA or SCARA.
  10431. */
  10432. inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
  10433. // Get the top feedrate of the move in the XY plane
  10434. const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  10435. // If the move is only in Z/E don't split up the move
  10436. if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
  10437. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  10438. return false;
  10439. }
  10440. // Fail if attempting move outside printable radius
  10441. if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
  10442. // Get the cartesian distances moved in XYZE
  10443. const float difference[XYZE] = {
  10444. ltarget[X_AXIS] - current_position[X_AXIS],
  10445. ltarget[Y_AXIS] - current_position[Y_AXIS],
  10446. ltarget[Z_AXIS] - current_position[Z_AXIS],
  10447. ltarget[E_AXIS] - current_position[E_AXIS]
  10448. };
  10449. // Get the linear distance in XYZ
  10450. float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  10451. // If the move is very short, check the E move distance
  10452. if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
  10453. // No E move either? Game over.
  10454. if (UNEAR_ZERO(cartesian_mm)) return true;
  10455. // Minimum number of seconds to move the given distance
  10456. const float seconds = cartesian_mm / _feedrate_mm_s;
  10457. // The number of segments-per-second times the duration
  10458. // gives the number of segments
  10459. uint16_t segments = delta_segments_per_second * seconds;
  10460. // For SCARA minimum segment size is 0.25mm
  10461. #if IS_SCARA
  10462. NOMORE(segments, cartesian_mm * 4);
  10463. #endif
  10464. // At least one segment is required
  10465. NOLESS(segments, 1);
  10466. // The approximate length of each segment
  10467. const float inv_segments = 1.0 / float(segments),
  10468. segment_distance[XYZE] = {
  10469. difference[X_AXIS] * inv_segments,
  10470. difference[Y_AXIS] * inv_segments,
  10471. difference[Z_AXIS] * inv_segments,
  10472. difference[E_AXIS] * inv_segments
  10473. };
  10474. // SERIAL_ECHOPAIR("mm=", cartesian_mm);
  10475. // SERIAL_ECHOPAIR(" seconds=", seconds);
  10476. // SERIAL_ECHOLNPAIR(" segments=", segments);
  10477. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10478. // SCARA needs to scale the feed rate from mm/s to degrees/s
  10479. const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
  10480. feed_factor = inv_segment_length * _feedrate_mm_s;
  10481. float oldA = stepper.get_axis_position_degrees(A_AXIS),
  10482. oldB = stepper.get_axis_position_degrees(B_AXIS);
  10483. #endif
  10484. // Get the logical current position as starting point
  10485. float logical[XYZE];
  10486. COPY(logical, current_position);
  10487. // Drop one segment so the last move is to the exact target.
  10488. // If there's only 1 segment, loops will be skipped entirely.
  10489. --segments;
  10490. // Calculate and execute the segments
  10491. for (uint16_t s = segments + 1; --s;) {
  10492. LOOP_XYZE(i) logical[i] += segment_distance[i];
  10493. #if ENABLED(DELTA)
  10494. DELTA_LOGICAL_IK(); // Delta can inline its kinematics
  10495. #else
  10496. inverse_kinematics(logical);
  10497. #endif
  10498. ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
  10499. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10500. // For SCARA scale the feed rate from mm/s to degrees/s
  10501. // Use ratio between the length of the move and the larger angle change
  10502. const float adiff = abs(delta[A_AXIS] - oldA),
  10503. bdiff = abs(delta[B_AXIS] - oldB);
  10504. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10505. oldA = delta[A_AXIS];
  10506. oldB = delta[B_AXIS];
  10507. #else
  10508. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
  10509. #endif
  10510. }
  10511. // Since segment_distance is only approximate,
  10512. // the final move must be to the exact destination.
  10513. #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
  10514. // For SCARA scale the feed rate from mm/s to degrees/s
  10515. // With segments > 1 length is 1 segment, otherwise total length
  10516. inverse_kinematics(ltarget);
  10517. ADJUST_DELTA(ltarget);
  10518. const float adiff = abs(delta[A_AXIS] - oldA),
  10519. bdiff = abs(delta[B_AXIS] - oldB);
  10520. planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
  10521. #else
  10522. planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
  10523. #endif
  10524. return false;
  10525. }
  10526. #else // !IS_KINEMATIC || UBL_DELTA
  10527. /**
  10528. * Prepare a linear move in a Cartesian setup.
  10529. * If Mesh Bed Leveling is enabled, perform a mesh move.
  10530. *
  10531. * Returns true if current_position[] was set to destination[]
  10532. */
  10533. inline bool prepare_move_to_destination_cartesian() {
  10534. if (current_position[X_AXIS] != destination[X_AXIS] || current_position[Y_AXIS] != destination[Y_AXIS]) {
  10535. const float fr_scaled = MMS_SCALED(feedrate_mm_s);
  10536. #if HAS_MESH
  10537. if (planner.leveling_active) {
  10538. #if ENABLED(AUTO_BED_LEVELING_UBL)
  10539. ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
  10540. #elif ENABLED(MESH_BED_LEVELING)
  10541. mesh_line_to_destination(fr_scaled);
  10542. #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  10543. bilinear_line_to_destination(fr_scaled);
  10544. #endif
  10545. return true;
  10546. }
  10547. #endif // HAS_MESH
  10548. line_to_destination(fr_scaled);
  10549. }
  10550. else
  10551. line_to_destination();
  10552. return false;
  10553. }
  10554. #endif // !IS_KINEMATIC || UBL_DELTA
  10555. #if ENABLED(DUAL_X_CARRIAGE)
  10556. /**
  10557. * Prepare a linear move in a dual X axis setup
  10558. */
  10559. inline bool prepare_move_to_destination_dualx() {
  10560. if (active_extruder_parked) {
  10561. switch (dual_x_carriage_mode) {
  10562. case DXC_FULL_CONTROL_MODE:
  10563. break;
  10564. case DXC_AUTO_PARK_MODE:
  10565. if (current_position[E_AXIS] == destination[E_AXIS]) {
  10566. // This is a travel move (with no extrusion)
  10567. // Skip it, but keep track of the current position
  10568. // (so it can be used as the start of the next non-travel move)
  10569. if (delayed_move_time != 0xFFFFFFFFUL) {
  10570. set_current_from_destination();
  10571. NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
  10572. delayed_move_time = millis();
  10573. return true;
  10574. }
  10575. }
  10576. // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
  10577. for (uint8_t i = 0; i < 3; i++)
  10578. planner.buffer_line(
  10579. i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
  10580. i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
  10581. i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
  10582. current_position[E_AXIS],
  10583. i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
  10584. active_extruder
  10585. );
  10586. delayed_move_time = 0;
  10587. active_extruder_parked = false;
  10588. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10589. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
  10590. #endif
  10591. break;
  10592. case DXC_DUPLICATION_MODE:
  10593. if (active_extruder == 0) {
  10594. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10595. if (DEBUGGING(LEVELING)) {
  10596. SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
  10597. SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
  10598. }
  10599. #endif
  10600. // move duplicate extruder into correct duplication position.
  10601. planner.set_position_mm(
  10602. LOGICAL_X_POSITION(inactive_extruder_x_pos),
  10603. current_position[Y_AXIS],
  10604. current_position[Z_AXIS],
  10605. current_position[E_AXIS]
  10606. );
  10607. planner.buffer_line(
  10608. current_position[X_AXIS] + duplicate_extruder_x_offset,
  10609. current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
  10610. planner.max_feedrate_mm_s[X_AXIS], 1
  10611. );
  10612. SYNC_PLAN_POSITION_KINEMATIC();
  10613. stepper.synchronize();
  10614. extruder_duplication_enabled = true;
  10615. active_extruder_parked = false;
  10616. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10617. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
  10618. #endif
  10619. }
  10620. else {
  10621. #if ENABLED(DEBUG_LEVELING_FEATURE)
  10622. if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
  10623. #endif
  10624. }
  10625. break;
  10626. }
  10627. }
  10628. return prepare_move_to_destination_cartesian();
  10629. }
  10630. #endif // DUAL_X_CARRIAGE
  10631. /**
  10632. * Prepare a single move and get ready for the next one
  10633. *
  10634. * This may result in several calls to planner.buffer_line to
  10635. * do smaller moves for DELTA, SCARA, mesh moves, etc.
  10636. */
  10637. void prepare_move_to_destination() {
  10638. clamp_to_software_endstops(destination);
  10639. refresh_cmd_timeout();
  10640. #if ENABLED(PREVENT_COLD_EXTRUSION)
  10641. if (!DEBUGGING(DRYRUN)) {
  10642. if (destination[E_AXIS] != current_position[E_AXIS]) {
  10643. if (thermalManager.tooColdToExtrude(active_extruder)) {
  10644. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10645. SERIAL_ECHO_START();
  10646. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  10647. }
  10648. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  10649. if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) {
  10650. current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
  10651. SERIAL_ECHO_START();
  10652. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  10653. }
  10654. #endif
  10655. }
  10656. }
  10657. #endif
  10658. if (
  10659. #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
  10660. ubl.prepare_segmented_line_to(destination, MMS_SCALED(feedrate_mm_s))
  10661. #elif IS_KINEMATIC
  10662. prepare_kinematic_move_to(destination)
  10663. #elif ENABLED(DUAL_X_CARRIAGE)
  10664. prepare_move_to_destination_dualx()
  10665. #else
  10666. prepare_move_to_destination_cartesian()
  10667. #endif
  10668. ) return;
  10669. set_current_from_destination();
  10670. }
  10671. #if ENABLED(ARC_SUPPORT)
  10672. #if N_ARC_CORRECTION < 1
  10673. #undef N_ARC_CORRECTION
  10674. #define N_ARC_CORRECTION 1
  10675. #endif
  10676. /**
  10677. * Plan an arc in 2 dimensions
  10678. *
  10679. * The arc is approximated by generating many small linear segments.
  10680. * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
  10681. * Arcs should only be made relatively large (over 5mm), as larger arcs with
  10682. * larger segments will tend to be more efficient. Your slicer should have
  10683. * options for G2/G3 arc generation. In future these options may be GCode tunable.
  10684. */
  10685. void plan_arc(
  10686. float logical[XYZE], // Destination position
  10687. float *offset, // Center of rotation relative to current_position
  10688. uint8_t clockwise // Clockwise?
  10689. ) {
  10690. #if ENABLED(CNC_WORKSPACE_PLANES)
  10691. AxisEnum p_axis, q_axis, l_axis;
  10692. switch (workspace_plane) {
  10693. case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
  10694. case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
  10695. case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
  10696. }
  10697. #else
  10698. constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
  10699. #endif
  10700. // Radius vector from center to current location
  10701. float r_P = -offset[0], r_Q = -offset[1];
  10702. const float radius = HYPOT(r_P, r_Q),
  10703. center_P = current_position[p_axis] - r_P,
  10704. center_Q = current_position[q_axis] - r_Q,
  10705. rt_X = logical[p_axis] - center_P,
  10706. rt_Y = logical[q_axis] - center_Q,
  10707. linear_travel = logical[l_axis] - current_position[l_axis],
  10708. extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
  10709. // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  10710. float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
  10711. if (angular_travel < 0) angular_travel += RADIANS(360);
  10712. if (clockwise) angular_travel -= RADIANS(360);
  10713. // Make a circle if the angular rotation is 0 and the target is current position
  10714. if (angular_travel == 0 && current_position[p_axis] == logical[p_axis] && current_position[q_axis] == logical[q_axis])
  10715. angular_travel = RADIANS(360);
  10716. const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
  10717. if (mm_of_travel < 0.001) return;
  10718. uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
  10719. if (segments == 0) segments = 1;
  10720. /**
  10721. * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
  10722. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
  10723. * r_T = [cos(phi) -sin(phi);
  10724. * sin(phi) cos(phi)] * r ;
  10725. *
  10726. * For arc generation, the center of the circle is the axis of rotation and the radius vector is
  10727. * defined from the circle center to the initial position. Each line segment is formed by successive
  10728. * vector rotations. This requires only two cos() and sin() computations to form the rotation
  10729. * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
  10730. * all double numbers are single precision on the Arduino. (True double precision will not have
  10731. * round off issues for CNC applications.) Single precision error can accumulate to be greater than
  10732. * tool precision in some cases. Therefore, arc path correction is implemented.
  10733. *
  10734. * Small angle approximation may be used to reduce computation overhead further. This approximation
  10735. * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
  10736. * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
  10737. * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
  10738. * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
  10739. * issue for CNC machines with the single precision Arduino calculations.
  10740. *
  10741. * This approximation also allows plan_arc to immediately insert a line segment into the planner
  10742. * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
  10743. * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
  10744. * This is important when there are successive arc motions.
  10745. */
  10746. // Vector rotation matrix values
  10747. float arc_target[XYZE];
  10748. const float theta_per_segment = angular_travel / segments,
  10749. linear_per_segment = linear_travel / segments,
  10750. extruder_per_segment = extruder_travel / segments,
  10751. sin_T = theta_per_segment,
  10752. cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  10753. // Initialize the linear axis
  10754. arc_target[l_axis] = current_position[l_axis];
  10755. // Initialize the extruder axis
  10756. arc_target[E_AXIS] = current_position[E_AXIS];
  10757. const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
  10758. millis_t next_idle_ms = millis() + 200UL;
  10759. #if N_ARC_CORRECTION > 1
  10760. int8_t arc_recalc_count = N_ARC_CORRECTION;
  10761. #endif
  10762. for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  10763. thermalManager.manage_heater();
  10764. if (ELAPSED(millis(), next_idle_ms)) {
  10765. next_idle_ms = millis() + 200UL;
  10766. idle();
  10767. }
  10768. #if N_ARC_CORRECTION > 1
  10769. if (--arc_recalc_count) {
  10770. // Apply vector rotation matrix to previous r_P / 1
  10771. const float r_new_Y = r_P * sin_T + r_Q * cos_T;
  10772. r_P = r_P * cos_T - r_Q * sin_T;
  10773. r_Q = r_new_Y;
  10774. }
  10775. else
  10776. #endif
  10777. {
  10778. #if N_ARC_CORRECTION > 1
  10779. arc_recalc_count = N_ARC_CORRECTION;
  10780. #endif
  10781. // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
  10782. // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
  10783. // To reduce stuttering, the sin and cos could be computed at different times.
  10784. // For now, compute both at the same time.
  10785. const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
  10786. r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
  10787. r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
  10788. }
  10789. // Update arc_target location
  10790. arc_target[p_axis] = center_P + r_P;
  10791. arc_target[q_axis] = center_Q + r_Q;
  10792. arc_target[l_axis] += linear_per_segment;
  10793. arc_target[E_AXIS] += extruder_per_segment;
  10794. clamp_to_software_endstops(arc_target);
  10795. planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
  10796. }
  10797. // Ensure last segment arrives at target location.
  10798. planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  10799. // As far as the parser is concerned, the position is now == target. In reality the
  10800. // motion control system might still be processing the action and the real tool position
  10801. // in any intermediate location.
  10802. set_current_from_destination();
  10803. } // plan_arc
  10804. #endif // ARC_SUPPORT
  10805. #if ENABLED(BEZIER_CURVE_SUPPORT)
  10806. void plan_cubic_move(const float offset[4]) {
  10807. cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  10808. // As far as the parser is concerned, the position is now == destination. In reality the
  10809. // motion control system might still be processing the action and the real tool position
  10810. // in any intermediate location.
  10811. set_current_from_destination();
  10812. }
  10813. #endif // BEZIER_CURVE_SUPPORT
  10814. #if ENABLED(USE_CONTROLLER_FAN)
  10815. void controllerFan() {
  10816. static millis_t lastMotorOn = 0, // Last time a motor was turned on
  10817. nextMotorCheck = 0; // Last time the state was checked
  10818. const millis_t ms = millis();
  10819. if (ELAPSED(ms, nextMotorCheck)) {
  10820. nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
  10821. if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0
  10822. || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
  10823. #if E_STEPPERS > 1
  10824. || E1_ENABLE_READ == E_ENABLE_ON
  10825. #if HAS_X2_ENABLE
  10826. || X2_ENABLE_READ == X_ENABLE_ON
  10827. #endif
  10828. #if E_STEPPERS > 2
  10829. || E2_ENABLE_READ == E_ENABLE_ON
  10830. #if E_STEPPERS > 3
  10831. || E3_ENABLE_READ == E_ENABLE_ON
  10832. #if E_STEPPERS > 4
  10833. || E4_ENABLE_READ == E_ENABLE_ON
  10834. #endif // E_STEPPERS > 4
  10835. #endif // E_STEPPERS > 3
  10836. #endif // E_STEPPERS > 2
  10837. #endif // E_STEPPERS > 1
  10838. ) {
  10839. lastMotorOn = ms; //... set time to NOW so the fan will turn on
  10840. }
  10841. // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
  10842. uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  10843. // allows digital or PWM fan output to be used (see M42 handling)
  10844. WRITE(CONTROLLER_FAN_PIN, speed);
  10845. analogWrite(CONTROLLER_FAN_PIN, speed);
  10846. }
  10847. }
  10848. #endif // USE_CONTROLLER_FAN
  10849. #if ENABLED(MORGAN_SCARA)
  10850. /**
  10851. * Morgan SCARA Forward Kinematics. Results in cartes[].
  10852. * Maths and first version by QHARLEY.
  10853. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  10854. */
  10855. void forward_kinematics_SCARA(const float &a, const float &b) {
  10856. float a_sin = sin(RADIANS(a)) * L1,
  10857. a_cos = cos(RADIANS(a)) * L1,
  10858. b_sin = sin(RADIANS(b)) * L2,
  10859. b_cos = cos(RADIANS(b)) * L2;
  10860. cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
  10861. cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
  10862. /*
  10863. SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
  10864. SERIAL_ECHOPAIR(" b=", b);
  10865. SERIAL_ECHOPAIR(" a_sin=", a_sin);
  10866. SERIAL_ECHOPAIR(" a_cos=", a_cos);
  10867. SERIAL_ECHOPAIR(" b_sin=", b_sin);
  10868. SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
  10869. SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
  10870. SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
  10871. //*/
  10872. }
  10873. /**
  10874. * Morgan SCARA Inverse Kinematics. Results in delta[].
  10875. *
  10876. * See http://forums.reprap.org/read.php?185,283327
  10877. *
  10878. * Maths and first version by QHARLEY.
  10879. * Integrated into Marlin and slightly restructured by Joachim Cerny.
  10880. */
  10881. void inverse_kinematics(const float logical[XYZ]) {
  10882. static float C2, S2, SK1, SK2, THETA, PSI;
  10883. float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
  10884. sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
  10885. if (L1 == L2)
  10886. C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
  10887. else
  10888. C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  10889. S2 = SQRT(1 - sq(C2));
  10890. // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
  10891. SK1 = L1 + L2 * C2;
  10892. // Rotated Arm2 gives the distance from Arm1 to Arm2
  10893. SK2 = L2 * S2;
  10894. // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
  10895. THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy);
  10896. // Angle of Arm2
  10897. PSI = ATAN2(S2, C2);
  10898. delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
  10899. delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
  10900. delta[C_AXIS] = logical[Z_AXIS];
  10901. /*
  10902. DEBUG_POS("SCARA IK", logical);
  10903. DEBUG_POS("SCARA IK", delta);
  10904. SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
  10905. SERIAL_ECHOPAIR(",", sy);
  10906. SERIAL_ECHOPAIR(" C2=", C2);
  10907. SERIAL_ECHOPAIR(" S2=", S2);
  10908. SERIAL_ECHOPAIR(" Theta=", THETA);
  10909. SERIAL_ECHOLNPAIR(" Phi=", PHI);
  10910. //*/
  10911. }
  10912. #endif // MORGAN_SCARA
  10913. #if ENABLED(TEMP_STAT_LEDS)
  10914. static bool red_led = false;
  10915. static millis_t next_status_led_update_ms = 0;
  10916. void handle_status_leds(void) {
  10917. if (ELAPSED(millis(), next_status_led_update_ms)) {
  10918. next_status_led_update_ms += 500; // Update every 0.5s
  10919. float max_temp = 0.0;
  10920. #if HAS_TEMP_BED
  10921. max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
  10922. #endif
  10923. HOTEND_LOOP()
  10924. max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
  10925. const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
  10926. if (new_led != red_led) {
  10927. red_led = new_led;
  10928. #if PIN_EXISTS(STAT_LED_RED)
  10929. WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
  10930. #if PIN_EXISTS(STAT_LED_BLUE)
  10931. WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
  10932. #endif
  10933. #else
  10934. WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
  10935. #endif
  10936. }
  10937. }
  10938. }
  10939. #endif
  10940. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  10941. void handle_filament_runout() {
  10942. if (!filament_ran_out) {
  10943. filament_ran_out = true;
  10944. enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
  10945. stepper.synchronize();
  10946. }
  10947. }
  10948. #endif // FILAMENT_RUNOUT_SENSOR
  10949. #if ENABLED(FAST_PWM_FAN)
  10950. void setPwmFrequency(uint8_t pin, int val) {
  10951. val &= 0x07;
  10952. switch (digitalPinToTimer(pin)) {
  10953. #ifdef TCCR0A
  10954. #if !AVR_AT90USB1286_FAMILY
  10955. case TIMER0A:
  10956. #endif
  10957. case TIMER0B:
  10958. //_SET_CS(0, val);
  10959. break;
  10960. #endif
  10961. #ifdef TCCR1A
  10962. case TIMER1A:
  10963. case TIMER1B:
  10964. //_SET_CS(1, val);
  10965. break;
  10966. #endif
  10967. #ifdef TCCR2
  10968. case TIMER2:
  10969. case TIMER2:
  10970. _SET_CS(2, val);
  10971. break;
  10972. #endif
  10973. #ifdef TCCR2A
  10974. case TIMER2A:
  10975. case TIMER2B:
  10976. _SET_CS(2, val);
  10977. break;
  10978. #endif
  10979. #ifdef TCCR3A
  10980. case TIMER3A:
  10981. case TIMER3B:
  10982. case TIMER3C:
  10983. _SET_CS(3, val);
  10984. break;
  10985. #endif
  10986. #ifdef TCCR4A
  10987. case TIMER4A:
  10988. case TIMER4B:
  10989. case TIMER4C:
  10990. _SET_CS(4, val);
  10991. break;
  10992. #endif
  10993. #ifdef TCCR5A
  10994. case TIMER5A:
  10995. case TIMER5B:
  10996. case TIMER5C:
  10997. _SET_CS(5, val);
  10998. break;
  10999. #endif
  11000. }
  11001. }
  11002. #endif // FAST_PWM_FAN
  11003. float calculate_volumetric_multiplier(const float diameter) {
  11004. if (!volumetric_enabled || diameter == 0) return 1.0;
  11005. return 1.0 / (M_PI * sq(diameter * 0.5));
  11006. }
  11007. void calculate_volumetric_multipliers() {
  11008. for (uint8_t i = 0; i < COUNT(filament_size); i++)
  11009. volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  11010. }
  11011. void enable_all_steppers() {
  11012. enable_X();
  11013. enable_Y();
  11014. enable_Z();
  11015. enable_E0();
  11016. enable_E1();
  11017. enable_E2();
  11018. enable_E3();
  11019. enable_E4();
  11020. }
  11021. void disable_e_steppers() {
  11022. disable_E0();
  11023. disable_E1();
  11024. disable_E2();
  11025. disable_E3();
  11026. disable_E4();
  11027. }
  11028. void disable_all_steppers() {
  11029. disable_X();
  11030. disable_Y();
  11031. disable_Z();
  11032. disable_e_steppers();
  11033. }
  11034. #if ENABLED(HAVE_TMC2130)
  11035. void automatic_current_control(TMC2130Stepper &st, String axisID) {
  11036. // Check otpw even if we don't use automatic control. Allows for flag inspection.
  11037. const bool is_otpw = st.checkOT();
  11038. // Report if a warning was triggered
  11039. static bool previous_otpw = false;
  11040. if (is_otpw && !previous_otpw) {
  11041. char timestamp[10];
  11042. duration_t elapsed = print_job_timer.duration();
  11043. const bool has_days = (elapsed.value > 60*60*24L);
  11044. (void)elapsed.toDigital(timestamp, has_days);
  11045. SERIAL_ECHO(timestamp);
  11046. SERIAL_ECHOPGM(": ");
  11047. SERIAL_ECHO(axisID);
  11048. SERIAL_ECHOLNPGM(" driver overtemperature warning!");
  11049. }
  11050. previous_otpw = is_otpw;
  11051. #if CURRENT_STEP > 0 && ENABLED(AUTOMATIC_CURRENT_CONTROL)
  11052. // Return if user has not enabled current control start with M906 S1.
  11053. if (!auto_current_control) return;
  11054. /**
  11055. * Decrease current if is_otpw is true.
  11056. * Bail out if driver is disabled.
  11057. * Increase current if OTPW has not been triggered yet.
  11058. */
  11059. uint16_t current = st.getCurrent();
  11060. if (is_otpw) {
  11061. st.setCurrent(current - CURRENT_STEP, R_SENSE, HOLD_MULTIPLIER);
  11062. #if ENABLED(REPORT_CURRENT_CHANGE)
  11063. SERIAL_ECHO(axisID);
  11064. SERIAL_ECHOPAIR(" current decreased to ", st.getCurrent());
  11065. #endif
  11066. }
  11067. else if (!st.isEnabled())
  11068. return;
  11069. else if (!is_otpw && !st.getOTPW()) {
  11070. current += CURRENT_STEP;
  11071. if (current <= AUTO_ADJUST_MAX) {
  11072. st.setCurrent(current, R_SENSE, HOLD_MULTIPLIER);
  11073. #if ENABLED(REPORT_CURRENT_CHANGE)
  11074. SERIAL_ECHO(axisID);
  11075. SERIAL_ECHOPAIR(" current increased to ", st.getCurrent());
  11076. #endif
  11077. }
  11078. }
  11079. SERIAL_EOL();
  11080. #endif
  11081. }
  11082. void checkOverTemp() {
  11083. static millis_t next_cOT = 0;
  11084. if (ELAPSED(millis(), next_cOT)) {
  11085. next_cOT = millis() + 5000;
  11086. #if ENABLED(X_IS_TMC2130)
  11087. automatic_current_control(stepperX, "X");
  11088. #endif
  11089. #if ENABLED(Y_IS_TMC2130)
  11090. automatic_current_control(stepperY, "Y");
  11091. #endif
  11092. #if ENABLED(Z_IS_TMC2130)
  11093. automatic_current_control(stepperZ, "Z");
  11094. #endif
  11095. #if ENABLED(X2_IS_TMC2130)
  11096. automatic_current_control(stepperX2, "X2");
  11097. #endif
  11098. #if ENABLED(Y2_IS_TMC2130)
  11099. automatic_current_control(stepperY2, "Y2");
  11100. #endif
  11101. #if ENABLED(Z2_IS_TMC2130)
  11102. automatic_current_control(stepperZ2, "Z2");
  11103. #endif
  11104. #if ENABLED(E0_IS_TMC2130)
  11105. automatic_current_control(stepperE0, "E0");
  11106. #endif
  11107. #if ENABLED(E1_IS_TMC2130)
  11108. automatic_current_control(stepperE1, "E1");
  11109. #endif
  11110. #if ENABLED(E2_IS_TMC2130)
  11111. automatic_current_control(stepperE2, "E2");
  11112. #endif
  11113. #if ENABLED(E3_IS_TMC2130)
  11114. automatic_current_control(stepperE3, "E3");
  11115. #endif
  11116. #if ENABLED(E4_IS_TMC2130)
  11117. automatic_current_control(stepperE4, "E4");
  11118. #endif
  11119. }
  11120. }
  11121. #endif // HAVE_TMC2130
  11122. /**
  11123. * Manage several activities:
  11124. * - Check for Filament Runout
  11125. * - Keep the command buffer full
  11126. * - Check for maximum inactive time between commands
  11127. * - Check for maximum inactive time between stepper commands
  11128. * - Check if pin CHDK needs to go LOW
  11129. * - Check for KILL button held down
  11130. * - Check for HOME button held down
  11131. * - Check if cooling fan needs to be switched on
  11132. * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
  11133. */
  11134. void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  11135. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11136. if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
  11137. handle_filament_runout();
  11138. #endif
  11139. if (commands_in_queue < BUFSIZE) get_available_commands();
  11140. const millis_t ms = millis();
  11141. if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
  11142. SERIAL_ERROR_START();
  11143. SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr);
  11144. kill(PSTR(MSG_KILLED));
  11145. }
  11146. // Prevent steppers timing-out in the middle of M600
  11147. #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT)
  11148. #define MOVE_AWAY_TEST !move_away_flag
  11149. #else
  11150. #define MOVE_AWAY_TEST true
  11151. #endif
  11152. if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
  11153. && !ignore_stepper_queue && !planner.blocks_queued()) {
  11154. #if ENABLED(DISABLE_INACTIVE_X)
  11155. disable_X();
  11156. #endif
  11157. #if ENABLED(DISABLE_INACTIVE_Y)
  11158. disable_Y();
  11159. #endif
  11160. #if ENABLED(DISABLE_INACTIVE_Z)
  11161. disable_Z();
  11162. #endif
  11163. #if ENABLED(DISABLE_INACTIVE_E)
  11164. disable_e_steppers();
  11165. #endif
  11166. #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
  11167. ubl_lcd_map_control = defer_return_to_status = false;
  11168. #endif
  11169. }
  11170. #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
  11171. if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) {
  11172. chdkActive = false;
  11173. WRITE(CHDK, LOW);
  11174. }
  11175. #endif
  11176. #if HAS_KILL
  11177. // Check if the kill button was pressed and wait just in case it was an accidental
  11178. // key kill key press
  11179. // -------------------------------------------------------------------------------
  11180. static int killCount = 0; // make the inactivity button a bit less responsive
  11181. const int KILL_DELAY = 750;
  11182. if (!READ(KILL_PIN))
  11183. killCount++;
  11184. else if (killCount > 0)
  11185. killCount--;
  11186. // Exceeded threshold and we can confirm that it was not accidental
  11187. // KILL the machine
  11188. // ----------------------------------------------------------------
  11189. if (killCount >= KILL_DELAY) {
  11190. SERIAL_ERROR_START();
  11191. SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
  11192. kill(PSTR(MSG_KILLED));
  11193. }
  11194. #endif
  11195. #if HAS_HOME
  11196. // Check to see if we have to home, use poor man's debouncer
  11197. // ---------------------------------------------------------
  11198. static int homeDebounceCount = 0; // poor man's debouncing count
  11199. const int HOME_DEBOUNCE_DELAY = 2500;
  11200. if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
  11201. if (!homeDebounceCount) {
  11202. enqueue_and_echo_commands_P(PSTR("G28"));
  11203. LCD_MESSAGEPGM(MSG_AUTO_HOME);
  11204. }
  11205. if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
  11206. homeDebounceCount++;
  11207. else
  11208. homeDebounceCount = 0;
  11209. }
  11210. #endif
  11211. #if ENABLED(USE_CONTROLLER_FAN)
  11212. controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  11213. #endif
  11214. #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
  11215. if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
  11216. && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
  11217. #if ENABLED(SWITCHING_EXTRUDER)
  11218. const bool oldstatus = E0_ENABLE_READ;
  11219. enable_E0();
  11220. #else // !SWITCHING_EXTRUDER
  11221. bool oldstatus;
  11222. switch (active_extruder) {
  11223. default: oldstatus = E0_ENABLE_READ; enable_E0(); break;
  11224. #if E_STEPPERS > 1
  11225. case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break;
  11226. #if E_STEPPERS > 2
  11227. case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break;
  11228. #if E_STEPPERS > 3
  11229. case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break;
  11230. #if E_STEPPERS > 4
  11231. case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break;
  11232. #endif // E_STEPPERS > 4
  11233. #endif // E_STEPPERS > 3
  11234. #endif // E_STEPPERS > 2
  11235. #endif // E_STEPPERS > 1
  11236. }
  11237. #endif // !SWITCHING_EXTRUDER
  11238. previous_cmd_ms = ms; // refresh_cmd_timeout()
  11239. const float olde = current_position[E_AXIS];
  11240. current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
  11241. planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
  11242. current_position[E_AXIS] = olde;
  11243. planner.set_e_position_mm(olde);
  11244. stepper.synchronize();
  11245. #if ENABLED(SWITCHING_EXTRUDER)
  11246. E0_ENABLE_WRITE(oldstatus);
  11247. #else
  11248. switch (active_extruder) {
  11249. case 0: E0_ENABLE_WRITE(oldstatus); break;
  11250. #if E_STEPPERS > 1
  11251. case 1: E1_ENABLE_WRITE(oldstatus); break;
  11252. #if E_STEPPERS > 2
  11253. case 2: E2_ENABLE_WRITE(oldstatus); break;
  11254. #if E_STEPPERS > 3
  11255. case 3: E3_ENABLE_WRITE(oldstatus); break;
  11256. #if E_STEPPERS > 4
  11257. case 4: E4_ENABLE_WRITE(oldstatus); break;
  11258. #endif // E_STEPPERS > 4
  11259. #endif // E_STEPPERS > 3
  11260. #endif // E_STEPPERS > 2
  11261. #endif // E_STEPPERS > 1
  11262. }
  11263. #endif // !SWITCHING_EXTRUDER
  11264. }
  11265. #endif // EXTRUDER_RUNOUT_PREVENT
  11266. #if ENABLED(DUAL_X_CARRIAGE)
  11267. // handle delayed move timeout
  11268. if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
  11269. // travel moves have been received so enact them
  11270. delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
  11271. set_destination_from_current();
  11272. prepare_move_to_destination();
  11273. }
  11274. #endif
  11275. #if ENABLED(TEMP_STAT_LEDS)
  11276. handle_status_leds();
  11277. #endif
  11278. #if ENABLED(HAVE_TMC2130)
  11279. checkOverTemp();
  11280. #endif
  11281. planner.check_axes_activity();
  11282. }
  11283. /**
  11284. * Standard idle routine keeps the machine alive
  11285. */
  11286. void idle(
  11287. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11288. bool no_stepper_sleep/*=false*/
  11289. #endif
  11290. ) {
  11291. #if ENABLED(MAX7219_DEBUG)
  11292. Max7219_idle_tasks();
  11293. #endif // MAX7219_DEBUG
  11294. lcd_update();
  11295. host_keepalive();
  11296. #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  11297. auto_report_temperatures();
  11298. #endif
  11299. manage_inactivity(
  11300. #if ENABLED(ADVANCED_PAUSE_FEATURE)
  11301. no_stepper_sleep
  11302. #endif
  11303. );
  11304. thermalManager.manage_heater();
  11305. #if ENABLED(PRINTCOUNTER)
  11306. print_job_timer.tick();
  11307. #endif
  11308. #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
  11309. buzzer.tick();
  11310. #endif
  11311. #if ENABLED(I2C_POSITION_ENCODERS)
  11312. if (planner.blocks_queued() &&
  11313. ( (blockBufferIndexRef != planner.block_buffer_head) ||
  11314. ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) {
  11315. blockBufferIndexRef = planner.block_buffer_head;
  11316. I2CPEM.update();
  11317. lastUpdateMillis = millis();
  11318. }
  11319. #endif
  11320. }
  11321. /**
  11322. * Kill all activity and lock the machine.
  11323. * After this the machine will need to be reset.
  11324. */
  11325. void kill(const char* lcd_msg) {
  11326. SERIAL_ERROR_START();
  11327. SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  11328. thermalManager.disable_all_heaters();
  11329. disable_all_steppers();
  11330. #if ENABLED(ULTRA_LCD)
  11331. kill_screen(lcd_msg);
  11332. #else
  11333. UNUSED(lcd_msg);
  11334. #endif
  11335. _delay_ms(600); // Wait a short time (allows messages to get out before shutting down.
  11336. cli(); // Stop interrupts
  11337. _delay_ms(250); //Wait to ensure all interrupts routines stopped
  11338. thermalManager.disable_all_heaters(); //turn off heaters again
  11339. #ifdef ACTION_ON_KILL
  11340. SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL);
  11341. #endif
  11342. #if HAS_POWER_SWITCH
  11343. SET_INPUT(PS_ON_PIN);
  11344. #endif
  11345. suicide();
  11346. while (1) {
  11347. #if ENABLED(USE_WATCHDOG)
  11348. watchdog_reset();
  11349. #endif
  11350. } // Wait for reset
  11351. }
  11352. /**
  11353. * Turn off heaters and stop the print in progress
  11354. * After a stop the machine may be resumed with M999
  11355. */
  11356. void stop() {
  11357. thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
  11358. #if ENABLED(PROBING_FANS_OFF)
  11359. if (fans_paused) fans_pause(false); // put things back the way they were
  11360. #endif
  11361. if (IsRunning()) {
  11362. Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
  11363. SERIAL_ERROR_START();
  11364. SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
  11365. LCD_MESSAGEPGM(MSG_STOPPED);
  11366. safe_delay(350); // allow enough time for messages to get out before stopping
  11367. Running = false;
  11368. }
  11369. }
  11370. /**
  11371. * Marlin entry-point: Set up before the program loop
  11372. * - Set up the kill pin, filament runout, power hold
  11373. * - Start the serial port
  11374. * - Print startup messages and diagnostics
  11375. * - Get EEPROM or default settings
  11376. * - Initialize managers for:
  11377. * • temperature
  11378. * • planner
  11379. * • watchdog
  11380. * • stepper
  11381. * • photo pin
  11382. * • servos
  11383. * • LCD controller
  11384. * • Digipot I2C
  11385. * • Z probe sled
  11386. * • status LEDs
  11387. */
  11388. void setup() {
  11389. #if ENABLED(MAX7219_DEBUG)
  11390. Max7219_init();
  11391. #endif
  11392. #ifdef DISABLE_JTAG
  11393. // Disable JTAG on AT90USB chips to free up pins for IO
  11394. MCUCR = 0x80;
  11395. MCUCR = 0x80;
  11396. #endif
  11397. #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  11398. setup_filrunoutpin();
  11399. #endif
  11400. setup_killpin();
  11401. setup_powerhold();
  11402. #if HAS_STEPPER_RESET
  11403. disableStepperDrivers();
  11404. #endif
  11405. MYSERIAL.begin(BAUDRATE);
  11406. SERIAL_PROTOCOLLNPGM("start");
  11407. SERIAL_ECHO_START();
  11408. // Check startup - does nothing if bootloader sets MCUSR to 0
  11409. byte mcu = MCUSR;
  11410. if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
  11411. if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
  11412. if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
  11413. if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
  11414. if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
  11415. MCUSR = 0;
  11416. SERIAL_ECHOPGM(MSG_MARLIN);
  11417. SERIAL_CHAR(' ');
  11418. SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
  11419. SERIAL_EOL();
  11420. #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
  11421. SERIAL_ECHO_START();
  11422. SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
  11423. SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
  11424. SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
  11425. SERIAL_ECHO_START();
  11426. SERIAL_ECHOLNPGM("Compiled: " __DATE__);
  11427. #endif
  11428. SERIAL_ECHO_START();
  11429. SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
  11430. SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  11431. // Send "ok" after commands by default
  11432. for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  11433. // Load data from EEPROM if available (or use defaults)
  11434. // This also updates variables in the planner, elsewhere
  11435. (void)settings.load();
  11436. #if HAS_M206_COMMAND
  11437. // Initialize current position based on home_offset
  11438. COPY(current_position, home_offset);
  11439. #else
  11440. ZERO(current_position);
  11441. #endif
  11442. // Vital to init stepper/planner equivalent for current_position
  11443. SYNC_PLAN_POSITION_KINEMATIC();
  11444. thermalManager.init(); // Initialize temperature loop
  11445. #if ENABLED(USE_WATCHDOG)
  11446. watchdog_init();
  11447. #endif
  11448. stepper.init(); // Initialize stepper, this enables interrupts!
  11449. servo_init();
  11450. #if HAS_PHOTOGRAPH
  11451. OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  11452. #endif
  11453. #if HAS_CASE_LIGHT
  11454. case_light_on = CASE_LIGHT_DEFAULT_ON;
  11455. case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS;
  11456. update_case_light();
  11457. #endif
  11458. #if ENABLED(SPINDLE_LASER_ENABLE)
  11459. OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off
  11460. #if SPINDLE_DIR_CHANGE
  11461. OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3)
  11462. #endif
  11463. #if ENABLED(SPINDLE_LASER_PWM)
  11464. SET_OUTPUT(SPINDLE_LASER_PWM_PIN);
  11465. analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed
  11466. #endif
  11467. #endif
  11468. #if HAS_BED_PROBE
  11469. endstops.enable_z_probe(false);
  11470. #endif
  11471. #if ENABLED(USE_CONTROLLER_FAN)
  11472. SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan
  11473. #endif
  11474. #if HAS_STEPPER_RESET
  11475. enableStepperDrivers();
  11476. #endif
  11477. #if ENABLED(DIGIPOT_I2C)
  11478. digipot_i2c_init();
  11479. #endif
  11480. #if ENABLED(DAC_STEPPER_CURRENT)
  11481. dac_init();
  11482. #endif
  11483. #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1
  11484. OUT_WRITE(SOL1_PIN, LOW); // turn it off
  11485. #endif
  11486. #if HAS_HOME
  11487. SET_INPUT_PULLUP(HOME_PIN);
  11488. #endif
  11489. #if PIN_EXISTS(STAT_LED_RED)
  11490. OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
  11491. #endif
  11492. #if PIN_EXISTS(STAT_LED_BLUE)
  11493. OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
  11494. #endif
  11495. #if ENABLED(NEOPIXEL_LED)
  11496. SET_OUTPUT(NEOPIXEL_PIN);
  11497. setup_neopixel();
  11498. #endif
  11499. #if ENABLED(RGB_LED) || ENABLED(RGBW_LED)
  11500. SET_OUTPUT(RGB_LED_R_PIN);
  11501. SET_OUTPUT(RGB_LED_G_PIN);
  11502. SET_OUTPUT(RGB_LED_B_PIN);
  11503. #if ENABLED(RGBW_LED)
  11504. SET_OUTPUT(RGB_LED_W_PIN);
  11505. #endif
  11506. #endif
  11507. #if ENABLED(MK2_MULTIPLEXER)
  11508. SET_OUTPUT(E_MUX0_PIN);
  11509. SET_OUTPUT(E_MUX1_PIN);
  11510. SET_OUTPUT(E_MUX2_PIN);
  11511. #endif
  11512. #if HAS_FANMUX
  11513. fanmux_init();
  11514. #endif
  11515. lcd_init();
  11516. #ifndef CUSTOM_BOOTSCREEN_TIMEOUT
  11517. #define CUSTOM_BOOTSCREEN_TIMEOUT 2500
  11518. #endif
  11519. #if ENABLED(SHOW_BOOTSCREEN)
  11520. #if ENABLED(DOGLCD) // On DOGM the first bootscreen is already drawn
  11521. #if ENABLED(SHOW_CUSTOM_BOOTSCREEN)
  11522. safe_delay(CUSTOM_BOOTSCREEN_TIMEOUT); // Custom boot screen pause
  11523. lcd_bootscreen(); // Show Marlin boot screen
  11524. #endif
  11525. safe_delay(BOOTSCREEN_TIMEOUT); // Pause
  11526. #elif ENABLED(ULTRA_LCD)
  11527. lcd_bootscreen();
  11528. #if DISABLED(SDSUPPORT)
  11529. lcd_init();
  11530. #endif
  11531. #endif
  11532. #endif
  11533. #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  11534. // Initialize mixing to 100% color 1
  11535. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11536. mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
  11537. for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
  11538. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  11539. mixing_virtual_tool_mix[t][i] = mixing_factor[i];
  11540. #endif
  11541. #if ENABLED(BLTOUCH)
  11542. // Make sure any BLTouch error condition is cleared
  11543. bltouch_command(BLTOUCH_RESET);
  11544. set_bltouch_deployed(true);
  11545. set_bltouch_deployed(false);
  11546. #endif
  11547. #if ENABLED(I2C_POSITION_ENCODERS)
  11548. I2CPEM.init();
  11549. #endif
  11550. #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  11551. i2c.onReceive(i2c_on_receive);
  11552. i2c.onRequest(i2c_on_request);
  11553. #endif
  11554. #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
  11555. setup_endstop_interrupts();
  11556. #endif
  11557. #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
  11558. move_extruder_servo(0); // Initialize extruder servo
  11559. #endif
  11560. #if ENABLED(SWITCHING_NOZZLE)
  11561. move_nozzle_servo(0); // Initialize nozzle servo
  11562. #endif
  11563. #if ENABLED(PARKING_EXTRUDER)
  11564. #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
  11565. pe_activate_magnet(0);
  11566. pe_activate_magnet(1);
  11567. #else
  11568. pe_deactivate_magnet(0);
  11569. pe_deactivate_magnet(1);
  11570. #endif
  11571. #endif
  11572. #if ENABLED(MKS_12864OLED)
  11573. SET_OUTPUT(LCD_PINS_DC);
  11574. OUT_WRITE(LCD_PINS_RS, LOW);
  11575. delay(1000);
  11576. WRITE(LCD_PINS_RS, HIGH);
  11577. #endif
  11578. }
  11579. /**
  11580. * The main Marlin program loop
  11581. *
  11582. * - Save or log commands to SD
  11583. * - Process available commands (if not saving)
  11584. * - Call heater manager
  11585. * - Call inactivity manager
  11586. * - Call endstop manager
  11587. * - Call LCD update
  11588. */
  11589. void loop() {
  11590. if (commands_in_queue < BUFSIZE) get_available_commands();
  11591. #if ENABLED(SDSUPPORT)
  11592. card.checkautostart(false);
  11593. #endif
  11594. if (commands_in_queue) {
  11595. #if ENABLED(SDSUPPORT)
  11596. if (card.saving) {
  11597. char* command = command_queue[cmd_queue_index_r];
  11598. if (strstr_P(command, PSTR("M29"))) {
  11599. // M29 closes the file
  11600. card.closefile();
  11601. SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
  11602. #if ENABLED(SERIAL_STATS_DROPPED_RX)
  11603. SERIAL_ECHOLNPAIR("Dropped bytes: ", customizedSerial.dropped());
  11604. #endif
  11605. #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED)
  11606. SERIAL_ECHOLNPAIR("Max RX Queue Size: ", customizedSerial.rxMaxEnqueued());
  11607. #endif
  11608. ok_to_send();
  11609. }
  11610. else {
  11611. // Write the string from the read buffer to SD
  11612. card.write_command(command);
  11613. if (card.logging)
  11614. process_next_command(); // The card is saving because it's logging
  11615. else
  11616. ok_to_send();
  11617. }
  11618. }
  11619. else
  11620. process_next_command();
  11621. #else
  11622. process_next_command();
  11623. #endif // SDSUPPORT
  11624. // The queue may be reset by a command handler or by code invoked by idle() within a handler
  11625. if (commands_in_queue) {
  11626. --commands_in_queue;
  11627. if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
  11628. }
  11629. }
  11630. endstops.report_state();
  11631. idle();
  11632. }