/* -*- c++ -*- */
/*
Reprap firmware based on Sprinter and grbl .
Copyright ( C ) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software : you can redistribute it and / or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation , either version 3 of the License , or
( at your option ) any later version .
This program is distributed in the hope that it will be useful ,
but WITHOUT ANY WARRANTY ; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE . See the
GNU General Public License for more details .
You should have received a copy of the GNU General Public License
along with this program . If not , see < http : //www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup between Sprinter and grbl .
( https : //github.com/kliment/Sprinter)
( https : //github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http : //reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
# include "Marlin.h"
# ifdef ENABLE_AUTO_BED_LEVELING
# if Z_MIN_PIN == -1
# error "You must have a Z_MIN endstop to enable Auto Bed Leveling feature. Z_MIN_PIN must point to a valid hardware pin."
# endif
# include "vector_3.h"
# ifdef AUTO_BED_LEVELING_GRID
# include "qr_solve.h"
# endif
# endif // ENABLE_AUTO_BED_LEVELING
# define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
# include "ultralcd.h"
# include "planner.h"
# include "stepper.h"
# include "temperature.h"
# include "motion_control.h"
# include "cardreader.h"
# include "watchdog.h"
# include "ConfigurationStore.h"
# include "language.h"
# include "pins_arduino.h"
# include "math.h"
# ifdef BLINKM
# include "BlinkM.h"
# include "Wire.h"
# endif
# if NUM_SERVOS > 0
# include "Servo.h"
# endif
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
# include <SPI.h>
# endif
// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only)
// G32 - Undock sled (Z_PROBE_SLED only)
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
// M Codes
// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
// M1 - Same as M0
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M30 - Delete file from SD (M30 filename.g)
// M31 - Output time since last M109 or SD card start to serial
// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
// The '#' is necessary when calling from within sd files, as it stops buffer prereading
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
// IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
// M112 - Emergency stop
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M120 - Enable endstop detection
// M121 - Disable endstop detection
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - Set additional homing offset
// M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
// M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
// M240 - Trigger a camera to take a photograph
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// M280 - Set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beep sound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M380 - Activate solenoid on active extruder
// M381 - Disable all solenoids
// M400 - Finish all moves
// M401 - Lower z-probe if present
// M402 - Raise z-probe if present
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
// M406 - Turn off Filament Sensor extrusion control
// M407 - Displays measured filament diameter
// M500 - Store parameters in EEPROM
// M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
Added a feature to have filament change by gcode or display trigger.
[default off for now]
syntax: M600 X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
if enabled, after a M600, the printer will retract by E, lift by Z, move to XY, retract even more filament.
Oh, and it will display "remove filament" and beep like crazy.
You are then supposed to insert a new filament (other color, e.g.) and click the display to continue.
After having the nozzle cleaned manually, aided by the disabled e-steppers.
After clicking, the printer will then go back the whole shebang, and continue printing with a fancy new color.
12 years ago
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M665 - Set delta configurations
// M666 - Set delta endstop adjustment
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.
// ************ SCARA Specific - This can change to suit future G-code regulations
// M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
// M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
// M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
// M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
// M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
//************* SCARA End ***************
// M928 - Start SD logging (M928 filename.g) - ended by M29
// M999 - Restart after being stopped by error
# ifdef SDSUPPORT
CardReader card ;
# endif
float homing_feedrate [ ] = HOMING_FEEDRATE ;
bool axis_relative_modes [ ] = AXIS_RELATIVE_MODES ;
int feedmultiply = 100 ; //100->1 200->2
int saved_feedmultiply ;
int extrudemultiply = 100 ; //100->1 200->2
int extruder_multiply [ EXTRUDERS ] = { 100
# if EXTRUDERS > 1
, 100
# if EXTRUDERS > 2
, 100
# if EXTRUDERS > 3
, 100
# endif
# endif
# endif
} ;
bool volumetric_enabled = false ;
float filament_size [ EXTRUDERS ] = { DEFAULT_NOMINAL_FILAMENT_DIA
# if EXTRUDERS > 1
, DEFAULT_NOMINAL_FILAMENT_DIA
# if EXTRUDERS > 2
, DEFAULT_NOMINAL_FILAMENT_DIA
# if EXTRUDERS > 3
, DEFAULT_NOMINAL_FILAMENT_DIA
# endif
# endif
# endif
} ;
float volumetric_multiplier [ EXTRUDERS ] = { 1.0
# if EXTRUDERS > 1
, 1.0
# if EXTRUDERS > 2
, 1.0
# if EXTRUDERS > 3
, 1.0
# endif
# endif
# endif
} ;
float current_position [ NUM_AXIS ] = { 0.0 , 0.0 , 0.0 , 0.0 } ;
float add_homing [ 3 ] = { 0 , 0 , 0 } ;
# ifdef DELTA
float endstop_adj [ 3 ] = { 0 , 0 , 0 } ;
# endif
float min_pos [ 3 ] = { X_MIN_POS , Y_MIN_POS , Z_MIN_POS } ;
float max_pos [ 3 ] = { X_MAX_POS , Y_MAX_POS , Z_MAX_POS } ;
bool axis_known_position [ 3 ] = { false , false , false } ;
float zprobe_zoffset ;
// Extruder offset
# if EXTRUDERS > 1
# ifndef DUAL_X_CARRIAGE
# define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
# else
# define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
# endif
float extruder_offset [ NUM_EXTRUDER_OFFSETS ] [ EXTRUDERS ] = {
# if defined(EXTRUDER_OFFSET_X)
EXTRUDER_OFFSET_X
# else
0
# endif
,
# if defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_Y
# else
0
# endif
} ;
# endif
uint8_t active_extruder = 0 ;
int fanSpeed = 0 ;
# ifdef SERVO_ENDSTOPS
int servo_endstops [ ] = SERVO_ENDSTOPS ;
int servo_endstop_angles [ ] = SERVO_ENDSTOP_ANGLES ;
# endif
# ifdef BARICUDA
int ValvePressure = 0 ;
int EtoPPressure = 0 ;
# endif
# ifdef FWRETRACT
bool autoretract_enabled = false ;
bool retracted [ EXTRUDERS ] = { false
# if EXTRUDERS > 1
, false
# if EXTRUDERS > 2
, false
# if EXTRUDERS > 3
, false
# endif
# endif
# endif
} ;
bool retracted_swap [ EXTRUDERS ] = { false
# if EXTRUDERS > 1
, false
# if EXTRUDERS > 2
, false
# if EXTRUDERS > 3
, false
# endif
# endif
# endif
} ;
float retract_length = RETRACT_LENGTH ;
float retract_length_swap = RETRACT_LENGTH_SWAP ;
float retract_feedrate = RETRACT_FEEDRATE ;
float retract_zlift = RETRACT_ZLIFT ;
float retract_recover_length = RETRACT_RECOVER_LENGTH ;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP ;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE ;
# endif // FWRETRACT
# ifdef ULTIPANEL
bool powersupply =
# ifdef PS_DEFAULT_OFF
false
# else
true
# endif
;
# endif
# ifdef DELTA
float delta [ 3 ] = { 0 , 0 , 0 } ;
# define SIN_60 0.8660254037844386
# define COS_60 0.5
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS ;
float delta_tower1_x = - SIN_60 * delta_radius ; // front left tower
float delta_tower1_y = - COS_60 * delta_radius ;
float delta_tower2_x = SIN_60 * delta_radius ; // front right tower
float delta_tower2_y = - COS_60 * delta_radius ;
float delta_tower3_x = 0 ; // back middle tower
float delta_tower3_y = delta_radius ;
float delta_diagonal_rod = DELTA_DIAGONAL_ROD ;
float delta_diagonal_rod_2 = sq ( delta_diagonal_rod ) ;
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND ;
# ifdef ENABLE_AUTO_BED_LEVELING
float bed_level [ AUTO_BED_LEVELING_GRID_POINTS ] [ AUTO_BED_LEVELING_GRID_POINTS ] ;
# endif
# endif
# ifdef SCARA
float axis_scaling [ 3 ] = { 1 , 1 , 1 } ; // Build size scaling, default to 1
# endif
bool cancel_heatup = false ;
# ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA ; //Set nominal filament width, can be changed with M404
bool filament_sensor = false ; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA ; //Stores the measured filament diameter
signed char measurement_delay [ MAX_MEASUREMENT_DELAY + 1 ] ; //ring buffer to delay measurement store extruder factor after subtracting 100
int delay_index1 = 0 ; //index into ring buffer
int delay_index2 = - 1 ; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
float delay_dist = 0 ; //delay distance counter
int meas_delay_cm = MEASUREMENT_DELAY_CM ; //distance delay setting
# endif
const char errormagic [ ] PROGMEM = " Error: " ;
const char echomagic [ ] PROGMEM = " echo: " ;
const char axis_codes [ NUM_AXIS ] = { ' X ' , ' Y ' , ' Z ' , ' E ' } ;
static float destination [ NUM_AXIS ] = { 0 , 0 , 0 , 0 } ;
# ifndef DELTA
static float delta [ 3 ] = { 0 , 0 , 0 } ;
# endif
static float offset [ 3 ] = { 0 , 0 , 0 } ;
static bool home_all_axis = true ;
static float feedrate = 1500.0 , next_feedrate , saved_feedrate ;
static long gcode_N , gcode_LastN , Stopped_gcode_LastN = 0 ;
static bool relative_mode = false ; //Determines Absolute or Relative Coordinates
static char cmdbuffer [ BUFSIZE ] [ MAX_CMD_SIZE ] ;
static bool fromsd [ BUFSIZE ] ;
static int bufindr = 0 ;
static int bufindw = 0 ;
static int buflen = 0 ;
static char serial_char ;
static int serial_count = 0 ;
static boolean comment_mode = false ;
static char * strchr_pointer ; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
const char * queued_commands_P = NULL ; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins [ ] = SENSITIVE_PINS ; ///< Sensitive pin list for M42
// Inactivity shutdown
static unsigned long previous_millis_cmd = 0 ;
static unsigned long max_inactive_time = 0 ;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000l ;
unsigned long starttime = 0 ; ///< Print job start time
unsigned long stoptime = 0 ; ///< Print job stop time
static uint8_t tmp_extruder ;
bool Stopped = false ;
# if NUM_SERVOS > 0
Servo servos [ NUM_SERVOS ] ;
# endif
bool CooldownNoWait = true ;
bool target_direction ;
# ifdef CHDK
unsigned long chdkHigh = 0 ;
boolean chdkActive = false ;
# endif
//===========================================================================
//=============================Routines======================================
//===========================================================================
void get_arc_coordinates ( ) ;
bool setTargetedHotend ( int code ) ;
void serial_echopair_P ( const char * s_P , float v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
void serial_echopair_P ( const char * s_P , double v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
void serial_echopair_P ( const char * s_P , unsigned long v )
{ serialprintPGM ( s_P ) ; SERIAL_ECHO ( v ) ; }
# ifdef SDSUPPORT
# include "SdFatUtil.h"
int freeMemory ( ) { return SdFatUtil : : FreeRam ( ) ; }
# else
extern " C " {
extern unsigned int __bss_end ;
extern unsigned int __heap_start ;
extern void * __brkval ;
int freeMemory ( ) {
int free_memory ;
if ( ( int ) __brkval = = 0 )
free_memory = ( ( int ) & free_memory ) - ( ( int ) & __bss_end ) ;
else
free_memory = ( ( int ) & free_memory ) - ( ( int ) __brkval ) ;
return free_memory ;
}
}
# endif //!SDSUPPORT
//Injects the next command from the pending sequence of commands, when possible
//Return false if and only if no command was pending
static bool drain_queued_commands_P ( )
{
char cmd [ 30 ] ;
if ( ! queued_commands_P )
return false ;
// Get the next 30 chars from the sequence of gcodes to run
strncpy_P ( cmd , queued_commands_P , sizeof ( cmd ) - 1 ) ;
cmd [ sizeof ( cmd ) - 1 ] = 0 ;
// Look for the end of line, or the end of sequence
size_t i = 0 ;
char c ;
while ( ( c = cmd [ i ] ) & & c ! = ' \n ' )
+ + i ; // look for the end of this gcode command
cmd [ i ] = 0 ;
if ( enquecommand ( cmd ) ) // buffer was not full (else we will retry later)
{
if ( c )
queued_commands_P + = i + 1 ; // move to next command
else
queued_commands_P = NULL ; // will have no more commands in the sequence
}
return true ;
}
//Record one or many commands to run from program memory.
//Aborts the current queue, if any.
//Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
void enquecommands_P ( const char * pgcode )
{
queued_commands_P = pgcode ;
drain_queued_commands_P ( ) ; // first command exectuted asap (when possible)
}
//adds a single command to the main command buffer, from RAM
//that is really done in a non-safe way.
//needs overworking someday
//Returns false if it failed to do so
bool enquecommand ( const char * cmd )
{
if ( * cmd = = ' ; ' )
return false ;
if ( buflen > = BUFSIZE )
return false ;
//this is dangerous if a mixing of serial and this happens
strcpy ( & ( cmdbuffer [ bufindw ] [ 0 ] ) , cmd ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_Enqueing ) ;
SERIAL_ECHO ( cmdbuffer [ bufindw ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
return true ;
}
void setup_killpin ( )
{
# if defined(KILL_PIN) && KILL_PIN > -1
SET_INPUT ( KILL_PIN ) ;
WRITE ( KILL_PIN , HIGH ) ;
# endif
}
// Set home pin
void setup_homepin ( void )
{
# if defined(HOME_PIN) && HOME_PIN > -1
SET_INPUT ( HOME_PIN ) ;
WRITE ( HOME_PIN , HIGH ) ;
# endif
}
void setup_photpin ( )
{
# if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
OUT_WRITE ( PHOTOGRAPH_PIN , LOW ) ;
# endif
}
void setup_powerhold ( )
{
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
# if defined(PS_DEFAULT_OFF)
OUT_WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# else
OUT_WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ;
# endif
# endif
}
void suicide ( )
{
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE ( SUICIDE_PIN , LOW ) ;
# endif
}
void servo_init ( )
{
# if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
servos [ 0 ] . attach ( SERVO0_PIN ) ;
# endif
# if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
servos [ 1 ] . attach ( SERVO1_PIN ) ;
# endif
# if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
servos [ 2 ] . attach ( SERVO2_PIN ) ;
# endif
# if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
servos [ 3 ] . attach ( SERVO3_PIN ) ;
# endif
# if (NUM_SERVOS >= 5)
# error "TODO: enter initalisation code for more servos"
# endif
// Set position of Servo Endstops that are defined
# ifdef SERVO_ENDSTOPS
for ( int8_t i = 0 ; i < 3 ; i + + )
{
if ( servo_endstops [ i ] > - 1 ) {
servos [ servo_endstops [ i ] ] . write ( servo_endstop_angles [ i * 2 + 1 ] ) ;
}
}
# endif
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
void setup ( )
{
setup_killpin ( ) ;
setup_powerhold ( ) ;
MYSERIAL . begin ( BAUDRATE ) ;
SERIAL_PROTOCOLLNPGM ( " start " ) ;
SERIAL_ECHO_START ;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR ;
if ( mcu & 1 ) SERIAL_ECHOLNPGM ( MSG_POWERUP ) ;
if ( mcu & 2 ) SERIAL_ECHOLNPGM ( MSG_EXTERNAL_RESET ) ;
if ( mcu & 4 ) SERIAL_ECHOLNPGM ( MSG_BROWNOUT_RESET ) ;
if ( mcu & 8 ) SERIAL_ECHOLNPGM ( MSG_WATCHDOG_RESET ) ;
if ( mcu & 32 ) SERIAL_ECHOLNPGM ( MSG_SOFTWARE_RESET ) ;
MCUSR = 0 ;
SERIAL_ECHOPGM ( MSG_MARLIN ) ;
SERIAL_ECHOLNPGM ( STRING_VERSION ) ;
# ifdef STRING_VERSION_CONFIG_H
# ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_CONFIGURATION_VER ) ;
SERIAL_ECHOPGM ( STRING_VERSION_CONFIG_H ) ;
SERIAL_ECHOPGM ( MSG_AUTHOR ) ;
SERIAL_ECHOLNPGM ( STRING_CONFIG_H_AUTHOR ) ;
SERIAL_ECHOPGM ( " Compiled: " ) ;
SERIAL_ECHOLNPGM ( __DATE__ ) ;
# endif // STRING_CONFIG_H_AUTHOR
# endif // STRING_VERSION_CONFIG_H
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_FREE_MEMORY ) ;
SERIAL_ECHO ( freeMemory ( ) ) ;
SERIAL_ECHOPGM ( MSG_PLANNER_BUFFER_BYTES ) ;
SERIAL_ECHOLN ( ( int ) sizeof ( block_t ) * BLOCK_BUFFER_SIZE ) ;
for ( int8_t i = 0 ; i < BUFSIZE ; i + + )
{
fromsd [ i ] = false ;
}
Allow Edit menu to call fn after edit; Fix PID Ki and Kd display in menus; Actually use changed PID and Max Accel values
Add new 'callback' edit-menu types that call a function after the edit is done. Use this to display and edit Ki and Kd correctly (removing the scaling first and reapplying it after). Also use it to reset maximum stepwise acceleration rates, after updating mm/s^2 rates via menus. (Previously, changes did nothing to affect planner unless saved back to EEPROM, and the machine reset).
Add calls to updatePID() so that PID loop uses updated values whether set by gcode (it already did this), or by restoring defaults, or loading from EEPROM (it didn't do those last two). Similarly, update the maximum step/s^2 accel rates when the mm/s^2 values are changed - whether by menu edits, restore defaults, or EEPROM read.
Refactor the acceleration rate update logic, and the PID scaling logic, into new functions that can be called from wherever, including the callbacks.
Add menu items to allow the z jerk and e jerk to be viewed/edited in the Control->Motion menu, as per xy jerk.
Conflicts:
Marlin/language.h
12 years ago
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings ( ) ;
tp_init ( ) ; // Initialize temperature loop
plan_init ( ) ; // Initialize planner;
watchdog_init ( ) ;
st_init ( ) ; // Initialize stepper, this enables interrupts!
setup_photpin ( ) ;
servo_init ( ) ;
lcd_init ( ) ;
_delay_ms ( 1000 ) ; // wait 1sec to display the splash screen
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT ( CONTROLLERFAN_PIN ) ; //Set pin used for driver cooling fan
# endif
# ifdef DIGIPOT_I2C
digipot_i2c_init ( ) ;
# endif
# ifdef Z_PROBE_SLED
pinMode ( SERVO0_PIN , OUTPUT ) ;
digitalWrite ( SERVO0_PIN , LOW ) ; // turn it off
# endif // Z_PROBE_SLED
setup_homepin ( ) ;
# ifdef STAT_LED_RED
pinMode ( STAT_LED_RED , OUTPUT ) ;
digitalWrite ( STAT_LED_RED , LOW ) ; // turn it off
# endif
# ifdef STAT_LED_BLUE
pinMode ( STAT_LED_BLUE , OUTPUT ) ;
digitalWrite ( STAT_LED_BLUE , LOW ) ; // turn it off
# endif
}
void loop ( )
{
if ( buflen < ( BUFSIZE - 1 ) )
get_command ( ) ;
# ifdef SDSUPPORT
card . checkautostart ( false ) ;
# endif
if ( buflen )
{
# ifdef SDSUPPORT
if ( card . saving )
{
if ( strstr_P ( cmdbuffer [ bufindr ] , PSTR ( " M29 " ) ) = = NULL )
{
card . write_command ( cmdbuffer [ bufindr ] ) ;
if ( card . logging )
{
process_commands ( ) ;
}
else
{
SERIAL_PROTOCOLLNPGM ( MSG_OK ) ;
}
}
else
{
card . closefile ( ) ;
SERIAL_PROTOCOLLNPGM ( MSG_FILE_SAVED ) ;
}
}
else
{
process_commands ( ) ;
}
# else
process_commands ( ) ;
# endif //SDSUPPORT
buflen = ( buflen - 1 ) ;
bufindr = ( bufindr + 1 ) % BUFSIZE ;
}
//check heater every n milliseconds
manage_heater ( ) ;
manage_inactivity ( ) ;
checkHitEndstops ( ) ;
lcd_update ( ) ;
}
void get_command ( )
{
if ( drain_queued_commands_P ( ) ) // priority is given to non-serial commands
return ;
while ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
serial_char = MYSERIAL . read ( ) ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
serial_count > = ( MAX_CMD_SIZE - 1 ) )
{
// end of line == end of comment
comment_mode = false ;
if ( ! serial_count ) {
// short cut for empty lines
return ;
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
fromsd [ bufindw ] = false ;
if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL )
{
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' N ' ) ;
gcode_N = ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) ;
if ( gcode_N ! = gcode_LastN + 1 & & ( strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_LINE_NO ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
//Serial.println(gcode_N);
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL )
{
byte checksum = 0 ;
byte count = 0 ;
while ( cmdbuffer [ bufindw ] [ count ] ! = ' * ' ) checksum = checksum ^ cmdbuffer [ bufindw ] [ count + + ] ;
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' * ' ) ;
if ( ( int ) ( strtod ( strchr_pointer + 1 , NULL ) ) ! = checksum ) {
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_CHECKSUM_MISMATCH ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
gcode_LastN = gcode_N ;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) )
{
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
serial_count = 0 ;
return ;
}
}
if ( ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) ) {
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' G ' ) ;
switch ( ( int ) ( ( strtod ( strchr_pointer + 1 , NULL ) ) ) ) {
case 0 :
case 1 :
case 2 :
case 3 :
if ( Stopped = = true ) {
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_STOPPED ) ;
}
break ;
default :
break ;
}
}
//If command was e-stop process now
if ( strcmp ( cmdbuffer [ bufindw ] , " M112 " ) = = 0 )
kill ( ) ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
buflen + = 1 ;
serial_count = 0 ; //clear buffer
}
else if ( serial_char = = ' \\ ' ) { //Handle escapes
if ( MYSERIAL . available ( ) > 0 & & buflen < BUFSIZE ) {
// if we have one more character, copy it over
serial_char = MYSERIAL . read ( ) ;
cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
//otherwise do nothing
}
else { // its not a newline, carriage return or escape char
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# ifdef SDSUPPORT
if ( ! card . sdprinting | | serial_count ! = 0 ) {
return ;
}
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false ;
if ( buflen = = 0 ) stop_buffering = false ;
while ( ! card . eof ( ) & & buflen < BUFSIZE & & ! stop_buffering ) {
int16_t n = card . get ( ) ;
serial_char = ( char ) n ;
if ( serial_char = = ' \n ' | |
serial_char = = ' \r ' | |
( serial_char = = ' # ' & & comment_mode = = false ) | |
( serial_char = = ' : ' & & comment_mode = = false ) | |
serial_count > = ( MAX_CMD_SIZE - 1 ) | | n = = - 1 )
{
if ( card . eof ( ) ) {
SERIAL_PROTOCOLLNPGM ( MSG_FILE_PRINTED ) ;
stoptime = millis ( ) ;
char time [ 30 ] ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int hours , minutes ;
minutes = ( t / 60 ) % 60 ;
hours = t / 60 / 60 ;
sprintf_P ( time , PSTR ( " %i hours %i minutes " ) , hours , minutes ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time ) ;
card . printingHasFinished ( ) ;
card . checkautostart ( true ) ;
}
if ( serial_char = = ' # ' )
stop_buffering = true ;
if ( ! serial_count )
{
comment_mode = false ; //for new command
return ; //if empty line
}
cmdbuffer [ bufindw ] [ serial_count ] = 0 ; //terminate string
// if(!comment_mode){
fromsd [ bufindw ] = true ;
buflen + = 1 ;
bufindw = ( bufindw + 1 ) % BUFSIZE ;
// }
comment_mode = false ; //for new command
serial_count = 0 ; //clear buffer
}
else
{
if ( serial_char = = ' ; ' ) comment_mode = true ;
if ( ! comment_mode ) cmdbuffer [ bufindw ] [ serial_count + + ] = serial_char ;
}
}
# endif //SDSUPPORT
}
float code_value ( )
{
return ( strtod ( strchr_pointer + 1 , NULL ) ) ;
}
long code_value_long ( )
{
return ( strtol ( strchr_pointer + 1 , NULL , 10 ) ) ;
}
bool code_seen ( char code )
{
strchr_pointer = strchr ( cmdbuffer [ bufindr ] , code ) ;
return ( strchr_pointer ! = NULL ) ; //Return True if a character was found
}
# define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any ( const type * p ) \
{ return pgm_read_ # # reader # # _near ( p ) ; }
DEFINE_PGM_READ_ANY ( float , float ) ;
DEFINE_PGM_READ_ANY ( signed char , byte ) ;
# define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array # # _P [ 3 ] = \
{ X_ # # CONFIG , Y_ # # CONFIG , Z_ # # CONFIG } ; \
static inline type array ( int axis ) \
{ return pgm_read_any ( & array # # _P [ axis ] ) ; }
XYZ_CONSTS_FROM_CONFIG ( float , base_min_pos , MIN_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , base_max_pos , MAX_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , base_home_pos , HOME_POS ) ;
XYZ_CONSTS_FROM_CONFIG ( float , max_length , MAX_LENGTH ) ;
XYZ_CONSTS_FROM_CONFIG ( float , home_retract_mm , HOME_RETRACT_MM ) ;
XYZ_CONSTS_FROM_CONFIG ( signed char , home_dir , HOME_DIR ) ;
# ifdef DUAL_X_CARRIAGE
# if EXTRUDERS == 1 || defined(COREXY) \
| | ! defined ( X2_ENABLE_PIN ) | | ! defined ( X2_STEP_PIN ) | | ! defined ( X2_DIR_PIN ) \
| | ! defined ( X2_HOME_POS ) | | ! defined ( X2_MIN_POS ) | | ! defined ( X2_MAX_POS ) \
| | ! defined ( X_MAX_PIN ) | | X_MAX_PIN < 0
# error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
# endif
# if X_HOME_DIR != -1 || X2_HOME_DIR != 1
# error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
# endif
# define DXC_FULL_CONTROL_MODE 0
# define DXC_AUTO_PARK_MODE 1
# define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE ;
static float x_home_pos ( int extruder ) {
if ( extruder = = 0 )
return base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return ( extruder_offset [ X_AXIS ] [ 1 ] > 0 ) ? extruder_offset [ X_AXIS ] [ 1 ] : X2_HOME_POS ;
}
static int x_home_dir ( int extruder ) {
return ( extruder = = 0 ) ? X_HOME_DIR : X2_HOME_DIR ;
}
static float inactive_extruder_x_pos = X2_MAX_POS ; // used in mode 0 & 1
static bool active_extruder_parked = false ; // used in mode 1 & 2
static float raised_parked_position [ NUM_AXIS ] ; // used in mode 1
static unsigned long delayed_move_time = 0 ; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET ; // used in mode 2
static float duplicate_extruder_temp_offset = 0 ; // used in mode 2
bool extruder_duplication_enabled = false ; // used in mode 2
# endif //DUAL_X_CARRIAGE
static void axis_is_at_home ( int axis ) {
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS ) {
if ( active_extruder ! = 0 ) {
current_position [ X_AXIS ] = x_home_pos ( active_extruder ) ;
min_pos [ X_AXIS ] = X2_MIN_POS ;
max_pos [ X_AXIS ] = max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) ;
return ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 ) {
current_position [ X_AXIS ] = base_home_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
min_pos [ X_AXIS ] = base_min_pos ( X_AXIS ) + add_homing [ X_AXIS ] ;
max_pos [ X_AXIS ] = min ( base_max_pos ( X_AXIS ) + add_homing [ X_AXIS ] ,
max ( extruder_offset [ X_AXIS ] [ 1 ] , X2_MAX_POS ) - duplicate_extruder_x_offset ) ;
return ;
}
}
# endif
# ifdef SCARA
float homeposition [ 3 ] ;
char i ;
if ( axis < 2 )
{
for ( i = 0 ; i < 3 ; i + + )
{
homeposition [ i ] = base_home_pos ( i ) ;
}
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics
calculate_delta ( homeposition ) ;
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
for ( i = 0 ; i < 2 ; i + + )
{
delta [ i ] - = add_homing [ i ] ;
}
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
calculate_SCARA_forward_Transform ( delta ) ;
// SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
current_position [ axis ] = delta [ axis ] ;
// SCARA home positions are based on configuration since the actual limits are determined by the
// inverse kinematic transform.
min_pos [ axis ] = base_min_pos ( axis ) ; // + (delta[axis] - base_home_pos(axis));
max_pos [ axis ] = base_max_pos ( axis ) ; // + (delta[axis] - base_home_pos(axis));
}
else
{
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
}
# else
current_position [ axis ] = base_home_pos ( axis ) + add_homing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homing [ axis ] ;
# endif
}
# ifdef ENABLE_AUTO_BED_LEVELING
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
static void set_bed_level_equation_lsq ( double * plane_equation_coefficients )
{
vector_3 planeNormal = vector_3 ( - plane_equation_coefficients [ 0 ] , - plane_equation_coefficients [ 1 ] , 1 ) ;
planeNormal . debug ( " planeNormal " ) ;
plan_bed_level_matrix = matrix_3x3 : : create_look_at ( planeNormal ) ;
//bedLevel.debug("bedLevel");
//plan_bed_level_matrix.debug("bed level before");
//vector_3 uncorrected_position = plan_get_position_mm();
//uncorrected_position.debug("position before");
vector_3 corrected_position = plan_get_position ( ) ;
// corrected_position.debug("position after");
current_position [ X_AXIS ] = corrected_position . x ;
current_position [ Y_AXIS ] = corrected_position . y ;
current_position [ Z_AXIS ] = corrected_position . z ;
// put the bed at 0 so we don't go below it.
current_position [ Z_AXIS ] = zprobe_zoffset ; // in the lsq we reach here after raising the extruder due to the loop structure
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# endif
# else // not AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_3pts ( float z_at_pt_1 , float z_at_pt_2 , float z_at_pt_3 ) {
plan_bed_level_matrix . set_to_identity ( ) ;
vector_3 pt1 = vector_3 ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , z_at_pt_1 ) ;
vector_3 pt2 = vector_3 ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , z_at_pt_2 ) ;
vector_3 pt3 = vector_3 ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , z_at_pt_3 ) ;
vector_3 from_2_to_1 = ( pt1 - pt2 ) . get_normal ( ) ;
vector_3 from_2_to_3 = ( pt3 - pt2 ) . get_normal ( ) ;
vector_3 planeNormal = vector_3 : : cross ( from_2_to_1 , from_2_to_3 ) . get_normal ( ) ;
planeNormal = vector_3 ( planeNormal . x , planeNormal . y , abs ( planeNormal . z ) ) ;
plan_bed_level_matrix = matrix_3x3 : : create_look_at ( planeNormal ) ;
vector_3 corrected_position = plan_get_position ( ) ;
current_position [ X_AXIS ] = corrected_position . x ;
current_position [ Y_AXIS ] = corrected_position . y ;
current_position [ Z_AXIS ] = corrected_position . z ;
// put the bed at 0 so we don't go below it.
current_position [ Z_AXIS ] = zprobe_zoffset ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
# endif // AUTO_BED_LEVELING_GRID
static void run_z_probe ( ) {
# ifdef DELTA
float start_z = current_position [ Z_AXIS ] ;
long start_steps = st_get_position ( Z_AXIS ) ;
// move down slowly until you find the bed
feedrate = homing_feedrate [ Z_AXIS ] / 4 ;
destination [ Z_AXIS ] = - 10 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ;
// we have to let the planner know where we are right now as it is not where we said to go.
long stop_steps = st_get_position ( Z_AXIS ) ;
float mm = start_z - float ( start_steps - stop_steps ) / axis_steps_per_unit [ Z_AXIS ] ;
current_position [ Z_AXIS ] = mm ;
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_bed_level_matrix . set_to_identity ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
// move down until you find the bed
float zPosition = - 10 ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
// we have to let the planner know where we are right now as it is not where we said to go.
zPosition = st_get_position_mm ( Z_AXIS ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] ) ;
// move up the retract distance
zPosition + = home_retract_mm ( Z_AXIS ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
// move back down slowly to find bed
feedrate = homing_feedrate [ Z_AXIS ] / 4 ;
zPosition - = home_retract_mm ( Z_AXIS ) * 2 ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , zPosition , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = st_get_position_mm ( Z_AXIS ) ;
// make sure the planner knows where we are as it may be a bit different than we last said to move to
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
}
static void do_blocking_move_to ( float x , float y , float z ) {
float oldFeedRate = feedrate ;
# ifdef DELTA
feedrate = XY_TRAVEL_SPEED ;
destination [ X_AXIS ] = x ;
destination [ Y_AXIS ] = y ;
destination [ Z_AXIS ] = z ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
# else
feedrate = homing_feedrate [ Z_AXIS ] ;
current_position [ Z_AXIS ] = z ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
feedrate = XY_TRAVEL_SPEED ;
current_position [ X_AXIS ] = x ;
current_position [ Y_AXIS ] = y ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
# endif
feedrate = oldFeedRate ;
}
static void do_blocking_move_relative ( float offset_x , float offset_y , float offset_z ) {
do_blocking_move_to ( current_position [ X_AXIS ] + offset_x , current_position [ Y_AXIS ] + offset_y , current_position [ Z_AXIS ] + offset_z ) ;
}
static void setup_for_endstop_move ( ) {
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
previous_millis_cmd = millis ( ) ;
enable_endstops ( true ) ;
}
static void clean_up_after_endstop_move ( ) {
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
previous_millis_cmd = millis ( ) ;
}
static void engage_z_probe ( ) {
// Engage Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 ] ) ;
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# elif defined(Z_PROBE_ALLEN_KEY)
feedrate = homing_feedrate [ X_AXIS ] ;
// Move to the start position to initiate deployment
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_DEPLOY_Z ;
prepare_move_raw ( ) ;
// Home X to touch the belt
feedrate = homing_feedrate [ X_AXIS ] / 10 ;
destination [ X_AXIS ] = 0 ;
prepare_move_raw ( ) ;
// Home Y for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
bool z_min_endstop = ( READ ( Z_MIN_PIN ) ! = Z_MIN_ENDSTOP_INVERTING ) ;
if ( z_min_endstop )
{
if ( ! Stopped )
{
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( " Z-Probe failed to engage! " ) ;
LCD_ALERTMESSAGEPGM ( " Err: ZPROBE " ) ;
}
Stop ( ) ;
}
# endif
}
static void retract_z_probe ( ) {
// Retract Z Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ Z_AXIS ] > - 1 ) {
# if SERVO_LEVELING
servos [ servo_endstops [ Z_AXIS ] ] . attach ( 0 ) ;
# endif
servos [ servo_endstops [ Z_AXIS ] ] . write ( servo_endstop_angles [ Z_AXIS * 2 + 1 ] ) ;
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_endstops [ Z_AXIS ] ] . detach ( ) ;
# endif
}
# elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate [ X_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + 20 ;
prepare_move_raw ( ) ;
// Move to the start position to initiate retraction
destination [ X_AXIS ] = Z_PROBE_ALLEN_KEY_RETRACT_X ;
destination [ Y_AXIS ] = Z_PROBE_ALLEN_KEY_RETRACT_Y ;
destination [ Z_AXIS ] = Z_PROBE_ALLEN_KEY_RETRACT_Z ;
prepare_move_raw ( ) ;
// Move the nozzle down to push the probe into retracted position
feedrate = homing_feedrate [ Z_AXIS ] / 10 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH ;
prepare_move_raw ( ) ;
// Move up for safety
feedrate = homing_feedrate [ Z_AXIS ] / 2 ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2 ;
prepare_move_raw ( ) ;
// Home XY for safety
feedrate = homing_feedrate [ X_AXIS ] / 2 ;
destination [ X_AXIS ] = 0 ;
destination [ Y_AXIS ] = 0 ;
prepare_move_raw ( ) ;
st_synchronize ( ) ;
bool z_min_endstop = ( READ ( Z_MIN_PIN ) ! = Z_MIN_ENDSTOP_INVERTING ) ;
if ( ! z_min_endstop )
{
if ( ! Stopped )
{
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( " Z-Probe failed to retract! " ) ;
LCD_ALERTMESSAGEPGM ( " Err: ZPROBE " ) ;
}
Stop ( ) ;
}
# endif
}
enum ProbeAction { ProbeStay , ProbeEngage , ProbeRetract , ProbeEngageRetract } ;
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt ( float x , float y , float z_before , ProbeAction retract_action = ProbeEngageRetract , int verbose_level = 1 ) {
// move to right place
do_blocking_move_to ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , z_before ) ;
do_blocking_move_to ( x - X_PROBE_OFFSET_FROM_EXTRUDER , y - Y_PROBE_OFFSET_FROM_EXTRUDER , current_position [ Z_AXIS ] ) ;
# if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if ( retract_action & ProbeEngage ) engage_z_probe ( ) ;
# endif
run_z_probe ( ) ;
float measured_z = current_position [ Z_AXIS ] ;
# if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if ( retract_action & ProbeRetract ) retract_z_probe ( ) ;
# endif
if ( verbose_level > 2 ) {
SERIAL_PROTOCOLPGM ( MSG_BED ) ;
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( x + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( y + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( measured_z + 0.0001 ) ;
SERIAL_EOL ;
}
return measured_z ;
}
# ifdef DELTA
static void extrapolate_one_point ( int x , int y , int xdir , int ydir ) {
if ( bed_level [ x ] [ y ] ! = 0.0 ) {
return ; // Don't overwrite good values.
}
float a = 2 * bed_level [ x + xdir ] [ y ] - bed_level [ x + xdir * 2 ] [ y ] ; // Left to right.
float b = 2 * bed_level [ x ] [ y + ydir ] - bed_level [ x ] [ y + ydir * 2 ] ; // Front to back.
float c = 2 * bed_level [ x + xdir ] [ y + ydir ] - bed_level [ x + xdir * 2 ] [ y + ydir * 2 ] ; // Diagonal.
float median = c ; // Median is robust (ignores outliers).
if ( a < b ) {
if ( b < c ) median = b ;
if ( c < a ) median = a ;
} else { // b <= a
if ( c < b ) median = b ;
if ( a < c ) median = a ;
}
bed_level [ x ] [ y ] = median ;
}
// Fill in the unprobed points (corners of circular print surface)
// using linear extrapolation, away from the center.
static void extrapolate_unprobed_bed_level ( ) {
int half = ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) / 2 ;
for ( int y = 0 ; y < = half ; y + + ) {
for ( int x = 0 ; x < = half ; x + + ) {
if ( x + y < 3 ) continue ;
extrapolate_one_point ( half - x , half - y , x > 1 ? + 1 : 0 , y > 1 ? + 1 : 0 ) ;
extrapolate_one_point ( half + x , half - y , x > 1 ? - 1 : 0 , y > 1 ? + 1 : 0 ) ;
extrapolate_one_point ( half - x , half + y , x > 1 ? + 1 : 0 , y > 1 ? - 1 : 0 ) ;
extrapolate_one_point ( half + x , half + y , x > 1 ? - 1 : 0 , y > 1 ? - 1 : 0 ) ;
}
}
}
// Print calibration results for plotting or manual frame adjustment.
static void print_bed_level ( ) {
for ( int y = 0 ; y < AUTO_BED_LEVELING_GRID_POINTS ; y + + ) {
for ( int x = 0 ; x < AUTO_BED_LEVELING_GRID_POINTS ; x + + ) {
SERIAL_PROTOCOL_F ( bed_level [ x ] [ y ] , 2 ) ;
SERIAL_PROTOCOLPGM ( " " ) ;
}
SERIAL_ECHOLN ( " " ) ;
}
}
// Reset calibration results to zero.
void reset_bed_level ( ) {
for ( int y = 0 ; y < AUTO_BED_LEVELING_GRID_POINTS ; y + + ) {
for ( int x = 0 ; x < AUTO_BED_LEVELING_GRID_POINTS ; x + + ) {
bed_level [ x ] [ y ] = 0.0 ;
}
}
}
# endif // DELTA
# endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis ( int axis ) {
# define HOMEAXIS_DO(LETTER) \
( ( LETTER # # _MIN_PIN > - 1 & & LETTER # # _HOME_DIR = = - 1 ) | | ( LETTER # # _MAX_PIN > - 1 & & LETTER # # _HOME_DIR = = 1 ) )
if ( axis = = X_AXIS ? HOMEAXIS_DO ( X ) :
axis = = Y_AXIS ? HOMEAXIS_DO ( Y ) :
axis = = Z_AXIS ? HOMEAXIS_DO ( Z ) :
0 ) {
int axis_home_dir = home_dir ( axis ) ;
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS )
axis_home_dir = x_home_dir ( active_extruder ) ;
# endif
current_position [ axis ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
# if SERVO_LEVELING
if ( axis = = Z_AXIS ) {
engage_z_probe ( ) ;
}
else
# endif
if ( servo_endstops [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 ] ) ;
}
# endif
# endif // Z_PROBE_SLED
destination [ axis ] = 1.5 * max_length ( axis ) * axis_home_dir ;
feedrate = homing_feedrate [ axis ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
current_position [ axis ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ axis ] = - home_retract_mm ( axis ) * axis_home_dir ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
destination [ axis ] = 2 * home_retract_mm ( axis ) * axis_home_dir ;
# ifdef DELTA
feedrate = homing_feedrate [ axis ] / 10 ;
# else
feedrate = homing_feedrate [ axis ] / 2 ;
# endif
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
# ifdef DELTA
// retrace by the amount specified in endstop_adj
if ( endstop_adj [ axis ] * axis_home_dir < 0 ) {
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ axis ] = endstop_adj [ axis ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
}
# endif
axis_is_at_home ( axis ) ;
destination [ axis ] = current_position [ axis ] ;
feedrate = 0.0 ;
endstops_hit_on_purpose ( ) ;
axis_known_position [ axis ] = true ;
// Retract Servo endstop if enabled
# ifdef SERVO_ENDSTOPS
if ( servo_endstops [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 + 1 ] ) ;
}
# endif
# if SERVO_LEVELING
# ifndef Z_PROBE_SLED
if ( axis = = Z_AXIS ) retract_z_probe ( ) ;
# endif
# endif
}
}
# define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
void refresh_cmd_timeout ( void )
{
previous_millis_cmd = millis ( ) ;
}
# ifdef FWRETRACT
void retract ( bool retracting , bool swapretract = false ) {
if ( retracting & & ! retracted [ active_extruder ] ) {
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ;
destination [ E_AXIS ] = current_position [ E_AXIS ] ;
if ( swapretract ) {
current_position [ E_AXIS ] + = retract_length_swap / volumetric_multiplier [ active_extruder ] ;
} else {
current_position [ E_AXIS ] + = retract_length / volumetric_multiplier [ active_extruder ] ;
}
plan_set_e_position ( current_position [ E_AXIS ] ) ;
float oldFeedrate = feedrate ;
feedrate = retract_feedrate * 60 ;
retracted [ active_extruder ] = true ;
prepare_move ( ) ;
if ( retract_zlift > 0.01 ) {
current_position [ Z_AXIS ] - = retract_zlift ;
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
prepare_move ( ) ;
}
feedrate = oldFeedrate ;
} else if ( ! retracting & & retracted [ active_extruder ] ) {
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
destination [ Z_AXIS ] = current_position [ Z_AXIS ] ;
destination [ E_AXIS ] = current_position [ E_AXIS ] ;
if ( retract_zlift > 0.01 ) {
current_position [ Z_AXIS ] + = retract_zlift ;
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
//prepare_move();
}
if ( swapretract ) {
current_position [ E_AXIS ] - = ( retract_length_swap + retract_recover_length_swap ) / volumetric_multiplier [ active_extruder ] ;
} else {
current_position [ E_AXIS ] - = ( retract_length + retract_recover_length ) / volumetric_multiplier [ active_extruder ] ;
}
plan_set_e_position ( current_position [ E_AXIS ] ) ;
float oldFeedrate = feedrate ;
feedrate = retract_recover_feedrate * 60 ;
retracted [ active_extruder ] = false ;
prepare_move ( ) ;
feedrate = oldFeedrate ;
}
} //retract
# endif //FWRETRACT
# ifdef Z_PROBE_SLED
# ifndef SLED_DOCKING_OFFSET
# define SLED_DOCKING_OFFSET 0
# endif
//
// Method to dock/undock a sled designed by Charles Bell.
//
// dock[in] If true, move to MAX_X and engage the electromagnet
// offset[in] The additional distance to move to adjust docking location
//
static void dock_sled ( bool dock , int offset = 0 ) {
int z_loc ;
if ( ! ( ( axis_known_position [ X_AXIS ] ) & & ( axis_known_position [ Y_AXIS ] ) ) ) {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
return ;
}
if ( dock ) {
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset ,
current_position [ Y_AXIS ] ,
current_position [ Z_AXIS ] ) ;
// turn off magnet
digitalWrite ( SERVO0_PIN , LOW ) ;
} else {
if ( current_position [ Z_AXIS ] < ( Z_RAISE_BEFORE_PROBING + 5 ) )
z_loc = Z_RAISE_BEFORE_PROBING ;
else
z_loc = current_position [ Z_AXIS ] ;
do_blocking_move_to ( X_MAX_POS + SLED_DOCKING_OFFSET + offset ,
Y_PROBE_OFFSET_FROM_EXTRUDER , z_loc ) ;
// turn on magnet
digitalWrite ( SERVO0_PIN , HIGH ) ;
}
}
# endif
/**
*
* G - Code Handler functions
*
*/
/**
* G0 , G1 : Coordinated movement of X Y Z E axes
*/
inline void gcode_G0_G1 ( ) {
if ( ! Stopped ) {
get_coordinates ( ) ; // For X Y Z E F
# ifdef FWRETRACT
if ( autoretract_enabled )
if ( ! ( code_seen ( ' X ' ) | | code_seen ( ' Y ' ) | | code_seen ( ' Z ' ) ) & & code_seen ( ' E ' ) ) {
float echange = destination [ E_AXIS ] - current_position [ E_AXIS ] ;
// Is this move an attempt to retract or recover?
if ( ( echange < - MIN_RETRACT & & ! retracted [ active_extruder ] ) | | ( echange > MIN_RETRACT & & retracted [ active_extruder ] ) ) {
current_position [ E_AXIS ] = destination [ E_AXIS ] ; // hide the slicer-generated retract/recover from calculations
plan_set_e_position ( current_position [ E_AXIS ] ) ; // AND from the planner
retract ( ! retracted [ active_extruder ] ) ;
return ;
}
}
# endif //FWRETRACT
prepare_move ( ) ;
//ClearToSend();
}
}
/**
* G2 : Clockwise Arc
* G3 : Counterclockwise Arc
*/
inline void gcode_G2_G3 ( bool clockwise ) {
if ( ! Stopped ) {
get_arc_coordinates ( ) ;
prepare_arc_move ( clockwise ) ;
}
}
/**
* G4 : Dwell S < seconds > or P < milliseconds >
*/
inline void gcode_G4 ( ) {
unsigned long codenum ;
LCD_MESSAGEPGM ( MSG_DWELL ) ;
if ( code_seen ( ' P ' ) ) codenum = code_value_long ( ) ; // milliseconds to wait
if ( code_seen ( ' S ' ) ) codenum = code_value_long ( ) * 1000 ; // seconds to wait
st_synchronize ( ) ;
previous_millis_cmd = millis ( ) ;
codenum + = previous_millis_cmd ; // keep track of when we started waiting
while ( millis ( ) < codenum ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
# ifdef FWRETRACT
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11 ( bool doRetract = false ) {
# if EXTRUDERS > 1
if ( doRetract ) {
retracted_swap [ active_extruder ] = ( code_seen ( ' S ' ) & & code_value_long ( ) = = 1 ) ; // checks for swap retract argument
}
# endif
retract ( doRetract
# if EXTRUDERS > 1
, retracted_swap [ active_extruder ]
# endif
) ;
}
# endif //FWRETRACT
/**
* G28 : Home all axes , one at a time
*/
inline void gcode_G28 ( ) {
# ifdef ENABLE_AUTO_BED_LEVELING
# ifdef DELTA
reset_bed_level ( ) ;
# else
plan_bed_level_matrix . set_to_identity ( ) ; //Reset the plane ("erase" all leveling data)
# endif
# endif
saved_feedrate = feedrate ;
saved_feedmultiply = feedmultiply ;
feedmultiply = 100 ;
previous_millis_cmd = millis ( ) ;
enable_endstops ( true ) ;
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) destination [ i ] = current_position [ i ] ;
feedrate = 0.0 ;
# ifdef DELTA
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
// Move all carriages up together until the first endstop is hit.
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) current_position [ i ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) destination [ i ] = 3 * Z_MAX_LENGTH ;
feedrate = 1.732 * homing_feedrate [ X_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ;
// Destination reached
for ( int i = X_AXIS ; i < = Z_AXIS ; i + + ) current_position [ i ] = destination [ i ] ;
// take care of back off and rehome now we are all at the top
HOMEAXIS ( X ) ;
HOMEAXIS ( Y ) ;
HOMEAXIS ( Z ) ;
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else // NOT DELTA
home_all_axis = ! ( code_seen ( axis_codes [ X_AXIS ] ) | | code_seen ( axis_codes [ Y_AXIS ] ) | | code_seen ( axis_codes [ Z_AXIS ] ) ) ;
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
if ( home_all_axis | | code_seen ( axis_codes [ Z_AXIS ] ) ) {
HOMEAXIS ( Z ) ;
}
# endif
# ifdef QUICK_HOME
if ( home_all_axis | | code_seen ( axis_codes [ X_AXIS ] & & code_seen ( axis_codes [ Y_AXIS ] ) ) ) { //first diagonal move
current_position [ X_AXIS ] = current_position [ Y_AXIS ] = 0 ;
# ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir ( X_AXIS ) ;
# else
int x_axis_home_dir = x_home_dir ( active_extruder ) ;
extruder_duplication_enabled = false ;
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = 1.5 * max_length ( X_AXIS ) * x_axis_home_dir ;
destination [ Y_AXIS ] = 1.5 * max_length ( Y_AXIS ) * home_dir ( Y_AXIS ) ;
feedrate = homing_feedrate [ X_AXIS ] ;
if ( homing_feedrate [ Y_AXIS ] < feedrate ) feedrate = homing_feedrate [ Y_AXIS ] ;
if ( max_length ( X_AXIS ) > max_length ( Y_AXIS ) ) {
feedrate * = sqrt ( pow ( max_length ( Y_AXIS ) / max_length ( X_AXIS ) , 2 ) + 1 ) ;
} else {
feedrate * = sqrt ( pow ( max_length ( X_AXIS ) / max_length ( Y_AXIS ) , 2 ) + 1 ) ;
}
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
st_synchronize ( ) ;
axis_is_at_home ( X_AXIS ) ;
axis_is_at_home ( Y_AXIS ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = current_position [ X_AXIS ] ;
destination [ Y_AXIS ] = current_position [ Y_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
feedrate = 0.0 ;
st_synchronize ( ) ;
endstops_hit_on_purpose ( ) ;
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
# ifndef SCARA
current_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
# endif
}
# endif //QUICK_HOME
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ X_AXIS ] ) ) ) {
# ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder ;
extruder_duplication_enabled = false ;
active_extruder = ! active_extruder ;
HOMEAXIS ( X ) ;
inactive_extruder_x_pos = current_position [ X_AXIS ] ;
active_extruder = tmp_extruder ;
HOMEAXIS ( X ) ;
// reset state used by the different modes
memcpy ( raised_parked_position , current_position , sizeof ( raised_parked_position ) ) ;
delayed_move_time = 0 ;
active_extruder_parked = true ;
# else
HOMEAXIS ( X ) ;
# endif
}
if ( home_all_axis | | code_seen ( axis_codes [ Y_AXIS ] ) ) HOMEAXIS ( Y ) ;
if ( code_seen ( axis_codes [ X_AXIS ] ) ) {
if ( code_value_long ( ) ! = 0 ) {
current_position [ X_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ X_AXIS ]
# endif
;
}
}
if ( code_seen ( axis_codes [ Y_AXIS ] ) & & code_value_long ( ) ! = 0 ) {
current_position [ Y_AXIS ] = code_value ( )
# ifndef SCARA
+ add_homing [ Y_AXIS ]
# endif
;
}
# if Z_HOME_DIR < 0 // If homing towards BED do Z last
# ifndef Z_SAFE_HOMING
if ( home_all_axis | | code_seen ( axis_codes [ Z_AXIS ] ) ) {
# if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
# endif
HOMEAXIS ( Z ) ;
}
# else // Z_SAFE_HOMING
if ( home_all_axis ) {
destination [ X_AXIS ] = round ( Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Y_AXIS ] = round ( Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER ) ;
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ; // Set destination away from bed
feedrate = XY_TRAVEL_SPEED / 60 ;
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
current_position [ X_AXIS ] = destination [ X_AXIS ] ;
current_position [ Y_AXIS ] = destination [ Y_AXIS ] ;
HOMEAXIS ( Z ) ;
}
// Let's see if X and Y are homed and probe is inside bed area.
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
if ( axis_known_position [ X_AXIS ] & & axis_known_position [ Y_AXIS ] ) {
float cpx = current_position [ X_AXIS ] , cpy = current_position [ Y_AXIS ] ;
if ( cpx > = X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
& & cpx < = X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
& & cpy > = Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
& & cpy < = Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER ) {
current_position [ Z_AXIS ] = 0 ;
plan_set_position ( cpx , cpy , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ Z_AXIS ] = - Z_RAISE_BEFORE_HOMING * home_dir ( Z_AXIS ) ; // Set destination away from bed
feedrate = max_feedrate [ Z_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate , active_extruder ) ;
st_synchronize ( ) ;
HOMEAXIS ( Z ) ;
}
else {
LCD_MESSAGEPGM ( MSG_ZPROBE_OUT ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_OUT ) ;
}
}
else {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
}
}
# endif // Z_SAFE_HOMING
# endif // Z_HOME_DIR < 0
if ( code_seen ( axis_codes [ Z_AXIS ] ) & & code_value_long ( ) ! = 0 )
current_position [ Z_AXIS ] = code_value ( ) + add_homing [ Z_AXIS ] ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( home_all_axis | | code_seen ( axis_codes [ Z_AXIS ] ) )
current_position [ Z_AXIS ] + = zprobe_zoffset ; //Add Z_Probe offset (the distance is negative)
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif // else DELTA
# ifdef SCARA
calculate_delta ( current_position ) ;
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
# endif
feedrate = saved_feedrate ;
feedmultiply = saved_feedmultiply ;
previous_millis_cmd = millis ( ) ;
endstops_hit_on_purpose ( ) ;
}
# ifdef ENABLE_AUTO_BED_LEVELING
// Define the possible boundaries for probing based on set limits
# define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
# define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
# define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
# define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
# ifdef AUTO_BED_LEVELING_GRID
# define MIN_PROBE_EDGE 20 // The probe square sides can be no smaller than this
// Make sure probing points are reachable
# if LEFT_PROBE_BED_POSITION < MIN_PROBE_X
# error The given LEFT_PROBE_BED_POSITION can't be reached by the probe.
# elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
# error The given RIGHT_PROBE_BED_POSITION can't be reached by the probe.
# elif FRONT_PROBE_BED_POSITION < MIN_PROBE_Y
# error The given FRONT_PROBE_BED_POSITION can't be reached by the probe.
# elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
# error The given BACK_PROBE_BED_POSITION can't be reached by the probe.
// Check if Probe_Offset * Grid Points is greater than Probing Range
# elif abs(X_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION
# error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
# elif abs(Y_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION
# error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
# endif
# else // !AUTO_BED_LEVELING_GRID
# if ABL_PROBE_PT_1_X < MIN_PROBE_X || ABL_PROBE_PT_1_X > MAX_PROBE_X
# error The given ABL_PROBE_PT_1_X can't be reached by the probe.
# elif ABL_PROBE_PT_2_X < MIN_PROBE_X || ABL_PROBE_PT_2_X > MAX_PROBE_X
# error The given ABL_PROBE_PT_2_X can't be reached by the probe.
# elif ABL_PROBE_PT_3_X < MIN_PROBE_X || ABL_PROBE_PT_3_X > MAX_PROBE_X
# error The given ABL_PROBE_PT_3_X can't be reached by the probe.
# elif ABL_PROBE_PT_1_Y < MIN_PROBE_Y || ABL_PROBE_PT_1_Y > MAX_PROBE_Y
# error The given ABL_PROBE_PT_1_Y can't be reached by the probe.
# elif ABL_PROBE_PT_2_Y < MIN_PROBE_Y || ABL_PROBE_PT_2_Y > MAX_PROBE_Y
# error The given ABL_PROBE_PT_2_Y can't be reached by the probe.
# elif ABL_PROBE_PT_3_Y < MIN_PROBE_Y || ABL_PROBE_PT_3_Y > MAX_PROBE_Y
# error The given ABL_PROBE_PT_3_Y can't be reached by the probe.
# endif
# endif // !AUTO_BED_LEVELING_GRID
/**
* G29 : Detailed Z - Probe , probes the bed at 3 or more points .
* Will fail if the printer has not been homed with G28 .
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID :
*
* P Set the size of the grid that will be probed ( P x P points ) .
* Not supported by non - linear delta printer bed leveling .
* Example : " G29 P4 "
*
* V Set the verbose level ( 0 - 4 ) . Example : " G29 V3 "
*
* T Generate a Bed Topology Report . Example : " G29 P5 T " for a detailed report .
* This is useful for manual bed leveling and finding flaws in the bed ( to
* assist with part placement ) .
* Not supported by non - linear delta printer bed leveling .
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Global Parameters :
*
* E / e By default G29 engages / disengages the probe for each point .
* Include " E " to engage and disengage the probe just once .
* There ' s no extra effect if you have a fixed probe .
* Usage : " G29 E " or " G29 e "
*
*/
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft , OriginFrontLeft , OriginBackRight , OriginFrontRight } ;
# define TOPO_ORIGIN OriginFrontLeft
inline void gcode_G29 ( ) {
// Prevent user from running a G29 without first homing in X and Y
if ( ! axis_known_position [ X_AXIS ] | | ! axis_known_position [ Y_AXIS ] ) {
LCD_MESSAGEPGM ( MSG_POSITION_UNKNOWN ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_POSITION_UNKNOWN ) ;
return ;
}
int verbose_level = 1 ;
float x_tmp , y_tmp , z_tmp , real_z ;
if ( code_seen ( ' V ' ) | | code_seen ( ' v ' ) ) {
verbose_level = code_value_long ( ) ;
if ( verbose_level < 0 | | verbose_level > 4 ) {
SERIAL_PROTOCOLPGM ( " ?(V)erbose Level is implausible (0-4). \n " ) ;
return ;
}
}
bool enhanced_g29 = code_seen ( ' E ' ) | | code_seen ( ' e ' ) ;
# ifdef AUTO_BED_LEVELING_GRID
# ifndef DELTA
bool topo_flag = verbose_level > 2 | | code_seen ( ' T ' ) | | code_seen ( ' t ' ) ;
# endif
if ( verbose_level > 0 )
SERIAL_PROTOCOLPGM ( " G29 Auto Bed Leveling \n " ) ;
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS ;
# ifndef DELTA
if ( code_seen ( ' P ' ) ) auto_bed_leveling_grid_points = code_value_long ( ) ;
if ( auto_bed_leveling_grid_points < 2 | | auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS ) {
SERIAL_PROTOCOLPGM ( " ?Number of probed (P)oints is implausible (2 minimum). \n " ) ;
return ;
}
# endif
int left_probe_bed_position = code_seen ( ' L ' ) ? code_value_long ( ) : LEFT_PROBE_BED_POSITION ,
right_probe_bed_position = code_seen ( ' R ' ) ? code_value_long ( ) : RIGHT_PROBE_BED_POSITION ,
front_probe_bed_position = code_seen ( ' F ' ) ? code_value_long ( ) : FRONT_PROBE_BED_POSITION ,
back_probe_bed_position = code_seen ( ' B ' ) ? code_value_long ( ) : BACK_PROBE_BED_POSITION ;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X ,
left_out = left_out_l | | left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE ,
right_out_r = right_probe_bed_position > MAX_PROBE_X ,
right_out = right_out_r | | right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE ,
front_out_f = front_probe_bed_position < MIN_PROBE_Y ,
front_out = front_out_f | | front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE ,
back_out_b = back_probe_bed_position > MAX_PROBE_Y ,
back_out = back_out_b | | back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE ;
if ( left_out | | right_out | | front_out | | back_out ) {
if ( left_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (L)eft position out of range. \n " ) ;
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE ;
}
if ( right_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (R)ight position out of range. \n " ) ;
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE ;
}
if ( front_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (F)ront position out of range. \n " ) ;
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE ;
}
if ( back_out ) {
SERIAL_PROTOCOLPGM ( " ?Probe (B)ack position out of range. \n " ) ;
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE ;
}
return ;
}
# endif // AUTO_BED_LEVELING_GRID
# ifdef Z_PROBE_SLED
dock_sled ( false ) ; // engage (un-dock) the probe
# elif not defined(SERVO_ENDSTOPS)
engage_z_probe ( ) ;
# endif
st_synchronize ( ) ;
# ifdef DELTA
reset_bed_level ( ) ;
# else
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix . set_to_identity ( ) ;
vector_3 uncorrected_position = plan_get_position ( ) ;
//uncorrected_position.debug("position during G29");
current_position [ X_AXIS ] = uncorrected_position . x ;
current_position [ Y_AXIS ] = uncorrected_position . y ;
current_position [ Z_AXIS ] = uncorrected_position . z ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
setup_for_endstop_move ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
# ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
const int xGridSpacing = ( right_probe_bed_position - left_probe_bed_position ) / ( auto_bed_leveling_grid_points - 1 ) ;
const int yGridSpacing = ( back_probe_bed_position - front_probe_bed_position ) / ( auto_bed_leveling_grid_points - 1 ) ;
# ifndef DELTA
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points ;
double eqnAMatrix [ abl2 * 3 ] , // "A" matrix of the linear system of equations
eqnBVector [ abl2 ] , // "B" vector of Z points
mean = 0.0 ;
# else
delta_grid_spacing [ 0 ] = xGridSpacing ;
delta_grid_spacing [ 1 ] = yGridSpacing ;
float z_offset = Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( code_seen ( axis_codes [ Z_AXIS ] ) ) {
z_offset + = code_value ( ) ;
}
# endif
int probePointCounter = 0 ;
bool zig = true ;
for ( int yCount = 0 ; yCount < auto_bed_leveling_grid_points ; yCount + + )
{
double yProbe = front_probe_bed_position + yGridSpacing * yCount ;
int xStart , xStop , xInc ;
if ( zig )
{
xStart = 0 ;
xStop = auto_bed_leveling_grid_points ;
xInc = 1 ;
zig = false ;
}
else
{
xStart = auto_bed_leveling_grid_points - 1 ;
xStop = - 1 ;
xInc = - 1 ;
zig = true ;
}
# ifndef DELTA
// If topo_flag is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if ( ! topo_flag ) zig = ! zig ;
# endif
for ( int xCount = xStart ; xCount ! = xStop ; xCount + = xInc )
{
double xProbe = left_probe_bed_position + xGridSpacing * xCount ;
// raise extruder
float measured_z ,
z_before = probePointCounter = = 0 ? Z_RAISE_BEFORE_PROBING : current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS ;
# ifdef DELTA
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt ( xProbe * xProbe + yProbe * yProbe ) ;
if ( distance_from_center > DELTA_PROBABLE_RADIUS )
continue ;
# endif //DELTA
// Enhanced G29 - Do not retract servo between probes
ProbeAction act ;
if ( enhanced_g29 ) {
if ( yProbe = = front_probe_bed_position & & xCount = = 0 )
act = ProbeEngage ;
else if ( yProbe = = front_probe_bed_position + ( yGridSpacing * ( auto_bed_leveling_grid_points - 1 ) ) & & xCount = = auto_bed_leveling_grid_points - 1 )
act = ProbeRetract ;
else
act = ProbeStay ;
}
else
act = ProbeEngageRetract ;
measured_z = probe_pt ( xProbe , yProbe , z_before , act , verbose_level ) ;
# ifndef DELTA
mean + = measured_z ;
eqnBVector [ probePointCounter ] = measured_z ;
eqnAMatrix [ probePointCounter + 0 * abl2 ] = xProbe ;
eqnAMatrix [ probePointCounter + 1 * abl2 ] = yProbe ;
eqnAMatrix [ probePointCounter + 2 * abl2 ] = 1 ;
# else
bed_level [ xCount ] [ yCount ] = measured_z + z_offset ;
# endif
probePointCounter + + ;
} //xProbe
} //yProbe
clean_up_after_endstop_move ( ) ;
# ifndef DELTA
// solve lsq problem
double * plane_equation_coefficients = qr_solve ( abl2 , 3 , eqnAMatrix , eqnBVector ) ;
mean / = abl2 ;
if ( verbose_level ) {
SERIAL_PROTOCOLPGM ( " Eqn coefficients: a: " ) ;
SERIAL_PROTOCOL ( plane_equation_coefficients [ 0 ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " b: " ) ;
SERIAL_PROTOCOL ( plane_equation_coefficients [ 1 ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " d: " ) ;
SERIAL_PROTOCOLLN ( plane_equation_coefficients [ 2 ] + 0.0001 ) ;
if ( verbose_level > 2 ) {
SERIAL_PROTOCOLPGM ( " Mean of sampled points: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_EOL ;
}
}
if ( topo_flag ) {
int xx , yy ;
SERIAL_PROTOCOLPGM ( " \n Bed Height Topography: \n " ) ;
# if TOPO_ORIGIN == OriginFrontLeft
for ( yy = auto_bed_leveling_grid_points - 1 ; yy > = 0 ; yy - - )
# else
for ( yy = 0 ; yy < auto_bed_leveling_grid_points ; yy + + )
# endif
{
# if TOPO_ORIGIN == OriginBackRight
for ( xx = auto_bed_leveling_grid_points - 1 ; xx > = 0 ; xx - - )
# else
for ( xx = 0 ; xx < auto_bed_leveling_grid_points ; xx + + )
# endif
{
int ind =
# if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
yy * auto_bed_leveling_grid_points + xx
# elif TOPO_ORIGIN == OriginBackLeft
xx * auto_bed_leveling_grid_points + yy
# elif TOPO_ORIGIN == OriginFrontRight
abl2 - xx * auto_bed_leveling_grid_points - yy - 1
# endif
;
float diff = eqnBVector [ ind ] - mean ;
if ( diff > = 0.0 )
SERIAL_PROTOCOLPGM ( " + " ) ; // Include + for column alignment
else
SERIAL_PROTOCOLPGM ( " " ) ;
SERIAL_PROTOCOL_F ( diff , 5 ) ;
} // xx
SERIAL_EOL ;
} // yy
SERIAL_EOL ;
} //topo_flag
set_bed_level_equation_lsq ( plane_equation_coefficients ) ;
free ( plane_equation_coefficients ) ;
# else
extrapolate_unprobed_bed_level ( ) ;
print_bed_level ( ) ;
# endif
# else // !AUTO_BED_LEVELING_GRID
// Probe at 3 arbitrary points
float z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ;
if ( enhanced_g29 ) {
// Basic Enhanced G29
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , ProbeEngage , verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeStay , verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , ProbeRetract , verbose_level ) ;
}
else {
z_at_pt_1 = probe_pt ( ABL_PROBE_PT_1_X , ABL_PROBE_PT_1_Y , Z_RAISE_BEFORE_PROBING , verbose_level ) ;
z_at_pt_2 = probe_pt ( ABL_PROBE_PT_2_X , ABL_PROBE_PT_2_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level ) ;
z_at_pt_3 = probe_pt ( ABL_PROBE_PT_3_X , ABL_PROBE_PT_3_Y , current_position [ Z_AXIS ] + Z_RAISE_BETWEEN_PROBINGS , verbose_level ) ;
}
clean_up_after_endstop_move ( ) ;
set_bed_level_equation_3pts ( z_at_pt_1 , z_at_pt_2 , z_at_pt_3 ) ;
# endif // !AUTO_BED_LEVELING_GRID
do_blocking_move_to ( MANUAL_X_HOME_POS , MANUAL_Y_HOME_POS , Z_RAISE_AFTER_PROBING ) ;
st_synchronize ( ) ;
# ifndef DELTA
if ( verbose_level > 0 )
plan_bed_level_matrix . debug ( " \n \n Bed Level Correction Matrix: " ) ;
// Correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float ( st_get_position ( Z_AXIS ) ) / axis_steps_per_unit [ Z_AXIS ] ; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position [ X_AXIS ] + X_PROBE_OFFSET_FROM_EXTRUDER ;
y_tmp = current_position [ Y_AXIS ] + Y_PROBE_OFFSET_FROM_EXTRUDER ;
z_tmp = current_position [ Z_AXIS ] ;
apply_rotation_xyz ( plan_bed_level_matrix , x_tmp , y_tmp , z_tmp ) ; //Apply the correction sending the probe offset
current_position [ Z_AXIS ] = z_tmp - real_z + current_position [ Z_AXIS ] ; //The difference is added to current position and sent to planner.
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
# ifdef Z_PROBE_SLED
dock_sled ( true , - SLED_DOCKING_OFFSET ) ; // dock the probe, correcting for over-travel
# elif not defined(SERVO_ENDSTOPS)
retract_z_probe ( ) ;
# endif
}
# ifndef Z_PROBE_SLED
inline void gcode_G30 ( ) {
engage_z_probe ( ) ; // Engage Z Servo endstop if available
st_synchronize ( ) ;
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move ( ) ;
feedrate = homing_feedrate [ Z_AXIS ] ;
run_z_probe ( ) ;
SERIAL_PROTOCOLPGM ( MSG_BED ) ;
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] + 0.0001 ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] + 0.0001 ) ;
SERIAL_EOL ;
clean_up_after_endstop_move ( ) ;
retract_z_probe ( ) ; // Retract Z Servo endstop if available
}
# endif //!Z_PROBE_SLED
# endif //ENABLE_AUTO_BED_LEVELING
/**
* G92 : Set current position to given X Y Z E
*/
inline void gcode_G92 ( ) {
if ( ! code_seen ( axis_codes [ E_AXIS ] ) )
st_synchronize ( ) ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
current_position [ i ] = code_value ( ) ;
plan_set_e_position ( current_position [ E_AXIS ] ) ;
}
else {
current_position [ i ] = code_value ( ) +
# ifdef SCARA
( ( i ! = X_AXIS & & i ! = Y_AXIS ) ? add_homing [ i ] : 0 )
# else
add_homing [ i ]
# endif
;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
}
}
}
# ifdef ULTIPANEL
/**
* M0 : // M0 - Unconditional stop - Wait for user button press on LCD
* M1 : // M1 - Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1 ( ) {
char * src = strchr_pointer + 2 ;
unsigned long codenum = 0 ;
bool hasP = false , hasS = false ;
if ( code_seen ( ' P ' ) ) {
codenum = code_value ( ) ; // milliseconds to wait
hasP = codenum > 0 ;
}
if ( code_seen ( ' S ' ) ) {
codenum = code_value ( ) * 1000 ; // seconds to wait
hasS = codenum > 0 ;
}
char * starpos = strchr ( src , ' * ' ) ;
if ( starpos ! = NULL ) * ( starpos ) = ' \0 ' ;
while ( * src = = ' ' ) + + src ;
if ( ! hasP & & ! hasS & & * src ! = ' \0 ' )
lcd_setstatus ( src ) ;
else
LCD_MESSAGEPGM ( MSG_USERWAIT ) ;
lcd_ignore_click ( ) ;
st_synchronize ( ) ;
previous_millis_cmd = millis ( ) ;
if ( codenum > 0 ) {
codenum + = previous_millis_cmd ; // keep track of when we started waiting
while ( millis ( ) < codenum & & ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
lcd_ignore_click ( false ) ;
}
else {
if ( ! lcd_detected ( ) ) return ;
while ( ! lcd_clicked ( ) ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
}
if ( IS_SD_PRINTING )
LCD_MESSAGEPGM ( MSG_RESUMING ) ;
else
LCD_MESSAGEPGM ( WELCOME_MSG ) ;
}
# endif // ULTIPANEL
/**
* M17 : Enable power on all stepper motors
*/
inline void gcode_M17 ( ) {
LCD_MESSAGEPGM ( MSG_NO_MOVE ) ;
enable_x ( ) ;
enable_y ( ) ;
enable_z ( ) ;
enable_e0 ( ) ;
enable_e1 ( ) ;
enable_e2 ( ) ;
enable_e3 ( ) ;
}
# ifdef SDSUPPORT
/**
* M20 : List SD card to serial output
*/
inline void gcode_M20 ( ) {
SERIAL_PROTOCOLLNPGM ( MSG_BEGIN_FILE_LIST ) ;
card . ls ( ) ;
SERIAL_PROTOCOLLNPGM ( MSG_END_FILE_LIST ) ;
}
/**
* M21 : Init SD Card
*/
inline void gcode_M21 ( ) {
card . initsd ( ) ;
}
/**
* M22 : Release SD Card
*/
inline void gcode_M22 ( ) {
card . release ( ) ;
}
/**
* M23 : Select a file
*/
inline void gcode_M23 ( ) {
char * codepos = strchr_pointer + 4 ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * starpos = ' \0 ' ;
card . openFile ( codepos , true ) ;
}
/**
* M24 : Start SD Print
*/
inline void gcode_M24 ( ) {
card . startFileprint ( ) ;
starttime = millis ( ) ;
}
/**
* M25 : Pause SD Print
*/
inline void gcode_M25 ( ) {
card . pauseSDPrint ( ) ;
}
/**
* M26 : Set SD Card file index
*/
inline void gcode_M26 ( ) {
if ( card . cardOK & & code_seen ( ' S ' ) )
card . setIndex ( code_value_long ( ) ) ;
}
/**
* M27 : Get SD Card status
*/
inline void gcode_M27 ( ) {
card . getStatus ( ) ;
}
/**
* M28 : Start SD Write
*/
inline void gcode_M28 ( ) {
char * codepos = strchr_pointer + 4 ;
char * starpos = strchr ( strchr_pointer + 4 , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openFile ( strchr_pointer + 4 , false ) ;
}
/**
* M29 : Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29 ( ) {
// card.saving = false;
}
/**
* M30 < filename > : Delete SD Card file
*/
inline void gcode_M30 ( ) {
if ( card . cardOK ) {
card . closefile ( ) ;
char * starpos = strchr ( strchr_pointer + 4 , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . removeFile ( strchr_pointer + 4 ) ;
}
}
# endif
/**
* M31 : Get the time since the start of SD Print ( or last M109 )
*/
inline void gcode_M31 ( ) {
stoptime = millis ( ) ;
unsigned long t = ( stoptime - starttime ) / 1000 ;
int min = t / 60 , sec = t % 60 ;
char time [ 30 ] ;
sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
lcd_setstatus ( time ) ;
autotempShutdown ( ) ;
}
# ifdef SDSUPPORT
/**
* M32 : Select file and start SD Print
*/
inline void gcode_M32 ( ) {
if ( card . sdprinting )
st_synchronize ( ) ;
char * codepos = strchr_pointer + 4 ;
char * namestartpos = strchr ( codepos , ' ! ' ) ; //find ! to indicate filename string start.
if ( ! namestartpos )
namestartpos = codepos ; //default name position, 4 letters after the M
else
namestartpos + + ; //to skip the '!'
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * ( starpos ) = ' \0 ' ;
bool call_procedure = code_seen ( ' P ' ) & & ( strchr_pointer < namestartpos ) ;
if ( card . cardOK ) {
card . openFile ( namestartpos , true , ! call_procedure ) ;
if ( code_seen ( ' S ' ) & & strchr_pointer < namestartpos ) // "S" (must occur _before_ the filename!)
card . setIndex ( code_value_long ( ) ) ;
card . startFileprint ( ) ;
if ( ! call_procedure )
starttime = millis ( ) ; //procedure calls count as normal print time.
}
}
/**
* M928 : Start SD Write
*/
inline void gcode_M928 ( ) {
char * starpos = strchr ( strchr_pointer + 5 , ' * ' ) ;
if ( starpos ) {
char * npos = strchr ( cmdbuffer [ bufindr ] , ' N ' ) ;
strchr_pointer = strchr ( npos , ' ' ) + 1 ;
* ( starpos ) = ' \0 ' ;
}
card . openLogFile ( strchr_pointer + 5 ) ;
}
# endif // SDSUPPORT
/**
* M42 : Change pin status via GCode
*/
inline void gcode_M42 ( ) {
if ( code_seen ( ' S ' ) ) {
int pin_status = code_value ( ) ,
pin_number = LED_PIN ;
if ( code_seen ( ' P ' ) & & pin_status > = 0 & & pin_status < = 255 )
pin_number = code_value ( ) ;
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( * sensitive_pins ) ) ; i + + ) {
if ( sensitive_pins [ i ] = = pin_number ) {
pin_number = - 1 ;
break ;
}
}
# if defined(FAN_PIN) && FAN_PIN > -1
if ( pin_number = = FAN_PIN ) fanSpeed = pin_status ;
# endif
if ( pin_number > - 1 ) {
pinMode ( pin_number , OUTPUT ) ;
digitalWrite ( pin_number , pin_status ) ;
analogWrite ( pin_number , pin_status ) ;
}
} // code_seen('S')
}
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
# if Z_MIN_PIN == -1
# error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
# endif
/**
* M48 : Z - Probe repeatability measurement function .
*
* Usage :
* M48 < n # > < X # > < Y # > < V # > < E > < L # >
* n = Number of samples ( 4 - 50 , default 10 )
* X = Sample X position
* Y = Sample Y position
* V = Verbose level ( 0 - 4 , default = 1 )
* E = Engage probe for each reading
* L = Number of legs of movement before probe
*
* This function assumes the bed has been homed . Specificaly , that a G28 command
* as been issued prior to invoking the M48 Z - Probe repeatability measurement function .
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated .
*
* The number of samples will default to 10 if not specified . You can use upper or lower case
* letters for any of the options EXCEPT n . n must be in lower case because Marlin uses a capital
* N for its communication protocol and will get horribly confused if you send it a capital N .
*/
inline void gcode_M48 ( ) {
double sum = 0.0 , mean = 0.0 , sigma = 0.0 , sample_set [ 50 ] ;
int verbose_level = 1 , n = 0 , j , n_samples = 10 , n_legs = 0 , engage_probe_for_each_reading = 0 ;
double X_current , Y_current , Z_current ;
double X_probe_location , Y_probe_location , Z_start_location , ext_position ;
if ( code_seen ( ' V ' ) | | code_seen ( ' v ' ) ) {
verbose_level = code_value ( ) ;
if ( verbose_level < 0 | | verbose_level > 4 ) {
SERIAL_PROTOCOLPGM ( " ?Verbose Level not plausible (0-4). \n " ) ;
return ;
}
}
if ( verbose_level > 0 )
SERIAL_PROTOCOLPGM ( " M48 Z-Probe Repeatability test \n " ) ;
if ( code_seen ( ' n ' ) ) {
n_samples = code_value ( ) ;
if ( n_samples < 4 | | n_samples > 50 ) {
SERIAL_PROTOCOLPGM ( " ?Specified sample size not plausible (4-50). \n " ) ;
return ;
}
}
X_current = X_probe_location = st_get_position_mm ( X_AXIS ) ;
Y_current = Y_probe_location = st_get_position_mm ( Y_AXIS ) ;
Z_current = st_get_position_mm ( Z_AXIS ) ;
Z_start_location = st_get_position_mm ( Z_AXIS ) + Z_RAISE_BEFORE_PROBING ;
ext_position = st_get_position_mm ( E_AXIS ) ;
if ( code_seen ( ' E ' ) | | code_seen ( ' e ' ) )
engage_probe_for_each_reading + + ;
if ( code_seen ( ' X ' ) | | code_seen ( ' x ' ) ) {
X_probe_location = code_value ( ) - X_PROBE_OFFSET_FROM_EXTRUDER ;
if ( X_probe_location < X_MIN_POS | | X_probe_location > X_MAX_POS ) {
SERIAL_PROTOCOLPGM ( " ?Specified X position out of range. \n " ) ;
return ;
}
}
if ( code_seen ( ' Y ' ) | | code_seen ( ' y ' ) ) {
Y_probe_location = code_value ( ) - Y_PROBE_OFFSET_FROM_EXTRUDER ;
if ( Y_probe_location < Y_MIN_POS | | Y_probe_location > Y_MAX_POS ) {
SERIAL_PROTOCOLPGM ( " ?Specified Y position out of range. \n " ) ;
return ;
}
}
if ( code_seen ( ' L ' ) | | code_seen ( ' l ' ) ) {
n_legs = code_value ( ) ;
if ( n_legs = = 1 ) n_legs = 2 ;
if ( n_legs < 0 | | n_legs > 15 ) {
SERIAL_PROTOCOLPGM ( " ?Specified number of legs in movement not plausible (0-15). \n " ) ;
return ;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize ( ) ;
plan_bed_level_matrix . set_to_identity ( ) ;
plan_buffer_line ( X_current , Y_current , Z_start_location ,
ext_position ,
homing_feedrate [ Z_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if ( verbose_level > 2 )
SERIAL_PROTOCOL ( " Positioning probe for the test. \n " ) ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
ext_position ,
homing_feedrate [ X_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
current_position [ X_AXIS ] = X_current = st_get_position_mm ( X_AXIS ) ;
current_position [ Y_AXIS ] = Y_current = st_get_position_mm ( Y_AXIS ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
current_position [ E_AXIS ] = ext_position = st_get_position_mm ( E_AXIS ) ;
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe ( ) ;
setup_for_endstop_move ( ) ;
run_z_probe ( ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
Z_start_location = st_get_position_mm ( Z_AXIS ) + Z_RAISE_BEFORE_PROBING ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
ext_position ,
homing_feedrate [ X_AXIS ] / 60 ,
active_extruder ) ;
st_synchronize ( ) ;
current_position [ Z_AXIS ] = Z_current = st_get_position_mm ( Z_AXIS ) ;
if ( engage_probe_for_each_reading ) retract_z_probe ( ) ;
for ( n = 0 ; n < n_samples ; n + + ) {
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Make sure we are at the probe location
if ( n_legs ) {
double radius = 0.0 , theta = 0.0 , x_sweep , y_sweep ;
int l ;
int rotational_direction = ( unsigned long ) millis ( ) & 0x0001 ; // clockwise or counter clockwise
radius = ( unsigned long ) millis ( ) % ( long ) ( X_MAX_LENGTH / 4 ) ; // limit how far out to go
theta = ( float ) ( ( unsigned long ) millis ( ) % 360L ) / ( 360. / ( 2 * 3.1415926 ) ) ; // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
float dir = rotational_direction ? 1 : - 1 ;
for ( l = 0 ; l < n_legs - 1 ; l + + ) {
theta + = dir * ( float ) ( ( unsigned long ) millis ( ) % 20L ) / ( 360.0 / ( 2 * 3.1415926 ) ) ; // turn into radians
radius + = ( float ) ( ( ( long ) ( ( unsigned long ) millis ( ) % 10L ) ) - 5L ) ;
if ( radius < 0.0 ) radius = - radius ;
X_current = X_probe_location + cos ( theta ) * radius ;
Y_current = Y_probe_location + sin ( theta ) * radius ;
// Make sure our X & Y are sane
X_current = constrain ( X_current , X_MIN_POS , X_MAX_POS ) ;
Y_current = constrain ( Y_current , Y_MIN_POS , Y_MAX_POS ) ;
if ( verbose_level > 3 ) {
SERIAL_ECHOPAIR ( " x: " , X_current ) ;
SERIAL_ECHOPAIR ( " y: " , Y_current ) ;
SERIAL_PROTOCOLLNPGM ( " " ) ;
}
do_blocking_move_to ( X_current , Y_current , Z_current ) ;
}
do_blocking_move_to ( X_probe_location , Y_probe_location , Z_start_location ) ; // Go back to the probe location
}
if ( engage_probe_for_each_reading ) {
engage_z_probe ( ) ;
delay ( 1000 ) ;
}
setup_for_endstop_move ( ) ;
run_z_probe ( ) ;
sample_set [ n ] = current_position [ Z_AXIS ] ;
//
// Get the current mean for the data points we have so far
//
sum = 0.0 ;
for ( j = 0 ; j < = n ; j + + ) sum + = sample_set [ j ] ;
mean = sum / ( double ( n + 1 ) ) ;
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0 ;
for ( j = 0 ; j < = n ; j + + ) sum + = ( sample_set [ j ] - mean ) * ( sample_set [ j ] - mean ) ;
sigma = sqrt ( sum / ( double ( n + 1 ) ) ) ;
if ( verbose_level > 1 ) {
SERIAL_PROTOCOL ( n + 1 ) ;
SERIAL_PROTOCOL ( " of " ) ;
SERIAL_PROTOCOL ( n_samples ) ;
SERIAL_PROTOCOLPGM ( " z: " ) ;
SERIAL_PROTOCOL_F ( current_position [ Z_AXIS ] , 6 ) ;
}
if ( verbose_level > 2 ) {
SERIAL_PROTOCOL ( " mean: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_PROTOCOL ( " sigma: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
Fixed error found by the free coverity tool (https://scan.coverity.com/)
===================================================
Hi,
Please find the latest report on new defect(s) introduced to ErikZalm/Marlin found with Coverity Scan.
Defect(s) Reported-by: Coverity Scan
Showing 15 of 15 defect(s)
** CID 59629: Unchecked return value (CHECKED_RETURN)
/Marlin_main.cpp: 2154 in process_commands()()
** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
/Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)()
** CID 59631: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1187 in process_commands()()
** CID 59632: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1193 in process_commands()()
** CID 59633: Out-of-bounds write (OVERRUN)
/temperature.cpp: 914 in disable_heater()()
** CID 59634: Out-of-bounds write (OVERRUN)
/temperature.cpp: 913 in disable_heater()()
** CID 59635: Out-of-bounds read (OVERRUN)
/temperature.cpp: 626 in analog2temp(int, unsigned char)()
** CID 59636: Out-of-bounds read (OVERRUN)
/temperature.cpp: 620 in analog2temp(int, unsigned char)()
** CID 59637: Out-of-bounds write (OVERRUN)
/temperature.cpp: 202 in PID_autotune(float, int, int)()
** CID 59638: Out-of-bounds read (OVERRUN)
/temperature.cpp: 214 in PID_autotune(float, int, int)()
** CID 59639: Out-of-bounds write (OVERRUN)
/Marlin_main.cpp: 2278 in process_commands()()
** CID 59640: Out-of-bounds read (OVERRUN)
/Marlin_main.cpp: 1802 in process_commands()()
** CID 59641: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
** CID 59642: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
** CID 59643: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
________________________________________________________________________________________________________
*** CID 59629: Unchecked return value (CHECKED_RETURN)
/Marlin_main.cpp: 2154 in process_commands()()
2148 }
2149 #endif
2150 }
2151 }
2152 break;
2153 case 85: // M85
CID 59629: Unchecked return value (CHECKED_RETURN)
Calling "code_seen" without checking return value (as is done elsewhere 66 out of 67 times).
2154 code_seen('S');
2155 max_inactive_time = code_value() * 1000;
2156 break;
2157 case 92: // M92
2158 for(int8_t i=0; i < NUM_AXIS; i++)
2159 {
________________________________________________________________________________________________________
*** CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
/Applications/Arduino.app/Contents/Resources/Java/hardware/arduino/cores/arduino/Tone.cpp: 319 in tone(unsigned char, unsigned int, unsigned long)()
313 else
314 {
315 // two choices for the 16 bit timers: ck/1 or ck/64
316 ocr = F_CPU / frequency / 2 - 1;
317
318 prescalarbits = 0b001;
CID 59630: Operands don't affect result (CONSTANT_EXPRESSION_RESULT)
"ocr > 65535U" is always false regardless of the values of its operands. This occurs as the logical operand of if.
319 if (ocr > 0xffff)
320 {
321 ocr = F_CPU / frequency / 2 / 64 - 1;
322 prescalarbits = 0b011;
323 }
324
________________________________________________________________________________________________________
*** CID 59631: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1187 in process_commands()()
1181 case 2: // G2 - CW ARC
1182 if(Stopped == false) {
1183 get_arc_coordinates();
1184 prepare_arc_move(true);
1185 return;
1186 }
CID 59631: Missing break in switch (MISSING_BREAK)
The above case falls through to this one.
1187 case 3: // G3 - CCW ARC
1188 if(Stopped == false) {
1189 get_arc_coordinates();
1190 prepare_arc_move(false);
1191 return;
1192 }
________________________________________________________________________________________________________
*** CID 59632: Missing break in switch (MISSING_BREAK)
/Marlin_main.cpp: 1193 in process_commands()()
1187 case 3: // G3 - CCW ARC
1188 if(Stopped == false) {
1189 get_arc_coordinates();
1190 prepare_arc_move(false);
1191 return;
1192 }
CID 59632: Missing break in switch (MISSING_BREAK)
The above case falls through to this one.
1193 case 4: // G4 dwell
1194 LCD_MESSAGEPGM(MSG_DWELL);
1195 codenum = 0;
1196 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
1197 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
1198
________________________________________________________________________________________________________
*** CID 59633: Out-of-bounds write (OVERRUN)
/temperature.cpp: 914 in disable_heater()()
908 WRITE(HEATER_0_PIN,LOW);
909 #endif
910 #endif
911
912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
913 target_temperature[1]=0;
CID 59633: Out-of-bounds write (OVERRUN)
Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "1".
914 soft_pwm[1]=0;
915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
916 WRITE(HEATER_1_PIN,LOW);
917 #endif
918 #endif
919
________________________________________________________________________________________________________
*** CID 59634: Out-of-bounds write (OVERRUN)
/temperature.cpp: 913 in disable_heater()()
907 #if defined(HEATER_0_PIN) && HEATER_0_PIN > -1
908 WRITE(HEATER_0_PIN,LOW);
909 #endif
910 #endif
911
912 #if defined(TEMP_1_PIN) && TEMP_1_PIN > -1
CID 59634: Out-of-bounds write (OVERRUN)
Overrunning array "target_temperature" of 1 2-byte elements at element index 1 (byte offset 2) using index "1".
913 target_temperature[1]=0;
914 soft_pwm[1]=0;
915 #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
916 WRITE(HEATER_1_PIN,LOW);
917 #endif
918 #endif
________________________________________________________________________________________________________
*** CID 59635: Out-of-bounds read (OVERRUN)
/temperature.cpp: 626 in analog2temp(int, unsigned char)()
620 if(heater_ttbl_map[e] != NULL)
621 {
622 float celsius = 0;
623 uint8_t i;
624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
625
CID 59635: Out-of-bounds read (OVERRUN)
Overrunning array "heater_ttbllen_map" of 1 bytes at byte offset 1 using index "e" (which evaluates to 1).
626 for (i=1; i<heater_ttbllen_map[e]; i++)
627 {
628 if (PGM_RD_W((*tt)[i][0]) > raw)
629 {
630 celsius = PGM_RD_W((*tt)[i-1][1]) +
631 (raw - PGM_RD_W((*tt)[i-1][0])) *
________________________________________________________________________________________________________
*** CID 59636: Out-of-bounds read (OVERRUN)
/temperature.cpp: 620 in analog2temp(int, unsigned char)()
614 if (e == 0)
615 {
616 return 0.25 * raw;
617 }
618 #endif
619
CID 59636: Out-of-bounds read (OVERRUN)
Overrunning array "heater_ttbl_map" of 1 2-byte elements at element index 1 (byte offset 2) using index "e" (which evaluates to 1).
620 if(heater_ttbl_map[e] != NULL)
621 {
622 float celsius = 0;
623 uint8_t i;
624 short (*tt)[][2] = (short (*)[][2])(heater_ttbl_map[e]);
625
________________________________________________________________________________________________________
*** CID 59637: Out-of-bounds write (OVERRUN)
/temperature.cpp: 202 in PID_autotune(float, int, int)()
196 {
197 soft_pwm_bed = (MAX_BED_POWER)/2;
198 bias = d = (MAX_BED_POWER)/2;
199 }
200 else
201 {
CID 59637: Out-of-bounds write (OVERRUN)
Overrunning array "soft_pwm" of 1 bytes at byte offset 1 using index "extruder" (which evaluates to 1).
202 soft_pwm[extruder] = (PID_MAX)/2;
203 bias = d = (PID_MAX)/2;
204 }
205
206
207
________________________________________________________________________________________________________
*** CID 59638: Out-of-bounds read (OVERRUN)
/temperature.cpp: 214 in PID_autotune(float, int, int)()
208
209 for(;;) {
210
211 if(temp_meas_ready == true) { // temp sample ready
212 updateTemperaturesFromRawValues();
213
CID 59638: Out-of-bounds read (OVERRUN)
Overrunning array "current_temperature" of 1 4-byte elements at element index 1 (byte offset 4) using index "extruder" (which evaluates to 1).
214 input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
215
216 max=max(max,input);
217 min=min(min,input);
218 if(heating == true && input > temp) {
219 if(millis() - t2 > 5000) {
________________________________________________________________________________________________________
*** CID 59639: Out-of-bounds write (OVERRUN)
/Marlin_main.cpp: 2278 in process_commands()()
2272 tmp_extruder = code_value();
2273 if(tmp_extruder >= EXTRUDERS) {
2274 SERIAL_ECHO_START;
2275 SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
2276 }
2277 }
CID 59639: Out-of-bounds write (OVERRUN)
Overrunning array "volumetric_multiplier" of 1 4-byte elements at element index 1 (byte offset 4) using index "tmp_extruder" (which evaluates to 1).
2278 volumetric_multiplier[tmp_extruder] = 1 / area;
2279 }
2280 break;
2281 case 201: // M201
2282 for(int8_t i=0; i < NUM_AXIS; i++)
2283 {
________________________________________________________________________________________________________
*** CID 59640: Out-of-bounds read (OVERRUN)
/Marlin_main.cpp: 1802 in process_commands()()
1796 int pin_status = code_value();
1797 int pin_number = LED_PIN;
1798 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
1799 pin_number = code_value();
1800 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
1801 {
CID 59640: Out-of-bounds read (OVERRUN)
Overrunning array "sensitive_pins" of 28 2-byte elements at element index 55 (byte offset 110) using index "i" (which evaluates to 55).
1802 if (sensitive_pins[i] == pin_number)
1803 {
1804 pin_number = -1;
1805 break;
1806 }
1807 }
________________________________________________________________________________________________________
*** CID 59641: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 51 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
45 }
46
47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
49 {
50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
CID 59641: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
51 }
52
53 void LiquidCrystal::init(uint8_t fourbitmode, uint8_t rs, uint8_t rw, uint8_t enable,
54 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
55 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
56 {
________________________________________________________________________________________________________
*** CID 59642: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 45 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
39 }
40
41 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
42 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
43 {
44 init(1, rs, rw, enable, d0, d1, d2, d3, 0, 0, 0, 0);
CID 59642: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
45 }
46
47 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
48 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3)
49 {
50 init(1, rs, 255, enable, d0, d1, d2, d3, 0, 0, 0, 0);
________________________________________________________________________________________________________
*** CID 59643: Uninitialized scalar field (UNINIT_CTOR)
/Applications/Arduino.app/Contents/Resources/Java/libraries/LiquidCrystal/LiquidCrystal.cpp: 32 in LiquidCrystal::LiquidCrystal(unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char, unsigned char)()
26
27 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t rw, uint8_t enable,
28 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
29 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
30 {
31 init(0, rs, rw, enable, d0, d1, d2, d3, d4, d5, d6, d7);
CID 59643: Uninitialized scalar field (UNINIT_CTOR)
Non-static class member "_initialized" is not initialized in this constructor nor in any functions that it calls.
32 }
33
34 LiquidCrystal::LiquidCrystal(uint8_t rs, uint8_t enable,
35 uint8_t d0, uint8_t d1, uint8_t d2, uint8_t d3,
36 uint8_t d4, uint8_t d5, uint8_t d6, uint8_t d7)
37 {
________________________________________________________________________________________________________
To view the defects in Coverity Scan visit, http://scan.coverity.com/projects/2224?tab=overview
11 years ago
}
if ( verbose_level > 0 ) SERIAL_EOL ;
plan_buffer_line ( X_probe_location , Y_probe_location , Z_start_location ,
current_position [ E_AXIS ] , homing_feedrate [ Z_AXIS ] / 60 , active_extruder ) ;
st_synchronize ( ) ;
if ( engage_probe_for_each_reading ) {
retract_z_probe ( ) ;
delay ( 1000 ) ;
}
}
retract_z_probe ( ) ;
delay ( 1000 ) ;
clean_up_after_endstop_move ( ) ;
// enable_endstops(true);
if ( verbose_level > 0 ) {
SERIAL_PROTOCOLPGM ( " Mean: " ) ;
SERIAL_PROTOCOL_F ( mean , 6 ) ;
SERIAL_EOL ;
}
SERIAL_PROTOCOLPGM ( " Standard Deviation: " ) ;
SERIAL_PROTOCOL_F ( sigma , 6 ) ;
SERIAL_EOL ; SERIAL_EOL ;
}
# endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
/**
* M104 : Set hot end temperature
*/
inline void gcode_M104 ( ) {
if ( setTargetedHotend ( 104 ) ) return ;
if ( code_seen ( ' S ' ) ) setTargetHotend ( code_value ( ) , tmp_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & tmp_extruder = = 0 )
setTargetHotend1 ( code_value ( ) = = 0.0 ? 0.0 : code_value ( ) + duplicate_extruder_temp_offset ) ;
# endif
setWatch ( ) ;
}
/**
* M105 : Read hot end and bed temperature
*/
inline void gcode_M105 ( ) {
if ( setTargetedHotend ( 105 ) ) return ;
# if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM ( " ok T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( tmp_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( tmp_extruder ) , 1 ) ;
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM ( " B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetBed ( ) , 1 ) ;
# endif //TEMP_BED_PIN
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
SERIAL_PROTOCOLPGM ( " T " ) ;
SERIAL_PROTOCOL ( cur_extruder ) ;
SERIAL_PROTOCOLPGM ( " : " ) ;
SERIAL_PROTOCOL_F ( degHotend ( cur_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " / " ) ;
SERIAL_PROTOCOL_F ( degTargetHotend ( cur_extruder ) , 1 ) ;
}
# else
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_NO_THERMISTORS ) ;
# endif
SERIAL_PROTOCOLPGM ( " @: " ) ;
# ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL ( ( EXTRUDER_WATTS * getHeaterPower ( tmp_extruder ) ) / 127 ) ;
SERIAL_PROTOCOLPGM ( " W " ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( tmp_extruder ) ) ;
# endif
SERIAL_PROTOCOLPGM ( " B@: " ) ;
# ifdef BED_WATTS
SERIAL_PROTOCOL ( ( BED_WATTS * getHeaterPower ( - 1 ) ) / 127 ) ;
SERIAL_PROTOCOLPGM ( " W " ) ;
# else
SERIAL_PROTOCOL ( getHeaterPower ( - 1 ) ) ;
# endif
# ifdef SHOW_TEMP_ADC_VALUES
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM ( " ADC B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " C-> " ) ;
SERIAL_PROTOCOL_F ( rawBedTemp ( ) / OVERSAMPLENR , 0 ) ;
# endif
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
SERIAL_PROTOCOLPGM ( " T " ) ;
SERIAL_PROTOCOL ( cur_extruder ) ;
SERIAL_PROTOCOLPGM ( " : " ) ;
SERIAL_PROTOCOL_F ( degHotend ( cur_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " C-> " ) ;
SERIAL_PROTOCOL_F ( rawHotendTemp ( cur_extruder ) / OVERSAMPLENR , 0 ) ;
}
# endif
SERIAL_PROTOCOLLN ( " " ) ;
}
# if defined(FAN_PIN) && FAN_PIN > -1
/**
* M106 : Set Fan Speed
*/
inline void gcode_M106 ( ) { fanSpeed = code_seen ( ' S ' ) ? constrain ( code_value ( ) , 0 , 255 ) : 255 ; }
/**
* M107 : Fan Off
*/
inline void gcode_M107 ( ) { fanSpeed = 0 ; }
# endif //FAN_PIN
/**
* M109 : Wait for extruder ( s ) to reach temperature
*/
inline void gcode_M109 ( ) {
if ( setTargetedHotend ( 109 ) ) return ;
LCD_MESSAGEPGM ( MSG_HEATING ) ;
CooldownNoWait = code_seen ( ' S ' ) ;
if ( CooldownNoWait | | code_seen ( ' R ' ) ) {
setTargetHotend ( code_value ( ) , tmp_extruder ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & tmp_extruder = = 0 )
setTargetHotend1 ( code_value ( ) = = 0.0 ? 0.0 : code_value ( ) + duplicate_extruder_temp_offset ) ;
# endif
}
# ifdef AUTOTEMP
autotemp_enabled = code_seen ( ' F ' ) ;
if ( autotemp_enabled ) autotemp_factor = code_value ( ) ;
if ( code_seen ( ' S ' ) ) autotemp_min = code_value ( ) ;
if ( code_seen ( ' B ' ) ) autotemp_max = code_value ( ) ;
# endif
setWatch ( ) ;
unsigned long timetemp = millis ( ) ;
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend ( tmp_extruder ) ; // true if heating, false if cooling
cancel_heatup = false ;
# ifdef TEMP_RESIDENCY_TIME
long residencyStart = - 1 ;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn ' t passed since we reached it */
while ( ( ! cancel_heatup ) & & ( ( residencyStart = = - 1 ) | |
( residencyStart > = 0 & & ( ( ( unsigned int ) ( millis ( ) - residencyStart ) ) < ( TEMP_RESIDENCY_TIME * 1000UL ) ) ) ) )
# else
while ( target_direction ? ( isHeatingHotend ( tmp_extruder ) ) : ( isCoolingHotend ( tmp_extruder ) & & ( CooldownNoWait = = false ) ) )
# endif //TEMP_RESIDENCY_TIME
{ // while loop
if ( millis ( ) > timetemp + 1000UL ) { //Print temp & remaining time every 1s while waiting
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL_F ( degHotend ( tmp_extruder ) , 1 ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) tmp_extruder ) ;
# ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM ( " W: " ) ;
if ( residencyStart > - 1 ) {
timetemp = ( ( TEMP_RESIDENCY_TIME * 1000UL ) - ( millis ( ) - residencyStart ) ) / 1000UL ;
SERIAL_PROTOCOLLN ( timetemp ) ;
}
else {
SERIAL_PROTOCOLLN ( " ? " ) ;
}
# else
SERIAL_PROTOCOLLN ( " " ) ;
# endif
timetemp = millis ( ) ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
# ifdef TEMP_RESIDENCY_TIME
// start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
// or when current temp falls outside the hysteresis after target temp was reached
if ( ( residencyStart = = - 1 & & target_direction & & ( degHotend ( tmp_extruder ) > = ( degTargetHotend ( tmp_extruder ) - TEMP_WINDOW ) ) ) | |
( residencyStart = = - 1 & & ! target_direction & & ( degHotend ( tmp_extruder ) < = ( degTargetHotend ( tmp_extruder ) + TEMP_WINDOW ) ) ) | |
( residencyStart > - 1 & & labs ( degHotend ( tmp_extruder ) - degTargetHotend ( tmp_extruder ) ) > TEMP_HYSTERESIS ) )
{
residencyStart = millis ( ) ;
}
# endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM ( MSG_HEATING_COMPLETE ) ;
starttime = previous_millis_cmd = millis ( ) ;
}
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
/**
* M190 : Sxxx Wait for bed current temp to reach target temp . Waits only when heating
* Rxxx Wait for bed current temp to reach target temp . Waits when heating and cooling
*/
inline void gcode_M190 ( ) {
LCD_MESSAGEPGM ( MSG_BED_HEATING ) ;
CooldownNoWait = code_seen ( ' S ' ) ;
if ( CooldownNoWait | | code_seen ( ' R ' ) )
setTargetBed ( code_value ( ) ) ;
unsigned long timetemp = millis ( ) ;
cancel_heatup = false ;
target_direction = isHeatingBed ( ) ; // true if heating, false if cooling
while ( ( target_direction ) & & ( ! cancel_heatup ) ? ( isHeatingBed ( ) ) : ( isCoolingBed ( ) & & ( CooldownNoWait = = false ) ) ) {
unsigned long ms = millis ( ) ;
if ( ms > timetemp + 1000UL ) { //Print Temp Reading every 1 second while heating up.
timetemp = ms ;
float tt = degHotend ( active_extruder ) ;
SERIAL_PROTOCOLPGM ( " T: " ) ;
SERIAL_PROTOCOL ( tt ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( ( int ) active_extruder ) ;
SERIAL_PROTOCOLPGM ( " B: " ) ;
SERIAL_PROTOCOL_F ( degBed ( ) , 1 ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
LCD_MESSAGEPGM ( MSG_BED_DONE ) ;
previous_millis_cmd = millis ( ) ;
}
# endif // TEMP_BED_PIN > -1
/**
* M112 : Emergency Stop
*/
inline void gcode_M112 ( ) {
kill ( ) ;
}
# ifdef BARICUDA
# if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
/**
* M126 : Heater 1 valve open
*/
inline void gcode_M126 ( ) { ValvePressure = code_seen ( ' S ' ) ? constrain ( code_value ( ) , 0 , 255 ) : 255 ; }
/**
* M127 : Heater 1 valve close
*/
inline void gcode_M127 ( ) { ValvePressure = 0 ; }
# endif
# if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
/**
* M128 : Heater 2 valve open
*/
inline void gcode_M128 ( ) { EtoPPressure = code_seen ( ' S ' ) ? constrain ( code_value ( ) , 0 , 255 ) : 255 ; }
/**
* M129 : Heater 2 valve close
*/
inline void gcode_M129 ( ) { EtoPPressure = 0 ; }
# endif
# endif //BARICUDA
/**
* M140 : Set bed temperature
*/
inline void gcode_M140 ( ) {
if ( code_seen ( ' S ' ) ) setTargetBed ( code_value ( ) ) ;
}
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
/**
* M80 : Turn on Power Supply
*/
inline void gcode_M80 ( ) {
OUT_WRITE ( PS_ON_PIN , PS_ON_AWAKE ) ; //GND
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE ( SUICIDE_PIN , HIGH ) ;
# endif
# ifdef ULTIPANEL
powersupply = true ;
LCD_MESSAGEPGM ( WELCOME_MSG ) ;
lcd_update ( ) ;
# endif
}
# endif // PS_ON_PIN
/**
* M81 : Turn off Power Supply
*/
inline void gcode_M81 ( ) {
disable_heater ( ) ;
st_synchronize ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
finishAndDisableSteppers ( ) ;
fanSpeed = 0 ;
delay ( 1000 ) ; // Wait 1 second before switching off
# if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize ( ) ;
suicide ( ) ;
# elif defined(PS_ON_PIN) && PS_ON_PIN > -1
OUT_WRITE ( PS_ON_PIN , PS_ON_ASLEEP ) ;
# endif
# ifdef ULTIPANEL
powersupply = false ;
LCD_MESSAGEPGM ( MACHINE_NAME " " MSG_OFF " . " ) ;
lcd_update ( ) ;
# endif
}
/**
* M82 : Set E codes absolute ( default )
*/
inline void gcode_M82 ( ) { axis_relative_modes [ E_AXIS ] = false ; }
/**
* M82 : Set E codes relative while in Absolute Coordinates ( G90 ) mode
*/
inline void gcode_M83 ( ) { axis_relative_modes [ E_AXIS ] = true ; }
/**
* M18 , M84 : Disable all stepper motors
*/
inline void gcode_M18_M84 ( ) {
if ( code_seen ( ' S ' ) ) {
stepper_inactive_time = code_value ( ) * 1000 ;
}
else {
bool all_axis = ! ( ( code_seen ( axis_codes [ X_AXIS ] ) ) | | ( code_seen ( axis_codes [ Y_AXIS ] ) ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) | | ( code_seen ( axis_codes [ E_AXIS ] ) ) ) ;
if ( all_axis ) {
st_synchronize ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
finishAndDisableSteppers ( ) ;
}
else {
st_synchronize ( ) ;
if ( code_seen ( ' X ' ) ) disable_x ( ) ;
if ( code_seen ( ' Y ' ) ) disable_y ( ) ;
if ( code_seen ( ' Z ' ) ) disable_z ( ) ;
# if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if ( code_seen ( ' E ' ) ) {
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
}
# endif
}
}
}
/**
* M85 : Set inactivity shutdown timer with parameter S < seconds > . To disable set zero ( default )
*/
inline void gcode_M85 ( ) {
if ( code_seen ( ' S ' ) ) max_inactive_time = code_value ( ) * 1000 ;
}
/**
* M92 : Set inactivity shutdown timer with parameter S < seconds > . To disable set zero ( default )
*/
inline void gcode_M92 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
if ( i = = E_AXIS ) {
float value = code_value ( ) ;
if ( value < 20.0 ) {
float factor = axis_steps_per_unit [ i ] / value ; // increase e constants if M92 E14 is given for netfab.
max_e_jerk * = factor ;
max_feedrate [ i ] * = factor ;
axis_steps_per_sqr_second [ i ] * = factor ;
}
axis_steps_per_unit [ i ] = value ;
}
else {
axis_steps_per_unit [ i ] = code_value ( ) ;
}
}
}
}
/**
* M114 : Output current position to serial port
*/
inline void gcode_M114 ( ) {
SERIAL_PROTOCOLPGM ( " X: " ) ;
SERIAL_PROTOCOL ( current_position [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( current_position [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( current_position [ Z_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " E: " ) ;
SERIAL_PROTOCOL ( current_position [ E_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( MSG_COUNT_X ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( X_AXIS ) ) / axis_steps_per_unit [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Y: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Y_AXIS ) ) / axis_steps_per_unit [ Y_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Z: " ) ;
SERIAL_PROTOCOL ( float ( st_get_position ( Z_AXIS ) ) / axis_steps_per_unit [ Z_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
# ifdef SCARA
SERIAL_PROTOCOLPGM ( " SCARA Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta: " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] + add_homing [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta (90): " ) ;
SERIAL_PROTOCOL ( delta [ Y_AXIS ] - delta [ X_AXIS ] - 90 + add_homing [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLPGM ( " SCARA step Cal - Theta: " ) ;
SERIAL_PROTOCOL ( delta [ X_AXIS ] / 90 * axis_steps_per_unit [ X_AXIS ] ) ;
SERIAL_PROTOCOLPGM ( " Psi+Theta: " ) ;
SERIAL_PROTOCOL ( ( delta [ Y_AXIS ] - delta [ X_AXIS ] ) / 90 * axis_steps_per_unit [ Y_AXIS ] ) ;
SERIAL_PROTOCOLLN ( " " ) ;
SERIAL_PROTOCOLLN ( " " ) ;
# endif
}
/**
* M115 : Capabilities string
*/
inline void gcode_M115 ( ) {
SERIAL_PROTOCOLPGM ( MSG_M115_REPORT ) ;
}
/**
* M117 : Set LCD Status Message
*/
inline void gcode_M117 ( ) {
char * codepos = strchr_pointer + 5 ;
char * starpos = strchr ( codepos , ' * ' ) ;
if ( starpos ) * starpos = ' \0 ' ;
lcd_setstatus ( codepos ) ;
}
/**
* M119 : Output endstop states to serial output
*/
inline void gcode_M119 ( ) {
SERIAL_PROTOCOLLN ( MSG_M119_REPORT ) ;
# if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_X_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( X_MIN_PIN ) ^ X_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_X_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( X_MAX_PIN ) ^ X_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_Y_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Y_MIN_PIN ) ^ Y_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_Y_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Y_MAX_PIN ) ^ Y_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_Z_MIN ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z_MIN_PIN ) ^ Z_MIN_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
# if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM ( MSG_Z_MAX ) ;
SERIAL_PROTOCOLLN ( ( ( READ ( Z_MAX_PIN ) ^ Z_MAX_ENDSTOP_INVERTING ) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN ) ) ;
# endif
}
/**
* M120 : Enable endstops
*/
inline void gcode_M120 ( ) { enable_endstops ( false ) ; }
/**
* M121 : Disable endstops
*/
inline void gcode_M121 ( ) { enable_endstops ( true ) ; }
# ifdef BLINKM
/**
* M150 : Set Status LED Color - Use R - U - B for R - G - B
*/
inline void gcode_M150 ( ) {
SendColors (
code_seen ( ' R ' ) ? ( byte ) code_value ( ) : 0 ,
code_seen ( ' U ' ) ? ( byte ) code_value ( ) : 0 ,
code_seen ( ' B ' ) ? ( byte ) code_value ( ) : 0
) ;
}
# endif // BLINKM
/**
* M200 : Set filament diameter and set E axis units to cubic millimeters ( use S0 to set back to millimeters ) .
* T < extruder >
* D < millimeters >
*/
inline void gcode_M200 ( ) {
tmp_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_M200_INVALID_EXTRUDER ) ;
return ;
}
}
float area = .0 ;
if ( code_seen ( ' D ' ) ) {
float diameter = code_value ( ) ;
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = ( diameter ! = 0.0 ) ;
if ( volumetric_enabled ) {
filament_size [ tmp_extruder ] = diameter ;
// make sure all extruders have some sane value for the filament size
for ( int i = 0 ; i < EXTRUDERS ; i + + )
if ( ! filament_size [ i ] ) filament_size [ i ] = DEFAULT_NOMINAL_FILAMENT_DIA ;
}
}
else {
//reserved for setting filament diameter via UFID or filament measuring device
return ;
}
calculate_volumetric_multipliers ( ) ;
}
/**
* M201 : Set max acceleration in units / s ^ 2 for print moves ( M201 X1000 Y1000 )
*/
inline void gcode_M201 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
max_acceleration_units_per_sq_second [ i ] = code_value ( ) ;
}
}
// 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)
reset_acceleration_rates ( ) ;
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) axis_travel_steps_per_sqr_second [ i ] = code_value ( ) * axis_steps_per_unit [ i ] ;
}
}
# endif
/**
* M203 : Set maximum feedrate that your machine can sustain ( M203 X200 Y200 Z300 E10000 ) in mm / sec
*/
inline void gcode_M203 ( ) {
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
max_feedrate [ i ] = code_value ( ) ;
}
}
}
/**
* M204 : Set Default Acceleration and / or Default Filament Acceleration in mm / sec ^ 2 ( M204 S3000 T7000 )
*
* S = normal moves
* T = filament only moves
*
* Also sets minimum segment time in ms ( B20000 ) to prevent buffer under - runs and M20 minimum feedrate
*/
inline void gcode_M204 ( ) {
if ( code_seen ( ' S ' ) ) acceleration = code_value ( ) ;
if ( code_seen ( ' T ' ) ) retract_acceleration = code_value ( ) ;
}
/**
* M205 : Set Advanced Settings
*
* S = Min Feed Rate ( mm / s )
* T = Min Travel Feed Rate ( mm / s )
* B = Min Segment Time ( µ s )
* X = Max XY Jerk ( mm / s / s )
* Z = Max Z Jerk ( mm / s / s )
* E = Max E Jerk ( mm / s / s )
*/
inline void gcode_M205 ( ) {
if ( code_seen ( ' S ' ) ) minimumfeedrate = code_value ( ) ;
if ( code_seen ( ' T ' ) ) mintravelfeedrate = code_value ( ) ;
if ( code_seen ( ' B ' ) ) minsegmenttime = code_value ( ) ;
if ( code_seen ( ' X ' ) ) max_xy_jerk = code_value ( ) ;
if ( code_seen ( ' Z ' ) ) max_z_jerk = code_value ( ) ;
if ( code_seen ( ' E ' ) ) max_e_jerk = code_value ( ) ;
}
/**
* M206 : Set Additional Homing Offset ( X Y Z ) . SCARA aliases T = X , P = Y
*/
inline void gcode_M206 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
add_homing [ i ] = code_value ( ) ;
}
}
# ifdef SCARA
if ( code_seen ( ' T ' ) ) add_homing [ X_AXIS ] = code_value ( ) ; // Theta
if ( code_seen ( ' P ' ) ) add_homing [ Y_AXIS ] = code_value ( ) ; // Psi
# endif
}
# ifdef DELTA
/**
* M665 : Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
*/
inline void gcode_M665 ( ) {
if ( code_seen ( ' L ' ) ) delta_diagonal_rod = code_value ( ) ;
if ( code_seen ( ' R ' ) ) delta_radius = code_value ( ) ;
if ( code_seen ( ' S ' ) ) delta_segments_per_second = code_value ( ) ;
recalc_delta_settings ( delta_radius , delta_diagonal_rod ) ;
}
/**
* M666 : Set delta endstop adjustment
*/
inline void gcode_M666 ( ) {
for ( int8_t i = 0 ; i < 3 ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
endstop_adj [ i ] = code_value ( ) ;
}
}
}
# endif // DELTA
# ifdef FWRETRACT
/**
* M207 : Set retract length S [ positive mm ] F [ feedrate mm / min ] Z [ additional zlift / hop ]
*/
inline void gcode_M207 ( ) {
if ( code_seen ( ' S ' ) ) retract_length = code_value ( ) ;
if ( code_seen ( ' F ' ) ) retract_feedrate = code_value ( ) / 60 ;
if ( code_seen ( ' Z ' ) ) retract_zlift = code_value ( ) ;
}
/**
* M208 : Set retract recover length S [ positive mm surplus to the M207 S * ] F [ feedrate mm / min ]
*/
inline void gcode_M208 ( ) {
if ( code_seen ( ' S ' ) ) retract_recover_length = code_value ( ) ;
if ( code_seen ( ' F ' ) ) retract_recover_feedrate = code_value ( ) / 60 ;
}
/**
* M209 : Enable automatic retract ( M209 S1 )
* detect if the slicer did not support G10 / 11 : every normal extrude - only move will be classified as retract depending on the direction .
*/
inline void gcode_M209 ( ) {
if ( code_seen ( ' S ' ) ) {
int t = code_value ( ) ;
switch ( t ) {
case 0 :
autoretract_enabled = false ;
break ;
case 1 :
autoretract_enabled = true ;
break ;
default :
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_UNKNOWN_COMMAND ) ;
SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
return ;
}
for ( int i = 0 ; i < EXTRUDERS ; i + + ) retracted [ i ] = false ;
}
}
# endif // FWRETRACT
# if EXTRUDERS > 1
/**
* M218 - set hotend offset ( in mm ) , T < extruder_number > X < offset_on_X > Y < offset_on_Y >
*/
inline void gcode_M218 ( ) {
if ( setTargetedHotend ( 218 ) ) return ;
if ( code_seen ( ' X ' ) ) extruder_offset [ X_AXIS ] [ tmp_extruder ] = code_value ( ) ;
if ( code_seen ( ' Y ' ) ) extruder_offset [ Y_AXIS ] [ tmp_extruder ] = code_value ( ) ;
# ifdef DUAL_X_CARRIAGE
if ( code_seen ( ' Z ' ) ) extruder_offset [ Z_AXIS ] [ tmp_extruder ] = code_value ( ) ;
# endif
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_HOTEND_OFFSET ) ;
for ( tmp_extruder = 0 ; tmp_extruder < EXTRUDERS ; tmp_extruder + + ) {
SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ tmp_extruder ] ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ tmp_extruder ] ) ;
# ifdef DUAL_X_CARRIAGE
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Z_AXIS ] [ tmp_extruder ] ) ;
# endif
}
SERIAL_EOL ;
}
# endif // EXTRUDERS > 1
/**
* M220 : Set speed percentage factor , aka " Feed Rate " ( M220 S95 )
*/
inline void gcode_M220 ( ) {
if ( code_seen ( ' S ' ) ) feedmultiply = code_value ( ) ;
}
/**
* M221 : Set extrusion percentage ( M221 T0 S95 )
*/
inline void gcode_M221 ( ) {
if ( code_seen ( ' S ' ) ) {
int sval = code_value ( ) ;
if ( code_seen ( ' T ' ) ) {
if ( setTargetedHotend ( 221 ) ) return ;
extruder_multiply [ tmp_extruder ] = sval ;
}
else {
extrudemultiply = sval ;
}
}
}
/**
* M226 : Wait until the specified pin reaches the state required ( M226 P < pin > S < state > )
*/
inline void gcode_M226 ( ) {
if ( code_seen ( ' P ' ) ) {
int pin_number = code_value ( ) ;
int pin_state = code_seen ( ' S ' ) ? code_value ( ) : - 1 ; // required pin state - default is inverted
if ( pin_state > = - 1 & & pin_state < = 1 ) {
for ( int8_t i = 0 ; i < ( int8_t ) ( sizeof ( sensitive_pins ) / sizeof ( * sensitive_pins ) ) ; i + + ) {
if ( sensitive_pins [ i ] = = pin_number ) {
pin_number = - 1 ;
break ;
}
}
if ( pin_number > - 1 ) {
int target = LOW ;
st_synchronize ( ) ;
pinMode ( pin_number , INPUT ) ;
switch ( pin_state ) {
case 1 :
target = HIGH ;
break ;
case 0 :
target = LOW ;
break ;
case - 1 :
target = ! digitalRead ( pin_number ) ;
break ;
}
while ( digitalRead ( pin_number ) ! = target ) {
manage_heater ( ) ;
manage_inactivity ( ) ;
lcd_update ( ) ;
}
} // pin_number > -1
} // pin_state -1 0 1
} // code_seen('P')
}
# if NUM_SERVOS > 0
/**
* M280 : Set servo position absolute . P : servo index , S : angle or microseconds
*/
inline void gcode_M280 ( ) {
int servo_index = code_seen ( ' P ' ) ? code_value ( ) : - 1 ;
int servo_position = 0 ;
if ( code_seen ( ' S ' ) ) {
servo_position = code_value ( ) ;
if ( ( servo_index > = 0 ) & & ( servo_index < NUM_SERVOS ) ) {
# if SERVO_LEVELING
servos [ servo_index ] . attach ( 0 ) ;
# endif
servos [ servo_index ] . write ( servo_position ) ;
# if SERVO_LEVELING
delay ( PROBE_SERVO_DEACTIVATION_DELAY ) ;
servos [ servo_index ] . detach ( ) ;
# endif
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHO ( " Servo " ) ;
SERIAL_ECHO ( servo_index ) ;
SERIAL_ECHOLN ( " out of range " ) ;
}
}
else if ( servo_index > = 0 ) {
SERIAL_PROTOCOL ( MSG_OK ) ;
SERIAL_PROTOCOL ( " Servo " ) ;
SERIAL_PROTOCOL ( servo_index ) ;
SERIAL_PROTOCOL ( " : " ) ;
SERIAL_PROTOCOL ( servos [ servo_index ] . read ( ) ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
}
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
/**
* M300 : Play beep sound S < frequency Hz > P < duration ms >
*/
inline void gcode_M300 ( ) {
int beepS = code_seen ( ' S ' ) ? code_value ( ) : 110 ;
int beepP = code_seen ( ' P ' ) ? code_value ( ) : 1000 ;
if ( beepS > 0 ) {
# if BEEPER > 0
tone ( BEEPER , beepS ) ;
delay ( beepP ) ;
noTone ( BEEPER ) ;
# elif defined(ULTRALCD)
lcd_buzz ( beepS , beepP ) ;
# elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz ( beepP , beepS ) ;
# endif
}
else {
delay ( beepP ) ;
}
}
# endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# ifdef PIDTEMP
/**
* M301 : Set PID parameters P I D ( and optionally C )
*/
inline void gcode_M301 ( ) {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = code_seen ( ' E ' ) ? code_value ( ) : 0 ; // extruder being updated
if ( e < EXTRUDERS ) { // catch bad input value
if ( code_seen ( ' P ' ) ) PID_PARAM ( Kp , e ) = code_value ( ) ;
if ( code_seen ( ' I ' ) ) PID_PARAM ( Ki , e ) = scalePID_i ( code_value ( ) ) ;
if ( code_seen ( ' D ' ) ) PID_PARAM ( Kd , e ) = scalePID_d ( code_value ( ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
if ( code_seen ( ' C ' ) ) PID_PARAM ( Kc , e ) = code_value ( ) ;
# endif
updatePID ( ) ;
SERIAL_PROTOCOL ( MSG_OK ) ;
# ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL ( " e: " ) ; // specify extruder in serial output
SERIAL_PROTOCOL ( e ) ;
# endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL ( " p: " ) ;
SERIAL_PROTOCOL ( PID_PARAM ( Kp , e ) ) ;
SERIAL_PROTOCOL ( " i: " ) ;
SERIAL_PROTOCOL ( unscalePID_i ( PID_PARAM ( Ki , e ) ) ) ;
SERIAL_PROTOCOL ( " d: " ) ;
SERIAL_PROTOCOL ( unscalePID_d ( PID_PARAM ( Kd , e ) ) ) ;
# ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL ( " c: " ) ;
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL ( PID_PARAM ( Kc , e ) ) ;
# endif
SERIAL_PROTOCOLLN ( " " ) ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOLN ( MSG_INVALID_EXTRUDER ) ;
}
}
# endif // PIDTEMP
# ifdef PIDTEMPBED
inline void gcode_M304 ( ) {
if ( code_seen ( ' P ' ) ) bedKp = code_value ( ) ;
if ( code_seen ( ' I ' ) ) bedKi = scalePID_i ( code_value ( ) ) ;
if ( code_seen ( ' D ' ) ) bedKd = scalePID_d ( code_value ( ) ) ;
updatePID ( ) ;
SERIAL_PROTOCOL ( MSG_OK ) ;
SERIAL_PROTOCOL ( " p: " ) ;
SERIAL_PROTOCOL ( bedKp ) ;
SERIAL_PROTOCOL ( " i: " ) ;
SERIAL_PROTOCOL ( unscalePID_i ( bedKi ) ) ;
SERIAL_PROTOCOL ( " d: " ) ;
SERIAL_PROTOCOL ( unscalePID_d ( bedKd ) ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
# endif // PIDTEMPBED
# if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
/**
* M240 : Trigger a camera by emulating a Canon RC - 1
* See http : //www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240 ( ) {
# ifdef CHDK
OUT_WRITE ( CHDK , HIGH ) ;
chdkHigh = millis ( ) ;
chdkActive = true ;
# elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES = 16 ;
const float PULSE_LENGTH = 0.01524 ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
delay ( 7.33 ) ;
for ( int i = 0 ; i < NUM_PULSES ; i + + ) {
WRITE ( PHOTOGRAPH_PIN , HIGH ) ;
_delay_ms ( PULSE_LENGTH ) ;
WRITE ( PHOTOGRAPH_PIN , LOW ) ;
_delay_ms ( PULSE_LENGTH ) ;
}
# endif // !CHDK && PHOTOGRAPH_PIN > -1
}
# endif // CHDK || PHOTOGRAPH_PIN
# ifdef DOGLCD
/**
* M250 : Read and optionally set the LCD contrast
*/
inline void gcode_M250 ( ) {
if ( code_seen ( ' C ' ) ) lcd_setcontrast ( code_value_long ( ) & 0x3F ) ;
SERIAL_PROTOCOLPGM ( " lcd contrast value: " ) ;
SERIAL_PROTOCOL ( lcd_contrast ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
# endif // DOGLCD
# ifdef PREVENT_DANGEROUS_EXTRUDE
/**
* M302 : Allow cold extrudes , or set the minimum extrude S < temperature > .
*/
inline void gcode_M302 ( ) {
set_extrude_min_temp ( code_seen ( ' S ' ) ? code_value ( ) : 0 ) ;
}
# endif // PREVENT_DANGEROUS_EXTRUDE
/**
* M303 : PID relay autotune
* S < temperature > sets the target temperature . ( default target temperature = 150 C )
* E < extruder > ( - 1 for the bed )
* C < cycles >
*/
inline void gcode_M303 ( ) {
int e = code_seen ( ' E ' ) ? code_value_long ( ) : 0 ;
int c = code_seen ( ' C ' ) ? code_value_long ( ) : 5 ;
float temp = code_seen ( ' S ' ) ? code_value ( ) : ( e < 0 ? 70.0 : 150.0 ) ;
PID_autotune ( temp , e , c ) ;
}
# ifdef SCARA
/**
* M360 : SCARA calibration : Move to cal - position ThetaA ( 0 deg calibration )
*/
inline bool gcode_M360 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 0 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 0 ;
delta [ Y_AXIS ] = 120 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
}
/**
* M361 : SCARA calibration : Move to cal - position ThetaB ( 90 deg calibration - steps per degree )
*/
inline bool gcode_M361 ( ) {
SERIAL_ECHOLN ( " Cal: Theta 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 90 ;
delta [ Y_AXIS ] = 130 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
}
/**
* M362 : SCARA calibration : Move to cal - position PsiA ( 0 deg calibration )
*/
inline bool gcode_M362 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 0 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 60 ;
delta [ Y_AXIS ] = 180 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
}
/**
* M363 : SCARA calibration : Move to cal - position PsiB ( 90 deg calibration - steps per degree )
*/
inline bool gcode_M363 ( ) {
SERIAL_ECHOLN ( " Cal: Psi 90 " ) ;
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 50 ;
delta [ Y_AXIS ] = 90 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
}
/**
* M364 : SCARA calibration : Move to cal - position PSIC ( 90 deg to Theta calibration position )
*/
inline bool gcode_M364 ( ) {
SERIAL_ECHOLN ( " Cal: Theta-Psi 90 " ) ;
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if ( ! Stopped ) {
//get_coordinates(); // For X Y Z E F
delta [ X_AXIS ] = 45 ;
delta [ Y_AXIS ] = 135 ;
calculate_SCARA_forward_Transform ( delta ) ;
destination [ X_AXIS ] = delta [ X_AXIS ] / axis_scaling [ X_AXIS ] ;
destination [ Y_AXIS ] = delta [ Y_AXIS ] / axis_scaling [ Y_AXIS ] ;
prepare_move ( ) ;
//ClearToSend();
return true ;
}
return false ;
}
/**
* M365 : SCARA calibration : Scaling factor , X , Y , Z axis
*/
inline void gcode_M365 ( ) {
for ( int8_t i = X_AXIS ; i < = Z_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) ) {
axis_scaling [ i ] = code_value ( ) ;
}
}
}
# endif // SCARA
# ifdef EXT_SOLENOID
void enable_solenoid ( uint8_t num ) {
switch ( num ) {
case 0 :
OUT_WRITE ( SOL0_PIN , HIGH ) ;
break ;
# if defined(SOL1_PIN) && SOL1_PIN > -1
case 1 :
OUT_WRITE ( SOL1_PIN , HIGH ) ;
break ;
# endif
# if defined(SOL2_PIN) && SOL2_PIN > -1
case 2 :
OUT_WRITE ( SOL2_PIN , HIGH ) ;
break ;
# endif
# if defined(SOL3_PIN) && SOL3_PIN > -1
case 3 :
OUT_WRITE ( SOL3_PIN , HIGH ) ;
break ;
# endif
default :
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_INVALID_SOLENOID ) ;
break ;
}
}
void enable_solenoid_on_active_extruder ( ) { enable_solenoid ( active_extruder ) ; }
void disable_all_solenoids ( ) {
OUT_WRITE ( SOL0_PIN , LOW ) ;
OUT_WRITE ( SOL1_PIN , LOW ) ;
OUT_WRITE ( SOL2_PIN , LOW ) ;
OUT_WRITE ( SOL3_PIN , LOW ) ;
}
/**
* M380 : Enable solenoid on the active extruder
*/
inline void gcode_M380 ( ) { enable_solenoid_on_active_extruder ( ) ; }
/**
* M381 : Disable all solenoids
*/
inline void gcode_M381 ( ) { disable_all_solenoids ( ) ; }
# endif // EXT_SOLENOID
/**
* M400 : Finish all moves
*/
inline void gcode_M400 ( ) { st_synchronize ( ) ; }
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
/**
* M401 : Engage Z Servo endstop if available
*/
inline void gcode_M401 ( ) { engage_z_probe ( ) ; }
/**
* M402 : Retract Z Servo endstop if enabled
*/
inline void gcode_M402 ( ) { retract_z_probe ( ) ; }
# endif
# ifdef FILAMENT_SENSOR
/**
* M404 : Display or set the nominal filament width ( 3 mm , 1.75 mm ) N < 3.0 >
*/
inline void gcode_M404 ( ) {
# if FILWIDTH_PIN > -1
if ( code_seen ( ' N ' ) ) {
filament_width_nominal = code_value ( ) ;
}
else {
SERIAL_PROTOCOLPGM ( " Filament dia (nominal mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_nominal ) ;
}
# endif
}
/**
* M405 : Turn on filament sensor for control
*/
inline void gcode_M405 ( ) {
if ( code_seen ( ' D ' ) ) meas_delay_cm = code_value ( ) ;
if ( meas_delay_cm > MAX_MEASUREMENT_DELAY ) meas_delay_cm = MAX_MEASUREMENT_DELAY ;
if ( delay_index2 = = - 1 ) { //initialize the ring buffer if it has not been done since startup
int temp_ratio = widthFil_to_size_ratio ( ) ;
for ( delay_index1 = 0 ; delay_index1 < MAX_MEASUREMENT_DELAY + 1 ; + + delay_index1 )
measurement_delay [ delay_index1 ] = temp_ratio - 100 ; //subtract 100 to scale within a signed byte
delay_index1 = delay_index2 = 0 ;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
/**
* M406 : Turn off filament sensor for control
*/
inline void gcode_M406 ( ) { filament_sensor = false ; }
/**
* M407 : Get measured filament diameter on serial output
*/
inline void gcode_M407 ( ) {
SERIAL_PROTOCOLPGM ( " Filament dia (measured mm): " ) ;
SERIAL_PROTOCOLLN ( filament_width_meas ) ;
}
# endif // FILAMENT_SENSOR
/**
* M500 : Store settings in EEPROM
*/
inline void gcode_M500 ( ) {
Config_StoreSettings ( ) ;
}
/**
* M501 : Read settings from EEPROM
*/
inline void gcode_M501 ( ) {
Config_RetrieveSettings ( ) ;
}
/**
* M502 : Revert to default settings
*/
inline void gcode_M502 ( ) {
Config_ResetDefault ( ) ;
}
/**
* M503 : print settings currently in memory
*/
inline void gcode_M503 ( ) {
Config_PrintSettings ( code_seen ( ' S ' ) & & code_value = = 0 ) ;
}
# ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
/**
* M540 : Set whether SD card print should abort on endstop hit ( M540 S < 0 | 1 > )
*/
inline void gcode_M540 ( ) {
if ( code_seen ( ' S ' ) ) abort_on_endstop_hit = ( code_value ( ) > 0 ) ;
}
# endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
# ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
inline void gcode_SET_Z_PROBE_OFFSET ( ) {
float value ;
if ( code_seen ( ' Z ' ) ) {
value = code_value ( ) ;
if ( Z_PROBE_OFFSET_RANGE_MIN < = value & & value < = Z_PROBE_OFFSET_RANGE_MAX ) {
zprobe_zoffset = - value ; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_ZOFFSET " " MSG_OK ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_ZPROBE_ZOFFSET ) ;
SERIAL_ECHOPGM ( MSG_Z_MIN ) ;
SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MIN ) ;
SERIAL_ECHOPGM ( MSG_Z_MAX ) ;
SERIAL_ECHO ( Z_PROBE_OFFSET_RANGE_MAX ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOLNPGM ( MSG_ZPROBE_ZOFFSET " : " ) ;
SERIAL_ECHO ( - zprobe_zoffset ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
}
# endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
# ifdef FILAMENTCHANGEENABLE
/**
* M600 : Pause for filament change X [ pos ] Y [ pos ] Z [ relative lift ] E [ initial retract ] L [ later retract distance for removal ]
*/
inline void gcode_M600 ( ) {
float target [ NUM_AXIS ] , lastpos [ NUM_AXIS ] , fr60 = feedrate / 60 ;
for ( int i = 0 ; i < NUM_AXIS ; i + + )
target [ i ] = lastpos [ i ] = current_position [ i ] ;
# define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
# ifdef DELTA
# define RUNPLAN calculate_delta(target); BASICPLAN
# else
# define RUNPLAN BASICPLAN
# endif
//retract by E
if ( code_seen ( ' E ' ) ) target [ E_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_FIRSTRETRACT
else target [ E_AXIS ] + = FILAMENTCHANGE_FIRSTRETRACT ;
# endif
RUNPLAN ;
//lift Z
if ( code_seen ( ' Z ' ) ) target [ Z_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_ZADD
else target [ Z_AXIS ] + = FILAMENTCHANGE_ZADD ;
# endif
RUNPLAN ;
//move xy
if ( code_seen ( ' X ' ) ) target [ X_AXIS ] = code_value ( ) ;
# ifdef FILAMENTCHANGE_XPOS
else target [ X_AXIS ] = FILAMENTCHANGE_XPOS ;
# endif
if ( code_seen ( ' Y ' ) ) target [ Y_AXIS ] = code_value ( ) ;
# ifdef FILAMENTCHANGE_YPOS
else target [ Y_AXIS ] = FILAMENTCHANGE_YPOS ;
# endif
RUNPLAN ;
if ( code_seen ( ' L ' ) ) target [ E_AXIS ] + = code_value ( ) ;
# ifdef FILAMENTCHANGE_FINALRETRACT
else target [ E_AXIS ] + = FILAMENTCHANGE_FINALRETRACT ;
# endif
RUNPLAN ;
//finish moves
st_synchronize ( ) ;
//disable extruder steppers so filament can be removed
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
delay ( 100 ) ;
LCD_ALERTMESSAGEPGM ( MSG_FILAMENTCHANGE ) ;
uint8_t cnt = 0 ;
while ( ! lcd_clicked ( ) ) {
cnt + + ;
manage_heater ( ) ;
manage_inactivity ( true ) ;
lcd_update ( ) ;
if ( cnt = = 0 ) {
# if BEEPER > 0
OUT_WRITE ( BEEPER , HIGH ) ;
delay ( 3 ) ;
WRITE ( BEEPER , LOW ) ;
delay ( 3 ) ;
# else
# if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz ( 1000 / 6 , 100 ) ;
# else
lcd_buzz ( LCD_FEEDBACK_FREQUENCY_DURATION_MS , LCD_FEEDBACK_FREQUENCY_HZ ) ;
# endif
# endif
}
} // while(!lcd_clicked)
//return to normal
if ( code_seen ( ' L ' ) ) target [ E_AXIS ] - = code_value ( ) ;
# ifdef FILAMENTCHANGE_FINALRETRACT
else target [ E_AXIS ] - = FILAMENTCHANGE_FINALRETRACT ;
# endif
current_position [ E_AXIS ] = target [ E_AXIS ] ; //the long retract of L is compensated by manual filament feeding
plan_set_e_position ( current_position [ E_AXIS ] ) ;
RUNPLAN ; //should do nothing
lcd_reset_alert_level ( ) ;
# ifdef DELTA
calculate_delta ( lastpos ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move xyz back
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , lastpos [ E_AXIS ] , fr60 , active_extruder ) ; //final untretract
# else
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , target [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move xy back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , target [ E_AXIS ] , fr60 , active_extruder ) ; //move z back
plan_buffer_line ( lastpos [ X_AXIS ] , lastpos [ Y_AXIS ] , lastpos [ Z_AXIS ] , lastpos [ E_AXIS ] , fr60 , active_extruder ) ; //final untretract
# endif
}
# endif // FILAMENTCHANGEENABLE
# ifdef DUAL_X_CARRIAGE
/**
* M605 : Set dual x - carriage movement mode
*
* M605 S0 : Full control mode . The slicer has full control over x - carriage movement
* M605 S1 : Auto - park mode . The inactive head will auto park / unpark without slicer involvement
* M605 S2 [ Xnnn ] [ Rmmm ] : Duplication mode . The second extruder will duplicate the first with nnn
* millimeters x - offset and an optional differential hotend temperature of
* mmm degrees . E . g . , with " M605 S2 X100 R2 " the second extruder will duplicate
* the first with a spacing of 100 mm in the x direction and 2 degrees hotter .
*
* Note : the X axis should be homed after changing dual x - carriage mode .
*/
inline void gcode_M605 ( ) {
st_synchronize ( ) ;
if ( code_seen ( ' S ' ) ) dual_x_carriage_mode = code_value ( ) ;
switch ( dual_x_carriage_mode ) {
case DXC_DUPLICATION_MODE :
if ( code_seen ( ' X ' ) ) duplicate_extruder_x_offset = max ( code_value ( ) , X2_MIN_POS - x_home_pos ( 0 ) ) ;
if ( code_seen ( ' R ' ) ) duplicate_extruder_temp_offset = code_value ( ) ;
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_HOTEND_OFFSET ) ;
SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( extruder_offset [ X_AXIS ] [ 0 ] ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHO ( extruder_offset [ Y_AXIS ] [ 0 ] ) ;
SERIAL_ECHO ( " " ) ;
SERIAL_ECHO ( duplicate_extruder_x_offset ) ;
SERIAL_ECHO ( " , " ) ;
SERIAL_ECHOLN ( extruder_offset [ Y_AXIS ] [ 1 ] ) ;
break ;
case DXC_FULL_CONTROL_MODE :
case DXC_AUTO_PARK_MODE :
break ;
default :
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE ;
break ;
}
active_extruder_parked = false ;
extruder_duplication_enabled = false ;
delayed_move_time = 0 ;
}
# endif // DUAL_X_CARRIAGE
/**
* M907 : Set digital trimpot motor current using axis codes X , Y , Z , E , B , S
*/
inline void gcode_M907 ( ) {
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
for ( int i = 0 ; i < NUM_AXIS ; i + + )
if ( code_seen ( axis_codes [ i ] ) ) digipot_current ( i , code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) digipot_current ( 4 , code_value ( ) ) ;
if ( code_seen ( ' S ' ) ) for ( int i = 0 ; i < = 4 ; i + + ) digipot_current ( i , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_XY_PIN
if ( code_seen ( ' X ' ) ) digipot_current ( 0 , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_Z_PIN
if ( code_seen ( ' Z ' ) ) digipot_current ( 1 , code_value ( ) ) ;
# endif
# ifdef MOTOR_CURRENT_PWM_E_PIN
if ( code_seen ( ' E ' ) ) digipot_current ( 2 , code_value ( ) ) ;
# endif
# ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) digipot_i2c_set_current ( i , code_value ( ) ) ;
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for ( int i = NUM_AXIS ; i < DIGIPOT_I2C_NUM_CHANNELS ; i + + ) if ( code_seen ( ' B ' + i - NUM_AXIS ) ) digipot_i2c_set_current ( i , code_value ( ) ) ;
# endif
}
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
/**
* M908 : Control digital trimpot directly ( M908 P < pin > S < current > )
*/
inline void gcode_M908 ( ) {
digitalPotWrite (
code_seen ( ' P ' ) ? code_value ( ) : 0 ,
code_seen ( ' S ' ) ? code_value ( ) : 0
) ;
}
# endif // DIGIPOTSS_PIN
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350 ( ) {
# if defined(X_MS1_PIN) && X_MS1_PIN > -1
if ( code_seen ( ' S ' ) ) for ( int i = 0 ; i < = 4 ; i + + ) microstep_mode ( i , code_value ( ) ) ;
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_mode ( i , ( uint8_t ) code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) microstep_mode ( 4 , code_value ( ) ) ;
microstep_readings ( ) ;
# endif
}
/**
* M351 : Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S # determines MS1 or MS2 , X # sets the pin high / low .
*/
inline void gcode_M351 ( ) {
# if defined(X_MS1_PIN) && X_MS1_PIN > -1
if ( code_seen ( ' S ' ) ) switch ( ( int ) code_value ( ) ) {
case 1 :
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_ms ( i , code_value ( ) , - 1 ) ;
if ( code_seen ( ' B ' ) ) microstep_ms ( 4 , code_value ( ) , - 1 ) ;
break ;
case 2 :
for ( int i = 0 ; i < NUM_AXIS ; i + + ) if ( code_seen ( axis_codes [ i ] ) ) microstep_ms ( i , - 1 , code_value ( ) ) ;
if ( code_seen ( ' B ' ) ) microstep_ms ( 4 , - 1 , code_value ( ) ) ;
break ;
}
microstep_readings ( ) ;
# endif
}
/**
* M999 : Restart after being stopped
*/
inline void gcode_M999 ( ) {
Stopped = false ;
lcd_reset_alert_level ( ) ;
gcode_LastN = Stopped_gcode_LastN ;
FlushSerialRequestResend ( ) ;
}
inline void gcode_T ( ) {
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
SERIAL_ECHO ( " T " ) ;
SERIAL_ECHO ( tmp_extruder ) ;
SERIAL_ECHOLN ( MSG_INVALID_EXTRUDER ) ;
}
else {
boolean make_move = false ;
if ( code_seen ( ' F ' ) ) {
make_move = true ;
next_feedrate = code_value ( ) ;
if ( next_feedrate > 0.0 ) feedrate = next_feedrate ;
}
# if EXTRUDERS > 1
if ( tmp_extruder ! = active_extruder ) {
// Save current position to return to after applying extruder offset
memcpy ( destination , current_position , sizeof ( destination ) ) ;
# ifdef DUAL_X_CARRIAGE
if ( dual_x_carriage_mode = = DXC_AUTO_PARK_MODE & & Stopped = = false & &
( delayed_move_time ! = 0 | | current_position [ X_AXIS ] ! = x_home_pos ( active_extruder ) ) ) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + TOOLCHANGE_PARK_ZLIFT ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
plan_buffer_line ( x_home_pos ( active_extruder ) , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] + TOOLCHANGE_PARK_ZLIFT ,
current_position [ E_AXIS ] , max_feedrate [ X_AXIS ] , active_extruder ) ;
plan_buffer_line ( x_home_pos ( active_extruder ) , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
st_synchronize ( ) ;
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position [ Y_AXIS ] = current_position [ Y_AXIS ] -
extruder_offset [ Y_AXIS ] [ active_extruder ] +
extruder_offset [ Y_AXIS ] [ tmp_extruder ] ;
current_position [ Z_AXIS ] = current_position [ Z_AXIS ] -
extruder_offset [ Z_AXIS ] [ active_extruder ] +
extruder_offset [ Z_AXIS ] [ tmp_extruder ] ;
active_extruder = tmp_extruder ;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home ( X_AXIS ) ;
if ( dual_x_carriage_mode = = DXC_FULL_CONTROL_MODE ) {
current_position [ X_AXIS ] = inactive_extruder_x_pos ;
inactive_extruder_x_pos = destination [ X_AXIS ] ;
}
else if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE ) {
active_extruder_parked = ( active_extruder = = 0 ) ; // this triggers the second extruder to move into the duplication position
if ( active_extruder = = 0 | | active_extruder_parked )
current_position [ X_AXIS ] = inactive_extruder_x_pos ;
else
current_position [ X_AXIS ] = destination [ X_AXIS ] + duplicate_extruder_x_offset ;
inactive_extruder_x_pos = destination [ X_AXIS ] ;
extruder_duplication_enabled = false ;
}
else {
// record raised toolhead position for use by unpark
memcpy ( raised_parked_position , current_position , sizeof ( raised_parked_position ) ) ;
raised_parked_position [ Z_AXIS ] + = TOOLCHANGE_UNPARK_ZLIFT ;
active_extruder_parked = true ;
delayed_move_time = 0 ;
}
# else // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for ( int i = X_AXIS ; i < = Y_AXIS ; i + + )
current_position [ i ] + = extruder_offset [ i ] [ tmp_extruder ] - extruder_offset [ i ] [ active_extruder ] ;
// Set the new active extruder and position
active_extruder = tmp_extruder ;
# endif // !DUAL_X_CARRIAGE
# ifdef DELTA
calculate_delta ( current_position ) ; // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# else
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif
// Move to the old position if 'F' was in the parameters
if ( make_move & & ! Stopped ) prepare_move ( ) ;
}
# ifdef EXT_SOLENOID
st_synchronize ( ) ;
disable_all_solenoids ( ) ;
enable_solenoid_on_active_extruder ( ) ;
# endif // EXT_SOLENOID
# endif // EXTRUDERS > 1
SERIAL_ECHO_START ;
SERIAL_ECHO ( MSG_ACTIVE_EXTRUDER ) ;
SERIAL_PROTOCOLLN ( ( int ) active_extruder ) ;
}
}
/**
* Process Commands and dispatch them to handlers
*/
void process_commands ( ) {
if ( code_seen ( ' G ' ) ) {
int gCode = code_value_long ( ) ;
switch ( gCode ) {
// G0, G1
case 0 :
case 1 :
gcode_G0_G1 ( ) ;
break ;
// G2, G3
# ifndef SCARA
case 2 : // G2 - CW ARC
case 3 : // G3 - CCW ARC
gcode_G2_G3 ( gCode = = 2 ) ;
break ;
# endif
// G4 Dwell
case 4 :
gcode_G4 ( ) ;
break ;
# ifdef FWRETRACT
case 10 : // G10: retract
case 11 : // G11: retract_recover
gcode_G10_G11 ( gCode = = 10 ) ;
break ;
# endif //FWRETRACT
case 28 : // G28: Home all axes, one at a time
gcode_G28 ( ) ;
break ;
# ifdef ENABLE_AUTO_BED_LEVELING
case 29 : // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29 ( ) ;
break ;
# ifndef Z_PROBE_SLED
case 30 : // G30 Single Z Probe
gcode_G30 ( ) ;
break ;
# else // Z_PROBE_SLED
case 31 : // G31: dock the sled
case 32 : // G32: undock the sled
dock_sled ( gCode = = 31 ) ;
break ;
# endif // Z_PROBE_SLED
# endif // ENABLE_AUTO_BED_LEVELING
case 90 : // G90
relative_mode = false ;
break ;
case 91 : // G91
relative_mode = true ;
break ;
case 92 : // G92
gcode_G92 ( ) ;
break ;
}
}
else if ( code_seen ( ' M ' ) ) {
switch ( ( int ) code_value ( ) ) {
# ifdef ULTIPANEL
case 0 : // M0 - Unconditional stop - Wait for user button press on LCD
case 1 : // M1 - Conditional stop - Wait for user button press on LCD
gcode_M0_M1 ( ) ;
break ;
# endif // ULTIPANEL
case 17 :
gcode_M17 ( ) ;
break ;
# ifdef SDSUPPORT
case 20 : // M20 - list SD card
gcode_M20 ( ) ; break ;
case 21 : // M21 - init SD card
gcode_M21 ( ) ; break ;
case 22 : //M22 - release SD card
gcode_M22 ( ) ; break ;
case 23 : //M23 - Select file
gcode_M23 ( ) ; break ;
case 24 : //M24 - Start SD print
gcode_M24 ( ) ; break ;
case 25 : //M25 - Pause SD print
gcode_M25 ( ) ; break ;
case 26 : //M26 - Set SD index
gcode_M26 ( ) ; break ;
case 27 : //M27 - Get SD status
gcode_M27 ( ) ; break ;
case 28 : //M28 - Start SD write
gcode_M28 ( ) ; break ;
case 29 : //M29 - Stop SD write
gcode_M29 ( ) ; break ;
case 30 : //M30 <filename> Delete File
gcode_M30 ( ) ; break ;
case 32 : //M32 - Select file and start SD print
gcode_M32 ( ) ; break ;
case 928 : //M928 - Start SD write
gcode_M928 ( ) ; break ;
# endif //SDSUPPORT
case 31 : //M31 take time since the start of the SD print or an M109 command
gcode_M31 ( ) ;
break ;
case 42 : //M42 -Change pin status via gcode
gcode_M42 ( ) ;
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
case 48 : // M48 Z-Probe repeatability
gcode_M48 ( ) ;
break ;
# endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
case 104 : // M104
gcode_M104 ( ) ;
break ;
case 112 : // M112 Emergency Stop
gcode_M112 ( ) ;
break ;
case 140 : // M140 Set bed temp
gcode_M140 ( ) ;
break ;
case 105 : // M105 Read current temperature
gcode_M105 ( ) ;
return ;
break ;
case 109 : // M109 Wait for temperature
gcode_M109 ( ) ;
break ;
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
case 190 : // M190 - Wait for bed heater to reach target.
gcode_M190 ( ) ;
break ;
# endif //TEMP_BED_PIN
# if defined(FAN_PIN) && FAN_PIN > -1
case 106 : //M106 Fan On
gcode_M106 ( ) ;
break ;
case 107 : //M107 Fan Off
gcode_M107 ( ) ;
break ;
# endif //FAN_PIN
# ifdef BARICUDA
// PWM for HEATER_1_PIN
# if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
case 126 : // M126 valve open
gcode_M126 ( ) ;
break ;
case 127 : // M127 valve closed
gcode_M127 ( ) ;
break ;
# endif //HEATER_1_PIN
// PWM for HEATER_2_PIN
# if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
case 128 : // M128 valve open
gcode_M128 ( ) ;
break ;
case 129 : // M129 valve closed
gcode_M129 ( ) ;
break ;
# endif //HEATER_2_PIN
# endif //BARICUDA
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80 : // M80 - Turn on Power Supply
gcode_M80 ( ) ;
break ;
# endif // PS_ON_PIN
case 81 : // M81 - Turn off Power Supply
gcode_M81 ( ) ;
break ;
case 82 :
gcode_M82 ( ) ;
break ;
case 83 :
gcode_M83 ( ) ;
break ;
case 18 : //compatibility
case 84 : // M84
gcode_M18_M84 ( ) ;
break ;
case 85 : // M85
gcode_M85 ( ) ;
break ;
case 92 : // M92
gcode_M92 ( ) ;
break ;
case 115 : // M115
gcode_M115 ( ) ;
break ;
case 117 : // M117 display message
gcode_M117 ( ) ;
break ;
case 114 : // M114
gcode_M114 ( ) ;
break ;
case 120 : // M120
gcode_M120 ( ) ;
break ;
case 121 : // M121
gcode_M121 ( ) ;
break ;
case 119 : // M119
gcode_M119 ( ) ;
break ;
//TODO: update for all axis, use for loop
# ifdef BLINKM
case 150 : // M150
gcode_M150 ( ) ;
break ;
# endif //BLINKM
case 200 : // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
gcode_M200 ( ) ;
break ;
case 201 : // M201
gcode_M201 ( ) ;
break ;
#if 0 // Not used for Sprinter/grbl gen6
case 202 : // M202
gcode_M202 ( ) ;
break ;
# endif
case 203 : // M203 max feedrate mm/sec
gcode_M203 ( ) ;
break ;
case 204 : // M204 acclereration S normal moves T filmanent only moves
gcode_M204 ( ) ;
break ;
case 205 : //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
gcode_M205 ( ) ;
break ;
case 206 : // M206 additional homing offset
gcode_M206 ( ) ;
break ;
# ifdef DELTA
case 665 : // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
gcode_M665 ( ) ;
break ;
case 666 : // M666 set delta endstop adjustment
gcode_M666 ( ) ;
break ;
# endif // DELTA
# ifdef FWRETRACT
case 207 : //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
gcode_M207 ( ) ;
break ;
case 208 : // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
gcode_M208 ( ) ;
break ;
case 209 : // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
gcode_M209 ( ) ;
break ;
# endif // FWRETRACT
# if EXTRUDERS > 1
case 218 : // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
gcode_M218 ( ) ;
break ;
# endif
case 220 : // M220 S<factor in percent>- set speed factor override percentage
gcode_M220 ( ) ;
break ;
case 221 : // M221 S<factor in percent>- set extrude factor override percentage
gcode_M221 ( ) ;
break ;
case 226 : // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
gcode_M226 ( ) ;
break ;
# if NUM_SERVOS > 0
case 280 : // M280 - set servo position absolute. P: servo index, S: angle or microseconds
gcode_M280 ( ) ;
break ;
# endif // NUM_SERVOS > 0
# if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
case 300 : // M300 - Play beep tone
gcode_M300 ( ) ;
break ;
# endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
# ifdef PIDTEMP
case 301 : // M301
gcode_M301 ( ) ;
break ;
# endif // PIDTEMP
# ifdef PIDTEMPBED
case 304 : // M304
gcode_M304 ( ) ;
break ;
# endif // PIDTEMPBED
# if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
case 240 : // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240 ( ) ;
break ;
# endif // CHDK || PHOTOGRAPH_PIN
# ifdef DOGLCD
case 250 : // M250 Set LCD contrast value: C<value> (value 0..63)
gcode_M250 ( ) ;
break ;
# endif // DOGLCD
# ifdef PREVENT_DANGEROUS_EXTRUDE
case 302 : // allow cold extrudes, or set the minimum extrude temperature
gcode_M302 ( ) ;
break ;
# endif // PREVENT_DANGEROUS_EXTRUDE
case 303 : // M303 PID autotune
gcode_M303 ( ) ;
break ;
# ifdef SCARA
case 360 : // M360 SCARA Theta pos1
if ( gcode_M360 ( ) ) return ;
break ;
case 361 : // M361 SCARA Theta pos2
if ( gcode_M361 ( ) ) return ;
break ;
case 362 : // M362 SCARA Psi pos1
if ( gcode_M362 ( ) ) return ;
break ;
case 363 : // M363 SCARA Psi pos2
if ( gcode_M363 ( ) ) return ;
break ;
case 364 : // M364 SCARA Psi pos3 (90 deg to Theta)
if ( gcode_M364 ( ) ) return ;
break ;
case 365 : // M365 Set SCARA scaling for X Y Z
gcode_M365 ( ) ;
break ;
# endif // SCARA
case 400 : // M400 finish all moves
gcode_M400 ( ) ;
break ;
# if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401 :
gcode_M401 ( ) ;
break ;
case 402 :
gcode_M402 ( ) ;
break ;
# endif
# ifdef FILAMENT_SENSOR
case 404 : //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404 ( ) ;
break ;
case 405 : //M405 Turn on filament sensor for control
gcode_M405 ( ) ;
break ;
case 406 : //M406 Turn off filament sensor for control
gcode_M406 ( ) ;
break ;
case 407 : //M407 Display measured filament diameter
gcode_M407 ( ) ;
break ;
# endif // FILAMENT_SENSOR
case 500 : // M500 Store settings in EEPROM
gcode_M500 ( ) ;
break ;
case 501 : // M501 Read settings from EEPROM
gcode_M501 ( ) ;
break ;
case 502 : // M502 Revert to default settings
gcode_M502 ( ) ;
break ;
case 503 : // M503 print settings currently in memory
gcode_M503 ( ) ;
break ;
# ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540 :
gcode_M540 ( ) ;
break ;
# endif
# ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET :
gcode_SET_Z_PROBE_OFFSET ( ) ;
break ;
# endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
# ifdef FILAMENTCHANGEENABLE
case 600 : //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
gcode_M600 ( ) ;
break ;
# endif // FILAMENTCHANGEENABLE
# ifdef DUAL_X_CARRIAGE
case 605 :
gcode_M605 ( ) ;
break ;
# endif // DUAL_X_CARRIAGE
case 907 : // M907 Set digital trimpot motor current using axis codes.
gcode_M907 ( ) ;
break ;
# if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
case 908 : // M908 Control digital trimpot directly.
gcode_M908 ( ) ;
break ;
# endif // DIGIPOTSS_PIN
case 350 : // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350 ( ) ;
break ;
case 351 : // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351 ( ) ;
break ;
case 999 : // M999: Restart after being Stopped
gcode_M999 ( ) ;
break ;
}
}
else if ( code_seen ( ' T ' ) ) {
gcode_T ( ) ;
}
else {
SERIAL_ECHO_START ;
SERIAL_ECHOPGM ( MSG_UNKNOWN_COMMAND ) ;
SERIAL_ECHO ( cmdbuffer [ bufindr ] ) ;
SERIAL_ECHOLNPGM ( " \" " ) ;
}
ClearToSend ( ) ;
}
void FlushSerialRequestResend ( )
{
//char cmdbuffer[bufindr][100]="Resend:";
MYSERIAL . flush ( ) ;
SERIAL_PROTOCOLPGM ( MSG_RESEND ) ;
SERIAL_PROTOCOLLN ( gcode_LastN + 1 ) ;
ClearToSend ( ) ;
}
void ClearToSend ( )
{
previous_millis_cmd = millis ( ) ;
# ifdef SDSUPPORT
if ( fromsd [ bufindr ] )
return ;
# endif //SDSUPPORT
SERIAL_PROTOCOLLNPGM ( MSG_OK ) ;
}
void get_coordinates ( )
{
bool seen [ 4 ] = { false , false , false , false } ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
if ( code_seen ( axis_codes [ i ] ) )
{
destination [ i ] = ( float ) code_value ( ) + ( axis_relative_modes [ i ] | | relative_mode ) * current_position [ i ] ;
seen [ i ] = true ;
}
else destination [ i ] = current_position [ i ] ; //Are these else lines really needed?
}
if ( code_seen ( ' F ' ) ) {
next_feedrate = code_value ( ) ;
if ( next_feedrate > 0.0 ) feedrate = next_feedrate ;
}
}
void get_arc_coordinates ( )
{
# ifdef SF_ARC_FIX
bool relative_mode_backup = relative_mode ;
relative_mode = true ;
# endif
get_coordinates ( ) ;
# ifdef SF_ARC_FIX
relative_mode = relative_mode_backup ;
# endif
if ( code_seen ( ' I ' ) ) {
offset [ 0 ] = code_value ( ) ;
}
else {
offset [ 0 ] = 0.0 ;
}
if ( code_seen ( ' J ' ) ) {
offset [ 1 ] = code_value ( ) ;
}
else {
offset [ 1 ] = 0.0 ;
}
}
void clamp_to_software_endstops ( float target [ 3 ] )
{
if ( min_software_endstops ) {
if ( target [ X_AXIS ] < min_pos [ X_AXIS ] ) target [ X_AXIS ] = min_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] < min_pos [ Y_AXIS ] ) target [ Y_AXIS ] = min_pos [ Y_AXIS ] ;
float negative_z_offset = 0 ;
# ifdef ENABLE_AUTO_BED_LEVELING
if ( Z_PROBE_OFFSET_FROM_EXTRUDER < 0 ) negative_z_offset = negative_z_offset + Z_PROBE_OFFSET_FROM_EXTRUDER ;
if ( add_homing [ Z_AXIS ] < 0 ) negative_z_offset = negative_z_offset + add_homing [ Z_AXIS ] ;
# endif
if ( target [ Z_AXIS ] < min_pos [ Z_AXIS ] + negative_z_offset ) target [ Z_AXIS ] = min_pos [ Z_AXIS ] + negative_z_offset ;
}
if ( max_software_endstops ) {
if ( target [ X_AXIS ] > max_pos [ X_AXIS ] ) target [ X_AXIS ] = max_pos [ X_AXIS ] ;
if ( target [ Y_AXIS ] > max_pos [ Y_AXIS ] ) target [ Y_AXIS ] = max_pos [ Y_AXIS ] ;
if ( target [ Z_AXIS ] > max_pos [ Z_AXIS ] ) target [ Z_AXIS ] = max_pos [ Z_AXIS ] ;
}
}
# ifdef DELTA
void recalc_delta_settings ( float radius , float diagonal_rod )
{
delta_tower1_x = - SIN_60 * radius ; // front left tower
delta_tower1_y = - COS_60 * radius ;
delta_tower2_x = SIN_60 * radius ; // front right tower
delta_tower2_y = - COS_60 * radius ;
delta_tower3_x = 0.0 ; // back middle tower
delta_tower3_y = radius ;
delta_diagonal_rod_2 = sq ( diagonal_rod ) ;
}
void calculate_delta ( float cartesian [ 3 ] )
{
delta [ X_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower1_x - cartesian [ X_AXIS ] )
- sq ( delta_tower1_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
delta [ Y_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower2_x - cartesian [ X_AXIS ] )
- sq ( delta_tower2_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
delta [ Z_AXIS ] = sqrt ( delta_diagonal_rod_2
- sq ( delta_tower3_x - cartesian [ X_AXIS ] )
- sq ( delta_tower3_y - cartesian [ Y_AXIS ] )
) + cartesian [ Z_AXIS ] ;
/*
SERIAL_ECHOPGM ( " cartesian x= " ) ; SERIAL_ECHO ( cartesian [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( cartesian [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( cartesian [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " delta x= " ) ; SERIAL_ECHO ( delta [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( delta [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( delta [ Z_AXIS ] ) ;
*/
}
# ifdef ENABLE_AUTO_BED_LEVELING
// Adjust print surface height by linear interpolation over the bed_level array.
int delta_grid_spacing [ 2 ] = { 0 , 0 } ;
void adjust_delta ( float cartesian [ 3 ] )
{
if ( delta_grid_spacing [ 0 ] = = 0 | | delta_grid_spacing [ 1 ] = = 0 )
return ; // G29 not done
int half = ( AUTO_BED_LEVELING_GRID_POINTS - 1 ) / 2 ;
float grid_x = max ( 0.001 - half , min ( half - 0.001 , cartesian [ X_AXIS ] / delta_grid_spacing [ 0 ] ) ) ;
float grid_y = max ( 0.001 - half , min ( half - 0.001 , cartesian [ Y_AXIS ] / delta_grid_spacing [ 1 ] ) ) ;
int floor_x = floor ( grid_x ) ;
int floor_y = floor ( grid_y ) ;
float ratio_x = grid_x - floor_x ;
float ratio_y = grid_y - floor_y ;
float z1 = bed_level [ floor_x + half ] [ floor_y + half ] ;
float z2 = bed_level [ floor_x + half ] [ floor_y + half + 1 ] ;
float z3 = bed_level [ floor_x + half + 1 ] [ floor_y + half ] ;
float z4 = bed_level [ floor_x + half + 1 ] [ floor_y + half + 1 ] ;
float left = ( 1 - ratio_y ) * z1 + ratio_y * z2 ;
float right = ( 1 - ratio_y ) * z3 + ratio_y * z4 ;
float offset = ( 1 - ratio_x ) * left + ratio_x * right ;
delta [ X_AXIS ] + = offset ;
delta [ Y_AXIS ] + = offset ;
delta [ Z_AXIS ] + = offset ;
/*
SERIAL_ECHOPGM ( " grid_x= " ) ; SERIAL_ECHO ( grid_x ) ;
SERIAL_ECHOPGM ( " grid_y= " ) ; SERIAL_ECHO ( grid_y ) ;
SERIAL_ECHOPGM ( " floor_x= " ) ; SERIAL_ECHO ( floor_x ) ;
SERIAL_ECHOPGM ( " floor_y= " ) ; SERIAL_ECHO ( floor_y ) ;
SERIAL_ECHOPGM ( " ratio_x= " ) ; SERIAL_ECHO ( ratio_x ) ;
SERIAL_ECHOPGM ( " ratio_y= " ) ; SERIAL_ECHO ( ratio_y ) ;
SERIAL_ECHOPGM ( " z1= " ) ; SERIAL_ECHO ( z1 ) ;
SERIAL_ECHOPGM ( " z2= " ) ; SERIAL_ECHO ( z2 ) ;
SERIAL_ECHOPGM ( " z3= " ) ; SERIAL_ECHO ( z3 ) ;
SERIAL_ECHOPGM ( " z4= " ) ; SERIAL_ECHO ( z4 ) ;
SERIAL_ECHOPGM ( " left= " ) ; SERIAL_ECHO ( left ) ;
SERIAL_ECHOPGM ( " right= " ) ; SERIAL_ECHO ( right ) ;
SERIAL_ECHOPGM ( " offset= " ) ; SERIAL_ECHOLN ( offset ) ;
*/
}
# endif //ENABLE_AUTO_BED_LEVELING
void prepare_move_raw ( )
{
previous_millis_cmd = millis ( ) ;
calculate_delta ( destination ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] ,
destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 ,
active_extruder ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
}
# endif //DELTA
void prepare_move ( )
{
clamp_to_software_endstops ( destination ) ;
previous_millis_cmd = millis ( ) ;
# ifdef SCARA //for now same as delta-code
float difference [ NUM_AXIS ] ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
difference [ i ] = destination [ i ] - current_position [ i ] ;
}
float cartesian_mm = sqrt ( sq ( difference [ X_AXIS ] ) +
sq ( difference [ Y_AXIS ] ) +
sq ( difference [ Z_AXIS ] ) ) ;
if ( cartesian_mm < 0.000001 ) { cartesian_mm = abs ( difference [ E_AXIS ] ) ; }
if ( cartesian_mm < 0.000001 ) { return ; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply ;
int steps = max ( 1 , int ( scara_segments_per_second * seconds ) ) ;
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for ( int s = 1 ; s < = steps ; s + + ) {
float fraction = float ( s ) / float ( steps ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
destination [ i ] = current_position [ i ] + difference [ i ] * fraction ;
}
calculate_delta ( destination ) ;
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] ,
destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 ,
active_extruder ) ;
}
# endif // SCARA
# ifdef DELTA
float difference [ NUM_AXIS ] ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
difference [ i ] = destination [ i ] - current_position [ i ] ;
}
float cartesian_mm = sqrt ( sq ( difference [ X_AXIS ] ) +
sq ( difference [ Y_AXIS ] ) +
sq ( difference [ Z_AXIS ] ) ) ;
if ( cartesian_mm < 0.000001 ) { cartesian_mm = abs ( difference [ E_AXIS ] ) ; }
if ( cartesian_mm < 0.000001 ) { return ; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply ;
int steps = max ( 1 , int ( delta_segments_per_second * seconds ) ) ;
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for ( int s = 1 ; s < = steps ; s + + ) {
float fraction = float ( s ) / float ( steps ) ;
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
destination [ i ] = current_position [ i ] + difference [ i ] * fraction ;
}
calculate_delta ( destination ) ;
plan_buffer_line ( delta [ X_AXIS ] , delta [ Y_AXIS ] , delta [ Z_AXIS ] ,
destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 ,
active_extruder ) ;
}
# endif // DELTA
# ifdef DUAL_X_CARRIAGE
if ( active_extruder_parked )
{
if ( dual_x_carriage_mode = = DXC_DUPLICATION_MODE & & active_extruder = = 0 )
{
// move duplicate extruder into correct duplication position.
plan_set_position ( inactive_extruder_x_pos , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
plan_buffer_line ( current_position [ X_AXIS ] + duplicate_extruder_x_offset , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ X_AXIS ] , 1 ) ;
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
st_synchronize ( ) ;
extruder_duplication_enabled = true ;
active_extruder_parked = false ;
}
else if ( dual_x_carriage_mode = = DXC_AUTO_PARK_MODE ) // handle unparking of head
{
if ( current_position [ E_AXIS ] = = destination [ E_AXIS ] )
{
// this is a travel move - skit it but keep track of current position (so that it can later
// be used as start of first non-travel move)
if ( delayed_move_time ! = 0xFFFFFFFFUL )
{
memcpy ( current_position , destination , sizeof ( current_position ) ) ;
if ( destination [ Z_AXIS ] > raised_parked_position [ Z_AXIS ] )
raised_parked_position [ Z_AXIS ] = destination [ Z_AXIS ] ;
delayed_move_time = millis ( ) ;
return ;
}
}
delayed_move_time = 0 ;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
plan_buffer_line ( raised_parked_position [ X_AXIS ] , raised_parked_position [ Y_AXIS ] , raised_parked_position [ Z_AXIS ] , current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , raised_parked_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , min ( max_feedrate [ X_AXIS ] , max_feedrate [ Y_AXIS ] ) , active_extruder ) ;
plan_buffer_line ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] ,
current_position [ E_AXIS ] , max_feedrate [ Z_AXIS ] , active_extruder ) ;
active_extruder_parked = false ;
}
}
# endif //DUAL_X_CARRIAGE
# if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if ( ( current_position [ X_AXIS ] = = destination [ X_AXIS ] ) & & ( current_position [ Y_AXIS ] = = destination [ Y_AXIS ] ) ) {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate / 60 , active_extruder ) ;
}
else {
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate * feedmultiply / 60 / 100.0 , active_extruder ) ;
}
# endif // !(DELTA || SCARA)
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
}
void prepare_arc_move ( char isclockwise ) {
float r = hypot ( offset [ X_AXIS ] , offset [ Y_AXIS ] ) ; // Compute arc radius for mc_arc
// Trace the arc
mc_arc ( current_position , destination , offset , X_AXIS , Y_AXIS , Z_AXIS , feedrate * feedmultiply / 60 / 100.0 , r , isclockwise , active_extruder ) ;
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
for ( int8_t i = 0 ; i < NUM_AXIS ; i + + ) {
current_position [ i ] = destination [ i ] ;
}
previous_millis_cmd = millis ( ) ;
}
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
# if defined(FAN_PIN)
# if CONTROLLERFAN_PIN == FAN_PIN
# error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
# endif
# endif
unsigned long lastMotor = 0 ; //Save the time for when a motor was turned on last
unsigned long lastMotorCheck = 0 ;
void controllerFan ( )
{
if ( ( millis ( ) - lastMotorCheck ) > = 2500 ) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = millis ( ) ;
if ( ! READ ( X_ENABLE_PIN ) | | ! READ ( Y_ENABLE_PIN ) | | ! READ ( Z_ENABLE_PIN ) | | ( soft_pwm_bed > 0 )
# if EXTRUDERS > 2
| | ! READ ( E2_ENABLE_PIN )
# endif
# if EXTRUDER > 1
# if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
| | ! READ ( X2_ENABLE_PIN )
# endif
| | ! READ ( E1_ENABLE_PIN )
# endif
| | ! READ ( E0_ENABLE_PIN ) ) //If any of the drivers are enabled...
{
lastMotor = millis ( ) ; //... set time to NOW so the fan will turn on
}
if ( ( millis ( ) - lastMotor ) > = ( CONTROLLERFAN_SECS * 1000UL ) | | lastMotor = = 0 ) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
digitalWrite ( CONTROLLERFAN_PIN , 0 ) ;
analogWrite ( CONTROLLERFAN_PIN , 0 ) ;
}
else
{
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite ( CONTROLLERFAN_PIN , CONTROLLERFAN_SPEED ) ;
analogWrite ( CONTROLLERFAN_PIN , CONTROLLERFAN_SPEED ) ;
}
}
}
# endif
# ifdef SCARA
void calculate_SCARA_forward_Transform ( float f_scara [ 3 ] )
{
// Perform forward kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin , x_cos , y_sin , y_cos ;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
x_sin = sin ( f_scara [ X_AXIS ] / SCARA_RAD2DEG ) * Linkage_1 ;
x_cos = cos ( f_scara [ X_AXIS ] / SCARA_RAD2DEG ) * Linkage_1 ;
y_sin = sin ( f_scara [ Y_AXIS ] / SCARA_RAD2DEG ) * Linkage_2 ;
y_cos = cos ( f_scara [ Y_AXIS ] / SCARA_RAD2DEG ) * Linkage_2 ;
// SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta [ X_AXIS ] = x_cos + y_cos + SCARA_offset_x ; //theta
delta [ Y_AXIS ] = x_sin + y_sin + SCARA_offset_y ; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void calculate_delta ( float cartesian [ 3 ] ) {
//reverse kinematics.
// Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float SCARA_pos [ 2 ] ;
static float SCARA_C2 , SCARA_S2 , SCARA_K1 , SCARA_K2 , SCARA_theta , SCARA_psi ;
SCARA_pos [ X_AXIS ] = cartesian [ X_AXIS ] * axis_scaling [ X_AXIS ] - SCARA_offset_x ; //Translate SCARA to standard X Y
SCARA_pos [ Y_AXIS ] = cartesian [ Y_AXIS ] * axis_scaling [ Y_AXIS ] - SCARA_offset_y ; // With scaling factor.
# if (Linkage_1 == Linkage_2)
SCARA_C2 = ( ( sq ( SCARA_pos [ X_AXIS ] ) + sq ( SCARA_pos [ Y_AXIS ] ) ) / ( 2 * ( float ) L1_2 ) ) - 1 ;
# else
SCARA_C2 = ( sq ( SCARA_pos [ X_AXIS ] ) + sq ( SCARA_pos [ Y_AXIS ] ) - ( float ) L1_2 - ( float ) L2_2 ) / 45000 ;
# endif
SCARA_S2 = sqrt ( 1 - sq ( SCARA_C2 ) ) ;
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2 ;
SCARA_K2 = Linkage_2 * SCARA_S2 ;
SCARA_theta = ( atan2 ( SCARA_pos [ X_AXIS ] , SCARA_pos [ Y_AXIS ] ) - atan2 ( SCARA_K1 , SCARA_K2 ) ) * - 1 ;
SCARA_psi = atan2 ( SCARA_S2 , SCARA_C2 ) ;
delta [ X_AXIS ] = SCARA_theta * SCARA_RAD2DEG ; // Multiply by 180/Pi - theta is support arm angle
delta [ Y_AXIS ] = ( SCARA_theta + SCARA_psi ) * SCARA_RAD2DEG ; // - equal to sub arm angle (inverted motor)
delta [ Z_AXIS ] = cartesian [ Z_AXIS ] ;
/*
SERIAL_ECHOPGM ( " cartesian x= " ) ; SERIAL_ECHO ( cartesian [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( cartesian [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( cartesian [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " scara x= " ) ; SERIAL_ECHO ( SCARA_pos [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHOLN ( SCARA_pos [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " delta x= " ) ; SERIAL_ECHO ( delta [ X_AXIS ] ) ;
SERIAL_ECHOPGM ( " y= " ) ; SERIAL_ECHO ( delta [ Y_AXIS ] ) ;
SERIAL_ECHOPGM ( " z= " ) ; SERIAL_ECHOLN ( delta [ Z_AXIS ] ) ;
SERIAL_ECHOPGM ( " C2= " ) ; SERIAL_ECHO ( SCARA_C2 ) ;
SERIAL_ECHOPGM ( " S2= " ) ; SERIAL_ECHO ( SCARA_S2 ) ;
SERIAL_ECHOPGM ( " Theta= " ) ; SERIAL_ECHO ( SCARA_theta ) ;
SERIAL_ECHOPGM ( " Psi= " ) ; SERIAL_ECHOLN ( SCARA_psi ) ;
SERIAL_ECHOLN ( " " ) ; */
}
# endif
# ifdef TEMP_STAT_LEDS
static bool blue_led = false ;
static bool red_led = false ;
static uint32_t stat_update = 0 ;
void handle_status_leds ( void ) {
float max_temp = 0.0 ;
if ( millis ( ) > stat_update ) {
stat_update + = 500 ; // Update every 0.5s
for ( int8_t cur_extruder = 0 ; cur_extruder < EXTRUDERS ; + + cur_extruder ) {
max_temp = max ( max_temp , degHotend ( cur_extruder ) ) ;
max_temp = max ( max_temp , degTargetHotend ( cur_extruder ) ) ;
}
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
max_temp = max ( max_temp , degTargetBed ( ) ) ;
max_temp = max ( max_temp , degBed ( ) ) ;
# endif
if ( ( max_temp > 55.0 ) & & ( red_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 1 ) ;
digitalWrite ( STAT_LED_BLUE , 0 ) ;
red_led = true ;
blue_led = false ;
}
if ( ( max_temp < 54.0 ) & & ( blue_led = = false ) ) {
digitalWrite ( STAT_LED_RED , 0 ) ;
digitalWrite ( STAT_LED_BLUE , 1 ) ;
red_led = false ;
blue_led = true ;
}
}
}
# endif
void manage_inactivity ( bool ignore_stepper_queue /*=false*/ ) //default argument set in Marlin.h
{
# if defined(KILL_PIN) && KILL_PIN > -1
static int killCount = 0 ; // make the inactivity button a bit less responsive
const int KILL_DELAY = 10000 ;
# endif
# if defined(HOME_PIN) && HOME_PIN > -1
static int homeDebounceCount = 0 ; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 10000 ;
# endif
if ( buflen < ( BUFSIZE - 1 ) )
get_command ( ) ;
if ( ( millis ( ) - previous_millis_cmd ) > max_inactive_time )
if ( max_inactive_time )
kill ( ) ;
if ( stepper_inactive_time ) {
if ( ( millis ( ) - previous_millis_cmd ) > stepper_inactive_time )
{
if ( blocks_queued ( ) = = false & & ignore_stepper_queue = = false ) {
disable_x ( ) ;
disable_y ( ) ;
disable_z ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
}
}
}
# ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
if ( chdkActive & & ( millis ( ) - chdkHigh > CHDK_DELAY ) )
{
chdkActive = false ;
WRITE ( CHDK , LOW ) ;
}
# endif
# if defined(KILL_PIN) && KILL_PIN > -1
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
if ( 0 = = READ ( KILL_PIN ) )
{
killCount + + ;
}
else if ( killCount > 0 )
{
killCount - - ;
}
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if ( killCount > = KILL_DELAY )
{
kill ( ) ;
}
# endif
# if defined(HOME_PIN) && HOME_PIN > -1
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
if ( 0 = = READ ( HOME_PIN ) )
{
if ( homeDebounceCount = = 0 )
{
enquecommands_P ( ( PSTR ( " G28 " ) ) ) ;
homeDebounceCount + + ;
LCD_ALERTMESSAGEPGM ( MSG_AUTO_HOME ) ;
}
else if ( homeDebounceCount < HOME_DEBOUNCE_DELAY )
{
homeDebounceCount + + ;
}
else
{
homeDebounceCount = 0 ;
}
}
# endif
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
controllerFan ( ) ; //Check if fan should be turned on to cool stepper drivers down
# endif
# ifdef EXTRUDER_RUNOUT_PREVENT
if ( ( millis ( ) - previous_millis_cmd ) > EXTRUDER_RUNOUT_SECONDS * 1000 )
if ( degHotend ( active_extruder ) > EXTRUDER_RUNOUT_MINTEMP )
{
bool oldstatus = READ ( E0_ENABLE_PIN ) ;
enable_e0 ( ) ;
float oldepos = current_position [ E_AXIS ] ;
float oldedes = destination [ E_AXIS ] ;
plan_buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] ,
destination [ E_AXIS ] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit [ E_AXIS ] ,
EXTRUDER_RUNOUT_SPEED / 60. * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit [ E_AXIS ] , active_extruder ) ;
current_position [ E_AXIS ] = oldepos ;
destination [ E_AXIS ] = oldedes ;
plan_set_e_position ( oldepos ) ;
previous_millis_cmd = millis ( ) ;
st_synchronize ( ) ;
WRITE ( E0_ENABLE_PIN , oldstatus ) ;
}
# endif
# if defined(DUAL_X_CARRIAGE)
// handle delayed move timeout
if ( delayed_move_time ! = 0 & & ( millis ( ) - delayed_move_time ) > 1000 & & Stopped = = false )
{
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL ; // force moves to be done
memcpy ( destination , current_position , sizeof ( destination ) ) ;
prepare_move ( ) ;
}
# endif
# ifdef TEMP_STAT_LEDS
handle_status_leds ( ) ;
# endif
check_axes_activity ( ) ;
}
void kill ( )
{
cli ( ) ; // Stop interrupts
disable_heater ( ) ;
disable_x ( ) ;
disable_y ( ) ;
disable_z ( ) ;
disable_e0 ( ) ;
disable_e1 ( ) ;
disable_e2 ( ) ;
disable_e3 ( ) ;
# if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode ( PS_ON_PIN , INPUT ) ;
# endif
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_KILLED ) ;
LCD_ALERTMESSAGEPGM ( MSG_KILLED ) ;
// FMC small patch to update the LCD before ending
sei ( ) ; // enable interrupts
for ( int i = 5 ; i - - ; lcd_update ( ) )
{
delay ( 200 ) ;
}
cli ( ) ; // disable interrupts
suicide ( ) ;
while ( 1 ) { /* Intentionally left empty */ } // Wait for reset
}
void Stop ( )
{
disable_heater ( ) ;
if ( Stopped = = false ) {
Stopped = true ;
Stopped_gcode_LastN = gcode_LastN ; // Save last g_code for restart
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( MSG_ERR_STOPPED ) ;
LCD_MESSAGEPGM ( MSG_STOPPED ) ;
}
}
bool IsStopped ( ) { return Stopped ; } ;
# ifdef FAST_PWM_FAN
void setPwmFrequency ( uint8_t pin , int val )
{
val & = 0x07 ;
switch ( digitalPinToTimer ( pin ) )
{
# if defined(TCCR0A)
case TIMER0A :
case TIMER0B :
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break ;
# endif
# if defined(TCCR1A)
case TIMER1A :
case TIMER1B :
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break ;
# endif
# if defined(TCCR2)
case TIMER2 :
case TIMER2 :
TCCR2 & = ~ ( _BV ( CS10 ) | _BV ( CS11 ) | _BV ( CS12 ) ) ;
TCCR2 | = val ;
break ;
# endif
# if defined(TCCR2A)
case TIMER2A :
case TIMER2B :
TCCR2B & = ~ ( _BV ( CS20 ) | _BV ( CS21 ) | _BV ( CS22 ) ) ;
TCCR2B | = val ;
break ;
# endif
# if defined(TCCR3A)
case TIMER3A :
case TIMER3B :
case TIMER3C :
TCCR3B & = ~ ( _BV ( CS30 ) | _BV ( CS31 ) | _BV ( CS32 ) ) ;
TCCR3B | = val ;
break ;
# endif
# if defined(TCCR4A)
case TIMER4A :
case TIMER4B :
case TIMER4C :
TCCR4B & = ~ ( _BV ( CS40 ) | _BV ( CS41 ) | _BV ( CS42 ) ) ;
TCCR4B | = val ;
break ;
# endif
# if defined(TCCR5A)
case TIMER5A :
case TIMER5B :
case TIMER5C :
TCCR5B & = ~ ( _BV ( CS50 ) | _BV ( CS51 ) | _BV ( CS52 ) ) ;
TCCR5B | = val ;
break ;
# endif
}
}
# endif //FAST_PWM_FAN
bool setTargetedHotend ( int code ) {
tmp_extruder = active_extruder ;
if ( code_seen ( ' T ' ) ) {
tmp_extruder = code_value ( ) ;
if ( tmp_extruder > = EXTRUDERS ) {
SERIAL_ECHO_START ;
switch ( code ) {
case 104 :
SERIAL_ECHO ( MSG_M104_INVALID_EXTRUDER ) ;
break ;
case 105 :
SERIAL_ECHO ( MSG_M105_INVALID_EXTRUDER ) ;
break ;
case 109 :
SERIAL_ECHO ( MSG_M109_INVALID_EXTRUDER ) ;
break ;
case 218 :
SERIAL_ECHO ( MSG_M218_INVALID_EXTRUDER ) ;
break ;
case 221 :
SERIAL_ECHO ( MSG_M221_INVALID_EXTRUDER ) ;
break ;
}
SERIAL_ECHOLN ( tmp_extruder ) ;
return true ;
}
}
return false ;
}
float calculate_volumetric_multiplier ( float diameter ) {
if ( ! volumetric_enabled | | diameter = = 0 ) return 1.0 ;
float d2 = diameter * 0.5 ;
return 1.0 / ( M_PI * d2 * d2 ) ;
}
void calculate_volumetric_multipliers ( ) {
for ( int i = 0 ; i < EXTRUDERS ; i + + )
volumetric_multiplier [ i ] = calculate_volumetric_multiplier ( filament_size [ i ] ) ;
}
