From 4231faf7796ca8adb9ca861b014b65e79f67b376 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 6 Sep 2017 06:28:31 -0500 Subject: [PATCH] Initial split-up of G-code handlers by category --- Marlin/src/Marlin.cpp | 226 +---- Marlin/src/Marlin.h | 2 - Marlin/src/core/macros.h | 3 + Marlin/src/feature/I2CPositionEncoder.h | 11 - Marlin/src/feature/tmc2130.cpp | 2 - Marlin/src/feature/tmc2130.h | 8 + Marlin/src/gcode/calibrate/G26.h | 27 + Marlin/src/gcode/calibrate/G28.h | 324 ++++++ Marlin/src/gcode/calibrate/G29-abl.h | 946 ++++++++++++++++++ Marlin/src/gcode/calibrate/G29-mbl.h | 200 ++++ Marlin/src/gcode/calibrate/G29-ubl.h | 27 + Marlin/src/gcode/calibrate/G29.h | 65 ++ Marlin/src/gcode/calibrate/G33.h | 451 +++++++++ .../gcode/calibrate/M100.h} | 155 ++- Marlin/src/gcode/calibrate/M420.h | 121 +++ Marlin/src/gcode/calibrate/M421-abl.h | 51 + Marlin/src/gcode/calibrate/M421-mbl.h | 49 + Marlin/src/gcode/calibrate/M421-ubl.h | 56 ++ Marlin/src/gcode/calibrate/M48.h | 273 +++++ Marlin/src/gcode/calibrate/M49.h | 27 + Marlin/src/gcode/calibrate/M665.h | 93 ++ Marlin/src/gcode/calibrate/M666.h | 66 ++ Marlin/src/gcode/calibrate/common.h | 81 ++ Marlin/src/gcode/config/M200.h | 46 + Marlin/src/gcode/config/M201.h | 40 + Marlin/src/gcode/config/M203.h | 37 + Marlin/src/gcode/config/M204.h | 49 + Marlin/src/gcode/config/M205.h | 42 + Marlin/src/gcode/config/M218.h | 54 + Marlin/src/gcode/config/M220.h | 28 + Marlin/src/gcode/config/M221.h | 30 + Marlin/src/gcode/config/M301.h | 69 ++ Marlin/src/gcode/config/M302.h | 54 + Marlin/src/gcode/config/M304.h | 34 + Marlin/src/gcode/config/M43.h | 311 ++++++ Marlin/src/gcode/config/M540.h | 28 + Marlin/src/gcode/config/M92.h | 51 + Marlin/src/gcode/control/M108.h | 30 + Marlin/src/gcode/control/M111.h | 61 ++ Marlin/src/gcode/control/M112.h | 30 + Marlin/src/gcode/control/M120_M121.h | 39 + Marlin/src/gcode/control/M17.h | 29 + Marlin/src/gcode/control/M18_M84.h | 53 + Marlin/src/gcode/control/M211.h | 46 + Marlin/src/gcode/control/M226.h | 54 + Marlin/src/gcode/control/M280.h | 43 + Marlin/src/gcode/control/M3-M5.h | 127 +++ Marlin/src/gcode/control/M350.h | 33 + Marlin/src/gcode/control/M351.h | 39 + Marlin/src/gcode/control/M380_M381.h | 93 ++ Marlin/src/gcode/control/M400.h | 30 + Marlin/src/gcode/control/M410.h | 33 + Marlin/src/gcode/control/M42.h | 59 ++ Marlin/src/gcode/control/M605.h | 76 ++ Marlin/src/gcode/control/M80.h | 56 ++ Marlin/src/gcode/control/M81.h | 53 + Marlin/src/gcode/control/M85.h | 31 + Marlin/src/gcode/control/M999.h | 41 + Marlin/src/gcode/control/T.h | 62 ++ Marlin/src/gcode/eeprom/M500.h | 28 + Marlin/src/gcode/eeprom/M501.h | 28 + Marlin/src/gcode/eeprom/M502.h | 28 + Marlin/src/gcode/eeprom/M503.h | 28 + Marlin/src/gcode/feature/advance/M900.h | 52 + Marlin/src/gcode/feature/baricuda/M126.h | 30 + Marlin/src/gcode/feature/baricuda/M127.h | 30 + Marlin/src/gcode/feature/baricuda/M128.h | 30 + Marlin/src/gcode/feature/baricuda/M129.h | 30 + Marlin/src/gcode/feature/camera/M240.h | 53 + Marlin/src/gcode/feature/caselight/M355.h | 77 ++ Marlin/src/gcode/feature/clean/G12.h | 36 + Marlin/src/gcode/feature/digipot/M907.h | 61 ++ Marlin/src/gcode/feature/digipot/M908.h | 39 + Marlin/src/gcode/feature/digipot/M909.h | 27 + Marlin/src/gcode/feature/digipot/M910.h | 27 + Marlin/src/gcode/feature/fwretract/G10_G11.h | 41 + Marlin/src/gcode/feature/fwretract/M207.h | 36 + Marlin/src/gcode/feature/fwretract/M208.h | 36 + Marlin/src/gcode/feature/fwretract/M209.h | 35 + Marlin/src/gcode/feature/i2c/M260_M261.h | 70 ++ Marlin/src/gcode/feature/leds/M150.h | 46 + Marlin/src/gcode/feature/mixing/M163.h | 38 + Marlin/src/gcode/feature/mixing/M164.h | 36 + Marlin/src/gcode/feature/mixing/M165.h | 36 + Marlin/src/gcode/feature/pause/G27.h | 30 + Marlin/src/gcode/feature/pause/M125.h | 89 ++ Marlin/src/gcode/feature/pause/M600.h | 103 ++ Marlin/src/gcode/feature/pause/common.h | 335 +++++++ Marlin/src/gcode/feature/snmm/M702.h | 50 + Marlin/src/gcode/feature/trinamic/M906.h | 65 ++ Marlin/src/gcode/feature/trinamic/M911.h | 49 + Marlin/src/gcode/feature/trinamic/M912.h | 47 + Marlin/src/gcode/feature/trinamic/M913.h | 57 ++ Marlin/src/gcode/feature/trinamic/M914.h | 45 + Marlin/src/gcode/gcode.h | 682 +++++++++++++ Marlin/src/gcode/geometry/G17-G19.h | 36 + Marlin/src/gcode/geometry/G92.h | 66 ++ Marlin/src/gcode/geometry/M206.h | 42 + Marlin/src/gcode/geometry/M428.h | 61 ++ Marlin/src/gcode/host/M110.h | 28 + Marlin/src/gcode/host/M113.h | 37 + Marlin/src/gcode/host/M114.h | 113 +++ Marlin/src/gcode/host/M115.h | 100 ++ Marlin/src/gcode/host/M118.h | 33 + Marlin/src/gcode/host/M119.h | 26 + Marlin/src/gcode/lcd/M0_M1.h | 84 ++ Marlin/src/gcode/lcd/M117.h | 30 + Marlin/src/gcode/lcd/M145.h | 54 + Marlin/src/gcode/lcd/M250.h | 31 + Marlin/src/gcode/lcd/M300.h | 34 + Marlin/src/gcode/motion/G0_G1.h | 55 + Marlin/src/gcode/motion/G2_G3.h | 263 +++++ Marlin/src/gcode/motion/G4.h | 37 + Marlin/src/gcode/motion/G5.h | 66 ++ Marlin/src/gcode/parser.cpp | 11 +- Marlin/src/gcode/parser.h | 21 +- Marlin/src/gcode/probe/G30.h | 56 ++ Marlin/src/gcode/probe/G31_G32.h | 31 + Marlin/src/gcode/probe/G38.h | 108 ++ Marlin/src/gcode/probe/G42.h | 67 ++ Marlin/src/gcode/probe/M401_M402.h | 32 + Marlin/src/gcode/probe/M851.h | 76 ++ Marlin/src/gcode/process_next_command.h | 871 ++++++++++++++++ Marlin/src/gcode/scara/M360-M364.h | 73 ++ Marlin/src/gcode/sdcard/M20.h | 30 + Marlin/src/gcode/sdcard/M21.h | 26 + Marlin/src/gcode/sdcard/M22.h | 26 + Marlin/src/gcode/sdcard/M23.h | 30 + Marlin/src/gcode/sdcard/M24.h | 37 + Marlin/src/gcode/sdcard/M25.h | 33 + Marlin/src/gcode/sdcard/M26.h | 29 + Marlin/src/gcode/sdcard/M27.h | 26 + Marlin/src/gcode/sdcard/M28.h | 26 + Marlin/src/gcode/sdcard/M29.h | 29 + Marlin/src/gcode/sdcard/M30.h | 31 + Marlin/src/gcode/sdcard/M32.h | 44 + Marlin/src/gcode/sdcard/M33.h | 37 + Marlin/src/gcode/sdcard/M34.h | 33 + Marlin/src/gcode/sdcard/M928.h | 28 + Marlin/src/gcode/sensor/M404.h | 34 + Marlin/src/gcode/sensor/M405.h | 49 + Marlin/src/gcode/sensor/M406.h | 29 + Marlin/src/gcode/sensor/M407.h | 29 + Marlin/src/gcode/stats/M31.h | 34 + Marlin/src/gcode/stats/M75.h | 26 + Marlin/src/gcode/stats/M76.h | 26 + Marlin/src/gcode/stats/M77.h | 26 + Marlin/src/gcode/stats/M78.h | 31 + Marlin/src/gcode/temperature/M104.h | 63 ++ Marlin/src/gcode/temperature/M105.h | 38 + Marlin/src/gcode/temperature/M106.h | 34 + Marlin/src/gcode/temperature/M107.h | 29 + Marlin/src/gcode/temperature/M109.h | 185 ++++ Marlin/src/gcode/temperature/M140.h | 29 + Marlin/src/gcode/temperature/M155.h | 32 + Marlin/src/gcode/temperature/M190.h | 149 +++ Marlin/src/gcode/temperature/M303.h | 54 + Marlin/src/gcode/units/G20_G21.h | 31 + Marlin/src/gcode/units/M149.h | 30 + Marlin/src/gcode/units/M82_M83.h | 31 + Marlin/src/module/tool_change.cpp | 550 ++++++++++ Marlin/src/module/tool_change.h | 57 ++ 162 files changed, 12052 insertions(+), 336 deletions(-) create mode 100644 Marlin/src/gcode/calibrate/G26.h create mode 100644 Marlin/src/gcode/calibrate/G28.h create mode 100644 Marlin/src/gcode/calibrate/G29-abl.h create mode 100644 Marlin/src/gcode/calibrate/G29-mbl.h create mode 100644 Marlin/src/gcode/calibrate/G29-ubl.h create mode 100644 Marlin/src/gcode/calibrate/G29.h create mode 100644 Marlin/src/gcode/calibrate/G33.h rename Marlin/{M100_Free_Mem_Chk.cpp => src/gcode/calibrate/M100.h} (94%) create mode 100644 Marlin/src/gcode/calibrate/M420.h create mode 100644 Marlin/src/gcode/calibrate/M421-abl.h create mode 100644 Marlin/src/gcode/calibrate/M421-mbl.h create mode 100644 Marlin/src/gcode/calibrate/M421-ubl.h create mode 100644 Marlin/src/gcode/calibrate/M48.h create mode 100644 Marlin/src/gcode/calibrate/M49.h create mode 100644 Marlin/src/gcode/calibrate/M665.h create mode 100644 Marlin/src/gcode/calibrate/M666.h create mode 100644 Marlin/src/gcode/calibrate/common.h create mode 100644 Marlin/src/gcode/config/M200.h create mode 100644 Marlin/src/gcode/config/M201.h create mode 100644 Marlin/src/gcode/config/M203.h create mode 100644 Marlin/src/gcode/config/M204.h create mode 100644 Marlin/src/gcode/config/M205.h create mode 100644 Marlin/src/gcode/config/M218.h create mode 100644 Marlin/src/gcode/config/M220.h create mode 100644 Marlin/src/gcode/config/M221.h create mode 100644 Marlin/src/gcode/config/M301.h create mode 100644 Marlin/src/gcode/config/M302.h create mode 100644 Marlin/src/gcode/config/M304.h create mode 100644 Marlin/src/gcode/config/M43.h create mode 100644 Marlin/src/gcode/config/M540.h create mode 100644 Marlin/src/gcode/config/M92.h create mode 100644 Marlin/src/gcode/control/M108.h create mode 100644 Marlin/src/gcode/control/M111.h create mode 100644 Marlin/src/gcode/control/M112.h create mode 100644 Marlin/src/gcode/control/M120_M121.h create mode 100644 Marlin/src/gcode/control/M17.h create mode 100644 Marlin/src/gcode/control/M18_M84.h create mode 100644 Marlin/src/gcode/control/M211.h create mode 100644 Marlin/src/gcode/control/M226.h create mode 100644 Marlin/src/gcode/control/M280.h create mode 100644 Marlin/src/gcode/control/M3-M5.h create mode 100644 Marlin/src/gcode/control/M350.h create mode 100644 Marlin/src/gcode/control/M351.h create mode 100644 Marlin/src/gcode/control/M380_M381.h create mode 100644 Marlin/src/gcode/control/M400.h create mode 100644 Marlin/src/gcode/control/M410.h create mode 100644 Marlin/src/gcode/control/M42.h create mode 100644 Marlin/src/gcode/control/M605.h create mode 100644 Marlin/src/gcode/control/M80.h create mode 100644 Marlin/src/gcode/control/M81.h create mode 100644 Marlin/src/gcode/control/M85.h create mode 100644 Marlin/src/gcode/control/M999.h create mode 100644 Marlin/src/gcode/control/T.h create mode 100644 Marlin/src/gcode/eeprom/M500.h create mode 100644 Marlin/src/gcode/eeprom/M501.h create mode 100644 Marlin/src/gcode/eeprom/M502.h create mode 100644 Marlin/src/gcode/eeprom/M503.h create mode 100644 Marlin/src/gcode/feature/advance/M900.h create mode 100644 Marlin/src/gcode/feature/baricuda/M126.h create mode 100644 Marlin/src/gcode/feature/baricuda/M127.h create mode 100644 Marlin/src/gcode/feature/baricuda/M128.h create mode 100644 Marlin/src/gcode/feature/baricuda/M129.h create mode 100644 Marlin/src/gcode/feature/camera/M240.h create mode 100644 Marlin/src/gcode/feature/caselight/M355.h create mode 100644 Marlin/src/gcode/feature/clean/G12.h create mode 100644 Marlin/src/gcode/feature/digipot/M907.h create mode 100644 Marlin/src/gcode/feature/digipot/M908.h create mode 100644 Marlin/src/gcode/feature/digipot/M909.h create mode 100644 Marlin/src/gcode/feature/digipot/M910.h create mode 100644 Marlin/src/gcode/feature/fwretract/G10_G11.h create mode 100644 Marlin/src/gcode/feature/fwretract/M207.h create mode 100644 Marlin/src/gcode/feature/fwretract/M208.h create mode 100644 Marlin/src/gcode/feature/fwretract/M209.h create mode 100644 Marlin/src/gcode/feature/i2c/M260_M261.h create mode 100644 Marlin/src/gcode/feature/leds/M150.h create mode 100644 Marlin/src/gcode/feature/mixing/M163.h create mode 100644 Marlin/src/gcode/feature/mixing/M164.h create mode 100644 Marlin/src/gcode/feature/mixing/M165.h create mode 100644 Marlin/src/gcode/feature/pause/G27.h create mode 100644 Marlin/src/gcode/feature/pause/M125.h create mode 100644 Marlin/src/gcode/feature/pause/M600.h create mode 100644 Marlin/src/gcode/feature/pause/common.h create mode 100644 Marlin/src/gcode/feature/snmm/M702.h create mode 100644 Marlin/src/gcode/feature/trinamic/M906.h create mode 100644 Marlin/src/gcode/feature/trinamic/M911.h create mode 100644 Marlin/src/gcode/feature/trinamic/M912.h create mode 100644 Marlin/src/gcode/feature/trinamic/M913.h create mode 100644 Marlin/src/gcode/feature/trinamic/M914.h create mode 100644 Marlin/src/gcode/gcode.h create mode 100644 Marlin/src/gcode/geometry/G17-G19.h create mode 100644 Marlin/src/gcode/geometry/G92.h create mode 100644 Marlin/src/gcode/geometry/M206.h create mode 100644 Marlin/src/gcode/geometry/M428.h create mode 100644 Marlin/src/gcode/host/M110.h create mode 100644 Marlin/src/gcode/host/M113.h create mode 100644 Marlin/src/gcode/host/M114.h create mode 100644 Marlin/src/gcode/host/M115.h create mode 100644 Marlin/src/gcode/host/M118.h create mode 100644 Marlin/src/gcode/host/M119.h create mode 100644 Marlin/src/gcode/lcd/M0_M1.h create mode 100644 Marlin/src/gcode/lcd/M117.h create mode 100644 Marlin/src/gcode/lcd/M145.h create mode 100644 Marlin/src/gcode/lcd/M250.h create mode 100644 Marlin/src/gcode/lcd/M300.h create mode 100644 Marlin/src/gcode/motion/G0_G1.h create mode 100644 Marlin/src/gcode/motion/G2_G3.h create mode 100644 Marlin/src/gcode/motion/G4.h create mode 100644 Marlin/src/gcode/motion/G5.h create mode 100644 Marlin/src/gcode/probe/G30.h create mode 100644 Marlin/src/gcode/probe/G31_G32.h create mode 100644 Marlin/src/gcode/probe/G38.h create mode 100644 Marlin/src/gcode/probe/G42.h create mode 100644 Marlin/src/gcode/probe/M401_M402.h create mode 100644 Marlin/src/gcode/probe/M851.h create mode 100644 Marlin/src/gcode/process_next_command.h create mode 100644 Marlin/src/gcode/scara/M360-M364.h create mode 100644 Marlin/src/gcode/sdcard/M20.h create mode 100644 Marlin/src/gcode/sdcard/M21.h create mode 100644 Marlin/src/gcode/sdcard/M22.h create mode 100644 Marlin/src/gcode/sdcard/M23.h create mode 100644 Marlin/src/gcode/sdcard/M24.h create mode 100644 Marlin/src/gcode/sdcard/M25.h create mode 100644 Marlin/src/gcode/sdcard/M26.h create mode 100644 Marlin/src/gcode/sdcard/M27.h create mode 100644 Marlin/src/gcode/sdcard/M28.h create mode 100644 Marlin/src/gcode/sdcard/M29.h create mode 100644 Marlin/src/gcode/sdcard/M30.h create mode 100644 Marlin/src/gcode/sdcard/M32.h create mode 100644 Marlin/src/gcode/sdcard/M33.h create mode 100644 Marlin/src/gcode/sdcard/M34.h create mode 100644 Marlin/src/gcode/sdcard/M928.h create mode 100644 Marlin/src/gcode/sensor/M404.h create mode 100644 Marlin/src/gcode/sensor/M405.h create mode 100644 Marlin/src/gcode/sensor/M406.h create mode 100644 Marlin/src/gcode/sensor/M407.h create mode 100644 Marlin/src/gcode/stats/M31.h create mode 100644 Marlin/src/gcode/stats/M75.h create mode 100644 Marlin/src/gcode/stats/M76.h create mode 100644 Marlin/src/gcode/stats/M77.h create mode 100644 Marlin/src/gcode/stats/M78.h create mode 100644 Marlin/src/gcode/temperature/M104.h create mode 100644 Marlin/src/gcode/temperature/M105.h create mode 100644 Marlin/src/gcode/temperature/M106.h create mode 100644 Marlin/src/gcode/temperature/M107.h create mode 100644 Marlin/src/gcode/temperature/M109.h create mode 100644 Marlin/src/gcode/temperature/M140.h create mode 100644 Marlin/src/gcode/temperature/M155.h create mode 100644 Marlin/src/gcode/temperature/M190.h create mode 100644 Marlin/src/gcode/temperature/M303.h create mode 100644 Marlin/src/gcode/units/G20_G21.h create mode 100644 Marlin/src/gcode/units/M149.h create mode 100644 Marlin/src/gcode/units/M82_M83.h create mode 100644 Marlin/src/module/tool_change.cpp create mode 100644 Marlin/src/module/tool_change.h diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index a432eead0..6eb0ee164 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -25,220 +25,7 @@ * * This firmware is a mashup between Sprinter and grbl. * - https://github.com/kliment/Sprinter - * - https://github.com/simen/grbl/tree - */ - -/** - * ----------------- - * G-Codes in Marlin - * ----------------- - * - * Helpful G-code references: - * - http://linuxcnc.org/handbook/gcode/g-code.html - * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes - * - * Help to document Marlin's G-codes online: - * - http://reprap.org/wiki/G-code - * - https://github.com/MarlinFirmware/MarlinDocumentation - * - * ----------------- - * - * "G" Codes - * - * G0 -> G1 - * G1 - Coordinated Movement X Y Z E - * G2 - CW ARC - * G3 - CCW ARC - * G4 - Dwell S or P - * G5 - Cubic B-spline with XYZE destination and IJPQ offsets - * G10 - Retract filament according to settings of M207 (Requires FWRETRACT) - * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT) - * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE) - * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) - * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) - * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) - * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT) - * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT) - * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION) - * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) - * G28 - Home one or more axes - * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling) - * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) - * G31 - Dock sled (Z_PROBE_SLED only) - * G32 - Undock sled (Z_PROBE_SLED only) - * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION) - * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET) - * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL) - * 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 -> M0 - * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise - * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise - * M5 - Turn laser/spindle off - * M17 - Enable/Power all stepper motors - * M18 - Disable all stepper motors; same as M84 - * M20 - List SD card. (Requires SDSUPPORT) - * M21 - Init SD card. (Requires SDSUPPORT) - * M22 - Release SD card. (Requires SDSUPPORT) - * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) - * M24 - Start/resume SD print. (Requires SDSUPPORT) - * M25 - Pause SD print. (Requires SDSUPPORT) - * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) - * M27 - Report SD print status. (Requires SDSUPPORT) - * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) - * M29 - Stop SD write. (Requires SDSUPPORT) - * M30 - Delete file from SD: "M30 /path/file.gco" - * M31 - Report time since last M109 or SD card start to serial. - * M32 - Select file and start SD print: "M32 [S] !/path/file.gco#". (Requires SDSUPPORT) - * Use P to run other files as sub-programs: "M32 P !filename#" - * The '#' is necessary when calling from within sd files, as it stops buffer prereading - * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT) - * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA) - * M42 - Change pin status via gcode: M42 P S. LED pin assumed if P is omitted. - * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins - * M48 - Measure Z Probe repeatability: M48 P X Y V E L. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) - * M75 - Start the print job timer. - * M76 - Pause the print job timer. - * M77 - Stop the print job timer. - * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER) - * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0) - * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0) - * M82 - Set E codes absolute (default). - * M83 - Set E codes relative while in Absolute (G90) mode. - * M84 - Disable steppers until next move, or use S to specify an idle - * duration after which steppers should turn off. S0 disables the timeout. - * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) - * M92 - Set planner.axis_steps_per_mm for one or more axes. - * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) - * M104 - Set extruder target temp. - * M105 - Report current temperatures. - * M106 - Fan on. - * M107 - Fan off. - * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) - * 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 B F. Exit autotemp by any M109 without F - * M110 - Set the current line number. (Used by host printing) - * M111 - Set debug flags: "M111 S". See flag bits defined in enum.h. - * M112 - Emergency stop. - * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE) - * M114 - Report current position. - * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) - * M117 - Display a message on the controller screen. (Requires an LCD) - * M118 - Display a message in the host console. - * M119 - Report endstops status. - * M120 - Enable endstops detection. - * M121 - Disable endstops detection. - * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE) - * M126 - Solenoid Air Valve Open. (Requires BARICUDA) - * M127 - Solenoid Air Valve Closed. (Requires BARICUDA) - * M128 - EtoP Open. (Requires BARICUDA) - * M129 - EtoP Closed. (Requires BARICUDA) - * M140 - Set bed target temp. S - * M145 - Set heatup values for materials on the LCD. H B F for S (0=PLA, 1=ABS) - * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) - * M150 - Set Status LED Color as R U B. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632) - * M155 - Auto-report temperatures with interval of S. (Requires AUTO_REPORT_TEMPERATURES) - * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) - * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS) - * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER) - * 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 for heating or cooling. ** - * M200 - Set filament diameter, D, setting E axis units to cubic. (Use S0 to revert to linear units.) - * M201 - Set max acceleration in units/s^2 for print moves: "M201 X Y Z E" - * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X Y Z E" ** UNUSED IN MARLIN! ** - * M203 - Set maximum feedrate: "M203 X Y Z E" in units/sec. - * M204 - Set default acceleration in units/sec^2: P R T - * M205 - Set advanced settings. Current units apply: - S T minimum speeds - B - X, Y, Z, E - * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) - * M207 - Set Retract Length: S, Feedrate: F, and Z lift: Z. (Requires FWRETRACT) - * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F. (Requires FWRETRACT) - * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT) - Every normal extrude-only move will be classified as retract depending on the direction. - * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) - * M218 - Set a tool offset: "M218 T X Y". (Requires 2 or more extruders) - * M220 - Set Feedrate Percentage: "M220 S" (i.e., "FR" on the LCD) - * M221 - Set Flow Percentage: "M221 S" - * M226 - Wait until a pin is in a given state: "M226 P S" - * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN) - * M250 - Set LCD contrast: "M250 C" (0-63). (Requires LCD support) - * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS) - * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS) - * M280 - Set servo position absolute: "M280 P S". (Requires servos) - * M300 - Play beep sound S P - * M301 - Set PID parameters P I and D. (Requires PIDTEMP) - * M302 - Allow cold extrudes, or set the minimum extrude S. (Requires PREVENT_COLD_EXTRUSION) - * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) - * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) - * M350 - Set microstepping mode. (Requires digital microstepping pins.) - * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) - * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) - * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) - * M381 - Disable all solenoids. (Requires EXT_SOLENOID) - * M400 - Finish all moves. - * M401 - Lower Z probe. (Requires a probe) - * M402 - Raise Z probe. (Requires a probe) - * M404 - Display or set the Nominal Filament Width: "W". (Requires FILAMENT_WIDTH_SENSOR) - * M405 - Enable Filament Sensor flow control. "M405 D". (Requires FILAMENT_WIDTH_SENSOR) - * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR) - * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR) - * M410 - Quickstop. Abort all planned moves. - * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL) - * M421 - Set a single Z coordinate in the Mesh Leveling grid. X Y Z (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL) - * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) - * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS) - * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS) - * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! ** - * M503 - Print the current settings (in memory): "M503 S". S0 specifies compact output. - * M540 - Enable/disable SD card abort on endstop hit: "M540 S". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) - * M600 - Pause for filament change: "M600 X Y Z E L". (Requires ADVANCED_PAUSE_FEATURE) - * M665 - Set delta configurations: "M665 L R S A B C I J K" (Requires DELTA) - * M666 - Set delta endstop adjustment. (Requires DELTA) - * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) - * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) - * M860 - Report the position of position encoder modules. - * M861 - Report the status of position encoder modules. - * M862 - Perform an axis continuity test for position encoder modules. - * M863 - Perform steps-per-mm calibration for position encoder modules. - * M864 - Change position encoder module I2C address. - * M865 - Check position encoder module firmware version. - * M866 - Report or reset position encoder module error count. - * M867 - Enable/disable or toggle error correction for position encoder modules. - * M868 - Report or set position encoder module error correction threshold. - * M869 - Report position encoder module error. - * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE) - * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130) - * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) - * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) - * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT) - * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT) - * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130) - * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130) - * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) - * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) - * - * 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) - * - * ************ Custom codes - This can change to suit future G-code regulations - * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT) - * M999 - Restart after being stopped by error - * - * "T" Codes - * - * T0-T3 - Select an extruder (tool) by index: "T F" - * + * - https://github.com/simen/grbl */ #include "Marlin.h" @@ -316,7 +103,6 @@ #endif #if ENABLED(M100_FREE_MEMORY_WATCHER) - void gcode_M100(); void M100_dump_routine(const char * const title, const char *start, const char *end); #endif @@ -344,6 +130,10 @@ || isnan(ubl.z_values[0][0])) #endif +#if ENABLED(SENSORLESS_HOMING) + #include "feature/tmc2130.h" +#endif + bool Running = true; /** @@ -3328,7 +3118,7 @@ void dwell(millis_t time) { #endif #if ENABLED(CNC_WORKSPACE_PLANES) - #include "gcode/feature/clean/G17-G19.h" + #include "gcode/geometry/G17-G19.h" #endif #if ENABLED(INCH_MODE_SUPPORT) @@ -3732,11 +3522,11 @@ void report_current_position() { #endif #if defined(CHDK) || HAS_PHOTOGRAPH - #include "gcode/control/M240.h" + #include "gcode/feature/camera/M240.h" #endif #if HAS_LCD_CONTRAST - #include "gcode/control/M250.h" + #include "gcode/lcd/M250.h" #endif #if ENABLED(PREVENT_COLD_EXTRUSION) diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h index 53b2eb9ab..fa8160e17 100644 --- a/Marlin/src/Marlin.h +++ b/Marlin/src/Marlin.h @@ -194,8 +194,6 @@ inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } */ extern int16_t feedrate_percentage; -#define MMM_TO_MMS(MM_M) ((MM_M)/60.0) -#define MMS_TO_MMM(MM_S) ((MM_S)*60.0) #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01) extern bool axis_relative_modes[]; diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 95154bc8c..e2f25eed4 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -172,6 +172,9 @@ #define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0) #define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON)) +#define MMM_TO_MMS(MM_M) ((MM_M)/60.0) +#define MMS_TO_MMM(MM_S) ((MM_S)*60.0) + #define NOOP do{} while(0) #define CEILING(x,y) (((x) + (y) - 1) / (y)) diff --git a/Marlin/src/feature/I2CPositionEncoder.h b/Marlin/src/feature/I2CPositionEncoder.h index ee4305fda..436b0ea2a 100644 --- a/Marlin/src/feature/I2CPositionEncoder.h +++ b/Marlin/src/feature/I2CPositionEncoder.h @@ -341,15 +341,4 @@ class I2CPositionEncodersMgr { extern I2CPositionEncodersMgr I2CPEM; -FORCE_INLINE static void gcode_M860() { I2CPEM.M860(); } -FORCE_INLINE static void gcode_M861() { I2CPEM.M861(); } -FORCE_INLINE static void gcode_M862() { I2CPEM.M862(); } -FORCE_INLINE static void gcode_M863() { I2CPEM.M863(); } -FORCE_INLINE static void gcode_M864() { I2CPEM.M864(); } -FORCE_INLINE static void gcode_M865() { I2CPEM.M865(); } -FORCE_INLINE static void gcode_M866() { I2CPEM.M866(); } -FORCE_INLINE static void gcode_M867() { I2CPEM.M867(); } -FORCE_INLINE static void gcode_M868() { I2CPEM.M868(); } -FORCE_INLINE static void gcode_M869() { I2CPEM.M869(); } - #endif //I2CPOSENC_H diff --git a/Marlin/src/feature/tmc2130.cpp b/Marlin/src/feature/tmc2130.cpp index 59e44a5f2..082d6e7f5 100644 --- a/Marlin/src/feature/tmc2130.cpp +++ b/Marlin/src/feature/tmc2130.cpp @@ -30,8 +30,6 @@ #include "../libs/duration_t.h" #include "../module/stepper_indirection.h" -#include - #ifdef AUTOMATIC_CURRENT_CONTROL bool auto_current_control = 0; #endif diff --git a/Marlin/src/feature/tmc2130.h b/Marlin/src/feature/tmc2130.h index bcaa78f9e..0b9c8bc25 100644 --- a/Marlin/src/feature/tmc2130.h +++ b/Marlin/src/feature/tmc2130.h @@ -23,8 +23,16 @@ #ifndef _TMC2130_H_ #define _TMC2130_H_ +#include + +#include "../inc/MarlinConfig.h" + extern bool auto_current_control; void tmc2130_checkOverTemp(void); +#if ENABLED(SENSORLESS_HOMING) + void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true); +#endif + #endif // _TMC2130_H_ diff --git a/Marlin/src/gcode/calibrate/G26.h b/Marlin/src/gcode/calibrate/G26.h new file mode 100644 index 000000000..f90cb22d1 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G26.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_G26() { + + ubl.G26(); + +} diff --git a/Marlin/src/gcode/calibrate/G28.h b/Marlin/src/gcode/calibrate/G28.h new file mode 100644 index 000000000..2c344b6ea --- /dev/null +++ b/Marlin/src/gcode/calibrate/G28.h @@ -0,0 +1,324 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "common.h" + +#if HOTENDS > 1 + #include "../control/tool_change.h" +#endif + +#if ENABLED(QUICK_HOME) + + static void quick_home_xy() { + + // Pretend the current position is 0,0 + current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; + sync_plan_position(); + + const int x_axis_home_dir = + #if ENABLED(DUAL_X_CARRIAGE) + x_home_dir(active_extruder) + #else + home_dir(X_AXIS) + #endif + ; + + const float mlx = max_length(X_AXIS), + mly = max_length(Y_AXIS), + mlratio = mlx > mly ? mly / mlx : mlx / mly, + fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); + + do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); + endstops.hit_on_purpose(); // clear endstop hit flags + current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; + } + +#endif // QUICK_HOME + +#if ENABLED(Z_SAFE_HOMING) + + inline void home_z_safely() { + + // Disallow Z homing if X or Y are unknown + if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { + LCD_MESSAGEPGM(MSG_ERR_Z_HOMING); + SERIAL_ECHO_START(); + SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING); + return; + } + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>"); + #endif + + SYNC_PLAN_POSITION_KINEMATIC(); + + /** + * Move the Z probe (or just the nozzle) to the safe homing point + */ + destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT); + destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT); + destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height + + #if HOMING_Z_WITH_PROBE + destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; + destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; + #endif + + if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) { + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); + #endif + + // This causes the carriage on Dual X to unpark + #if ENABLED(DUAL_X_CARRIAGE) + active_extruder_parked = false; + #endif + + do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); + HOMEAXIS(Z); + } + else { + LCD_MESSAGEPGM(MSG_ZPROBE_OUT); + SERIAL_ECHO_START(); + SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); + } + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING"); + #endif + } + +#endif // Z_SAFE_HOMING + +/** + * G28: Home all axes according to settings + * + * Parameters + * + * None Home to all axes with no parameters. + * With QUICK_HOME enabled XY will home together, then Z. + * + * Cartesian parameters + * + * X Home to the X endstop + * Y Home to the Y endstop + * Z Home to the Z endstop + * + */ +void gcode_G28(const bool always_home_all) { + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPGM(">>> gcode_G28"); + log_machine_info(); + } + #endif + + // Wait for planner moves to finish! + stepper.synchronize(); + + // Cancel the active G29 session + #if ENABLED(PROBE_MANUALLY) + g29_in_progress = false; + #endif + + // Disable the leveling matrix before homing + #if HAS_LEVELING + #if ENABLED(AUTO_BED_LEVELING_UBL) + const bool ubl_state_at_entry = leveling_is_active(); + #endif + set_bed_leveling_enabled(false); + #endif + + #if ENABLED(CNC_WORKSPACE_PLANES) + workspace_plane = PLANE_XY; + #endif + + // Always home with tool 0 active + #if HOTENDS > 1 + const uint8_t old_tool_index = active_extruder; + tool_change(0, 0, true); + #endif + + #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + extruder_duplication_enabled = false; + #endif + + setup_for_endstop_or_probe_move(); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); + #endif + endstops.enable(true); // Enable endstops for next homing move + + #if ENABLED(DELTA) + + home_delta(); + UNUSED(always_home_all); + + #else // NOT DELTA + + const bool homeX = always_home_all || parser.seen('X'), + homeY = always_home_all || parser.seen('Y'), + homeZ = always_home_all || parser.seen('Z'), + home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); + + set_destination_to_current(); + + #if Z_HOME_DIR > 0 // If homing away from BED do Z first + + if (home_all || homeZ) { + HOMEAXIS(Z); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position); + #endif + } + + #else + + if (home_all || homeX || homeY) { + // Raise Z before homing any other axes and z is not already high enough (never lower z) + destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT); + if (destination[Z_AXIS] > current_position[Z_AXIS]) { + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) + SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]); + #endif + + do_blocking_move_to_z(destination[Z_AXIS]); + } + } + + #endif + + #if ENABLED(QUICK_HOME) + + if (home_all || (homeX && homeY)) quick_home_xy(); + + #endif + + #if ENABLED(HOME_Y_BEFORE_X) + + // Home Y + if (home_all || homeY) { + HOMEAXIS(Y); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position); + #endif + } + + #endif + + // Home X + if (home_all || homeX) { + + #if ENABLED(DUAL_X_CARRIAGE) + + // Always home the 2nd (right) extruder first + active_extruder = 1; + HOMEAXIS(X); + + // Remember this extruder's position for later tool change + inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]); + + // Home the 1st (left) extruder + active_extruder = 0; + HOMEAXIS(X); + + // Consider the active extruder to be parked + COPY(raised_parked_position, current_position); + delayed_move_time = 0; + active_extruder_parked = true; + + #else + + HOMEAXIS(X); + + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position); + #endif + } + + #if DISABLED(HOME_Y_BEFORE_X) + // Home Y + if (home_all || homeY) { + HOMEAXIS(Y); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position); + #endif + } + #endif + + // Home Z last if homing towards the bed + #if Z_HOME_DIR < 0 + if (home_all || homeZ) { + #if ENABLED(Z_SAFE_HOMING) + home_z_safely(); + #else + HOMEAXIS(Z); + #endif + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position); + #endif + } // home_all || homeZ + #endif // Z_HOME_DIR < 0 + + SYNC_PLAN_POSITION_KINEMATIC(); + + #endif // !DELTA (gcode_G28) + + endstops.not_homing(); + + #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE) + // move to a height where we can use the full xy-area + do_blocking_move_to_z(delta_clip_start_height); + #endif + + #if ENABLED(AUTO_BED_LEVELING_UBL) + set_bed_leveling_enabled(ubl_state_at_entry); + #endif + + clean_up_after_endstop_or_probe_move(); + + // Restore the active tool after homing + #if HOTENDS > 1 + tool_change(old_tool_index, 0, + #if ENABLED(PARKING_EXTRUDER) + false // fetch the previous toolhead + #else + true + #endif + ); + #endif + + lcd_refresh(); + + report_current_position(); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28"); + #endif +} diff --git a/Marlin/src/gcode/calibrate/G29-abl.h b/Marlin/src/gcode/calibrate/G29-abl.h new file mode 100644 index 000000000..476cbfae3 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G29-abl.h @@ -0,0 +1,946 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ABL_GRID + #if ENABLED(PROBE_Y_FIRST) + #define PR_OUTER_VAR xCount + #define PR_OUTER_END abl_grid_points_x + #define PR_INNER_VAR yCount + #define PR_INNER_END abl_grid_points_y + #else + #define PR_OUTER_VAR yCount + #define PR_OUTER_END abl_grid_points_y + #define PR_INNER_VAR xCount + #define PR_INNER_END abl_grid_points_x + #endif +#endif + +/** + * 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 + * + * D Dry-Run mode. Just evaluate the bed Topology - Don't apply + * or alter the bed level data. Useful to check the topology + * after a first run of G29. + * + * J Jettison current bed leveling data + * + * V Set the verbose level (0-4). Example: "G29 V3" + * + * Parameters With LINEAR leveling only: + * + * P Set the size of the grid that will be probed (P x P points). + * Example: "G29 P4" + * + * X Set the X size of the grid that will be probed (X x Y points). + * Example: "G29 X7 Y5" + * + * Y Set the Y size of the grid that will be probed (X x Y points). + * + * 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. + * + * Parameters With LINEAR and BILINEAR leveling only: + * + * S Set the XY travel speed between probe points (in units/min) + * + * 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 + * + * Parameters with DEBUG_LEVELING_FEATURE only: + * + * C Make a totally fake grid with no actual probing. + * For use in testing when no probing is possible. + * + * Parameters with BILINEAR leveling only: + * + * Z Supply an additional Z probe offset + * + * Extra parameters with PROBE_MANUALLY: + * + * To do manual probing simply repeat G29 until the procedure is complete. + * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort. + * + * Q Query leveling and G29 state + * + * A Abort current leveling procedure + * + * Extra parameters with BILINEAR only: + * + * W Write a mesh point. (If G29 is idle.) + * I X index for mesh point + * J Y index for mesh point + * X X for mesh point, overrides I + * Y Y for mesh point, overrides J + * Z Z for mesh point. Otherwise, raw current Z. + * + * Without PROBE_MANUALLY: + * + * E By default G29 will engage the Z probe, test the bed, then disengage. + * Include "E" to engage/disengage the Z probe for each sample. + * There's no extra effect if you have a fixed Z probe. + * + */ +void gcode_G29() { + + // G29 Q is also available if debugging + #if ENABLED(DEBUG_LEVELING_FEATURE) + const bool query = parser.seen('Q'); + const uint8_t old_debug_flags = marlin_debug_flags; + if (query) marlin_debug_flags |= DEBUG_LEVELING; + if (DEBUGGING(LEVELING)) { + DEBUG_POS(">>> gcode_G29", current_position); + log_machine_info(); + } + marlin_debug_flags = old_debug_flags; + #if DISABLED(PROBE_MANUALLY) + if (query) return; + #endif + #endif + + #if ENABLED(PROBE_MANUALLY) + const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ; + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) + const bool faux = parser.boolval('C'); + #elif ENABLED(PROBE_MANUALLY) + const bool faux = no_action; + #else + bool constexpr faux = false; + #endif + + // Don't allow auto-leveling without homing first + if (axis_unhomed_error()) return; + + // Define local vars 'static' for manual probing, 'auto' otherwise + #if ENABLED(PROBE_MANUALLY) + #define ABL_VAR static + #else + #define ABL_VAR + #endif + + ABL_VAR int verbose_level; + ABL_VAR float xProbe, yProbe, measured_z; + ABL_VAR bool dryrun, abl_should_enable; + + #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) + ABL_VAR int abl_probe_index; + #endif + + #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY) + ABL_VAR bool enable_soft_endstops = true; + #endif + + #if ABL_GRID + + #if ENABLED(PROBE_MANUALLY) + ABL_VAR uint8_t PR_OUTER_VAR; + ABL_VAR int8_t PR_INNER_VAR; + #endif + + ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position; + ABL_VAR float xGridSpacing = 0, yGridSpacing = 0; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X, + abl_grid_points_y = GRID_MAX_POINTS_Y; + ABL_VAR bool do_topography_map; + #else // Bilinear + uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X, + abl_grid_points_y = GRID_MAX_POINTS_Y; + #endif + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY) + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + ABL_VAR int abl2; + #else // Bilinear + int constexpr abl2 = GRID_MAX_POINTS; + #endif + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + ABL_VAR float zoffset; + + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) + + ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + + ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations + eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points + mean; + #endif + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + int constexpr abl2 = 3; + + // Probe at 3 arbitrary points + ABL_VAR vector_3 points[3] = { + vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0), + vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0), + vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0) + }; + + #endif // AUTO_BED_LEVELING_3POINT + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + struct linear_fit_data lsf_results; + incremental_LSF_reset(&lsf_results); + #endif + + /** + * On the initial G29 fetch command parameters. + */ + if (!g29_in_progress) { + + #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) + abl_probe_index = -1; + #endif + + abl_should_enable = leveling_is_active(); + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (parser.seen('W')) { + if (!leveling_is_valid()) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("No bilinear grid"); + return; + } + + const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z)); + if (!WITHIN(z, -10, 10)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Bad Z value"); + return; + } + + const float x = parser.floatval('X', NAN), + y = parser.floatval('Y', NAN); + int8_t i = parser.byteval('I', -1), + j = parser.byteval('J', -1); + + if (!isnan(x) && !isnan(y)) { + // Get nearest i / j from x / y + i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing; + j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing; + i = constrain(i, 0, GRID_MAX_POINTS_X - 1); + j = constrain(j, 0, GRID_MAX_POINTS_Y - 1); + } + if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) { + set_bed_leveling_enabled(false); + z_values[i][j] = z; + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bed_level_virt_interpolate(); + #endif + set_bed_leveling_enabled(abl_should_enable); + } + return; + } // parser.seen('W') + + #endif + + #if HAS_LEVELING + + // Jettison bed leveling data + if (parser.seen('J')) { + reset_bed_level(); + return; + } + + #endif + + verbose_level = parser.intval('V'); + if (!WITHIN(verbose_level, 0, 4)) { + SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4)."); + return; + } + + dryrun = parser.boolval('D') + #if ENABLED(PROBE_MANUALLY) + || no_action + #endif + ; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + do_topography_map = verbose_level > 2 || parser.boolval('T'); + + // X and Y specify points in each direction, overriding the default + // These values may be saved with the completed mesh + abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X); + abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y); + if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int(); + + if (abl_grid_points_x < 2 || abl_grid_points_y < 2) { + SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum)."); + return; + } + + abl2 = abl_grid_points_x * abl_grid_points_y; + mean = 0; + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + zoffset = parser.linearval('Z'); + + #endif + + #if ABL_GRID + + xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED)); + + left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION)); + right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION)); + front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION)); + back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION)); + + const bool left_out_l = left_probe_bed_position < LOGICAL_X_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 > LOGICAL_X_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 < LOGICAL_Y_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 > LOGICAL_Y_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) { + out_of_range_error(PSTR("(L)eft")); + left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE); + } + if (right_out) { + out_of_range_error(PSTR("(R)ight")); + right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE; + } + if (front_out) { + out_of_range_error(PSTR("(F)ront")); + front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE); + } + if (back_out) { + out_of_range_error(PSTR("(B)ack")); + back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE; + } + return; + } + + // probe at the points of a lattice grid + xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1); + yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); + + #endif // ABL_GRID + + if (verbose_level > 0) { + SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling"); + if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode"); + } + + stepper.synchronize(); + + // Disable auto bed leveling during G29 + planner.abl_enabled = false; + + if (!dryrun) { + // Re-orient the current position without leveling + // based on where the steppers are positioned. + set_current_from_steppers_for_axis(ALL_AXES); + + // Sync the planner to where the steppers stopped + SYNC_PLAN_POSITION_KINEMATIC(); + } + + #if HAS_BED_PROBE + // Deploy the probe. Probe will raise if needed. + if (DEPLOY_PROBE()) { + planner.abl_enabled = abl_should_enable; + return; + } + #endif + + if (!faux) setup_for_endstop_or_probe_move(); + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + #if ENABLED(PROBE_MANUALLY) + if (!no_action) + #endif + if ( xGridSpacing != bilinear_grid_spacing[X_AXIS] + || yGridSpacing != bilinear_grid_spacing[Y_AXIS] + || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + ) { + if (dryrun) { + // Before reset bed level, re-enable to correct the position + planner.abl_enabled = abl_should_enable; + } + // Reset grid to 0.0 or "not probed". (Also disables ABL) + reset_bed_level(); + + // Initialize a grid with the given dimensions + bilinear_grid_spacing[X_AXIS] = xGridSpacing; + bilinear_grid_spacing[Y_AXIS] = yGridSpacing; + bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position); + bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position); + + // Can't re-enable (on error) until the new grid is written + abl_should_enable = false; + } + + #endif // AUTO_BED_LEVELING_BILINEAR + + #if ENABLED(AUTO_BED_LEVELING_3POINT) + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); + #endif + + // Probe at 3 arbitrary points + points[0].z = points[1].z = points[2].z = 0; + + #endif // AUTO_BED_LEVELING_3POINT + + } // !g29_in_progress + + #if ENABLED(PROBE_MANUALLY) + + // For manual probing, get the next index to probe now. + // On the first probe this will be incremented to 0. + if (!no_action) { + ++abl_probe_index; + g29_in_progress = true; + } + + // Abort current G29 procedure, go back to idle state + if (seenA && g29_in_progress) { + SERIAL_PROTOCOLLNPGM("Manual G29 aborted"); + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + planner.abl_enabled = abl_should_enable; + g29_in_progress = false; + #if ENABLED(LCD_BED_LEVELING) + lcd_wait_for_move = false; + #endif + } + + // Query G29 status + if (verbose_level || seenQ) { + SERIAL_PROTOCOLPGM("Manual G29 "); + if (g29_in_progress) { + SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2)); + SERIAL_PROTOCOLLNPAIR(" of ", abl2); + } + else + SERIAL_PROTOCOLLNPGM("idle"); + } + + if (no_action) return; + + if (abl_probe_index == 0) { + // For the initial G29 save software endstop state + #if HAS_SOFTWARE_ENDSTOPS + enable_soft_endstops = soft_endstops_enabled; + #endif + } + else { + // For G29 after adjusting Z. + // Save the previous Z before going to the next point + measured_z = current_position[Z_AXIS]; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + mean += measured_z; + eqnBVector[abl_probe_index] = measured_z; + eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; + eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; + eqnAMatrix[abl_probe_index + 2 * abl2] = 1; + + incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + z_values[xCount][yCount] = measured_z + zoffset; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_PROTOCOLPAIR("Save X", xCount); + SERIAL_PROTOCOLPAIR(" Y", yCount); + SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset); + } + #endif + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + points[abl_probe_index].z = measured_z; + + #endif + } + + // + // If there's another point to sample, move there with optional lift. + // + + #if ABL_GRID + + // Skip any unreachable points + while (abl_probe_index < abl2) { + + // Set xCount, yCount based on abl_probe_index, with zig-zag + PR_OUTER_VAR = abl_probe_index / PR_INNER_END; + PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END); + + // Probe in reverse order for every other row/column + bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1); + + if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR; + + const float xBase = xCount * xGridSpacing + left_probe_bed_position, + yBase = yCount * yGridSpacing + front_probe_bed_position; + + xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); + yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + indexIntoAB[xCount][yCount] = abl_probe_index; + #endif + + // Keep looping till a reachable point is found + if (position_is_reachable_xy(xProbe, yProbe)) break; + ++abl_probe_index; + } + + // Is there a next point to move to? + if (abl_probe_index < abl2) { + _manual_goto_xy(xProbe, yProbe); // Can be used here too! + #if HAS_SOFTWARE_ENDSTOPS + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + soft_endstops_enabled = false; + #endif + return; + } + else { + + // Leveling done! Fall through to G29 finishing code below + + SERIAL_PROTOCOLLNPGM("Grid probing done."); + + // Re-enable software endstops, if needed + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + } + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + if (abl_probe_index < 3) { + xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x); + yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y); + #if HAS_SOFTWARE_ENDSTOPS + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + soft_endstops_enabled = false; + #endif + return; + } + else { + + SERIAL_PROTOCOLLNPGM("3-point probing done."); + + // Re-enable software endstops, if needed + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + + if (!dryrun) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) { + planeNormal.x *= -1; + planeNormal.y *= -1; + planeNormal.z *= -1; + } + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl_should_enable = false; + } + + } + + #endif // AUTO_BED_LEVELING_3POINT + + #else // !PROBE_MANUALLY + { + const bool stow_probe_after_each = parser.boolval('E'); + + measured_z = 0; + + #if ABL_GRID + + bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION + + // Outer loop is Y with PROBE_Y_FIRST disabled + for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) { + + int8_t inStart, inStop, inInc; + + if (zig) { // away from origin + inStart = 0; + inStop = PR_INNER_END; + inInc = 1; + } + else { // towards origin + inStart = PR_INNER_END - 1; + inStop = -1; + inInc = -1; + } + + zig ^= true; // zag + + // Inner loop is Y with PROBE_Y_FIRST enabled + for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { + + float xBase = left_probe_bed_position + xGridSpacing * xCount, + yBase = front_probe_bed_position + yGridSpacing * yCount; + + xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); + yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0... + #endif + + #if IS_KINEMATIC + // Avoid probing outside the round or hexagonal area + if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue; + #endif + + measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + + if (isnan(measured_z)) { + planner.abl_enabled = abl_should_enable; + break; + } + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + mean += measured_z; + eqnBVector[abl_probe_index] = measured_z; + eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; + eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; + eqnAMatrix[abl_probe_index + 2 * abl2] = 1; + + incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + z_values[xCount][yCount] = measured_z + zoffset; + + #endif + + abl_should_enable = false; + idle(); + + } // inner + } // outer + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + + for (uint8_t i = 0; i < 3; ++i) { + // Retain the last probe position + xProbe = LOGICAL_X_POSITION(points[i].x); + yProbe = LOGICAL_Y_POSITION(points[i].y); + measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); + if (isnan(measured_z)) { + planner.abl_enabled = abl_should_enable; + break; + } + points[i].z = measured_z; + } + + if (!dryrun && !isnan(measured_z)) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) { + planeNormal.x *= -1; + planeNormal.y *= -1; + planeNormal.z *= -1; + } + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl_should_enable = false; + } + + #endif // AUTO_BED_LEVELING_3POINT + + // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe. + if (STOW_PROBE()) { + planner.abl_enabled = abl_should_enable; + measured_z = NAN; + } + } + #endif // !PROBE_MANUALLY + + // + // G29 Finishing Code + // + // Unless this is a dry run, auto bed leveling will + // definitely be enabled after this point. + // + // If code above wants to continue leveling, it should + // return or loop before this point. + // + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position); + #endif + + #if ENABLED(PROBE_MANUALLY) + g29_in_progress = false; + #if ENABLED(LCD_BED_LEVELING) + lcd_wait_for_move = false; + #endif + #endif + + // Calculate leveling, print reports, correct the position + if (!isnan(measured_z)) { + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (!dryrun) extrapolate_unprobed_bed_level(); + print_bilinear_leveling_grid(); + + refresh_bed_level(); + + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + print_bilinear_leveling_grid_virt(); + #endif + + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) + + // For LINEAR leveling calculate matrix, print reports, correct the position + + /** + * 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 + */ + float plane_equation_coefficients[3]; + + finish_incremental_LSF(&lsf_results); + plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below + plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested. + plane_equation_coefficients[2] = -lsf_results.D; + + mean /= abl2; + + if (verbose_level) { + SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); + SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); + SERIAL_PROTOCOLPGM(" b: "); + SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8); + SERIAL_PROTOCOLPGM(" d: "); + SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8); + SERIAL_EOL(); + if (verbose_level > 2) { + SERIAL_PROTOCOLPGM("Mean of sampled points: "); + SERIAL_PROTOCOL_F(mean, 8); + SERIAL_EOL(); + } + } + + // Create the matrix but don't correct the position yet + if (!dryrun) + planner.bed_level_matrix = matrix_3x3::create_look_at( + vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above + ); + + // Show the Topography map if enabled + if (do_topography_map) { + + SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n" + " +--- BACK --+\n" + " | |\n" + " L | (+) | R\n" + " E | | I\n" + " F | (-) N (+) | G\n" + " T | | H\n" + " | (-) | T\n" + " | |\n" + " O-- FRONT --+\n" + " (0,0)"); + + float min_diff = 999; + + for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { + for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { + int ind = indexIntoAB[xx][yy]; + float diff = eqnBVector[ind] - mean, + x_tmp = eqnAMatrix[ind + 0 * abl2], + y_tmp = eqnAMatrix[ind + 1 * abl2], + z_tmp = 0; + + apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); + + NOMORE(min_diff, eqnBVector[ind] - z_tmp); + + if (diff >= 0.0) + SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment + else + SERIAL_PROTOCOLCHAR(' '); + SERIAL_PROTOCOL_F(diff, 5); + } // xx + SERIAL_EOL(); + } // yy + SERIAL_EOL(); + + if (verbose_level > 3) { + SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:"); + + for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { + for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { + int ind = indexIntoAB[xx][yy]; + float x_tmp = eqnAMatrix[ind + 0 * abl2], + y_tmp = eqnAMatrix[ind + 1 * abl2], + z_tmp = 0; + + apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); + + float diff = eqnBVector[ind] - z_tmp - min_diff; + if (diff >= 0.0) + SERIAL_PROTOCOLPGM(" +"); + // Include + for column alignment + else + SERIAL_PROTOCOLCHAR(' '); + SERIAL_PROTOCOL_F(diff, 5); + } // xx + SERIAL_EOL(); + } // yy + SERIAL_EOL(); + } + } //do_topography_map + + #endif // AUTO_BED_LEVELING_LINEAR + + #if ABL_PLANAR + + // For LINEAR and 3POINT leveling correct the current position + + if (verbose_level > 0) + planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:")); + + if (!dryrun) { + // + // Correct the current XYZ position based on the tilted plane. + // + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position); + #endif + + float converted[XYZ]; + COPY(converted, current_position); + + planner.abl_enabled = true; + planner.unapply_leveling(converted); // use conversion machinery + planner.abl_enabled = false; + + // Use the last measured distance to the bed, if possible + if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER)) + && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER)) + ) { + const float simple_z = current_position[Z_AXIS] - measured_z; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("Z from Probe:", simple_z); + SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]); + SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]); + } + #endif + converted[Z_AXIS] = simple_z; + } + + // The rotated XY and corrected Z are now current_position + COPY(current_position, converted); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position); + #endif + } + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (!dryrun) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]); + #endif + + // Unapply the offset because it is going to be immediately applied + // and cause compensation movement in Z + current_position[Z_AXIS] -= bilinear_z_offset(current_position); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]); + #endif + } + + #endif // ABL_PLANAR + + #ifdef Z_PROBE_END_SCRIPT + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); + #endif + enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT)); + stepper.synchronize(); + #endif + + // Auto Bed Leveling is complete! Enable if possible. + planner.abl_enabled = dryrun ? abl_should_enable : true; + } // !isnan(measured_z) + + // Restore state after probing + if (!faux) clean_up_after_endstop_or_probe_move(); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29"); + #endif + + report_current_position(); + + KEEPALIVE_STATE(IN_HANDLER); + + if (planner.abl_enabled) + SYNC_PLAN_POSITION_KINEMATIC(); +} diff --git a/Marlin/src/gcode/calibrate/G29-mbl.h b/Marlin/src/gcode/calibrate/G29-mbl.h new file mode 100644 index 000000000..1694c21ed --- /dev/null +++ b/Marlin/src/gcode/calibrate/G29-mbl.h @@ -0,0 +1,200 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "../../libs/buzzer.h" +#include "../../lcd/ultralcd.h" + +// Save 130 bytes with non-duplication of PSTR +void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); } + +void mbl_mesh_report() { + SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y)); + SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5); + SERIAL_PROTOCOLLNPGM("\nMeasured points:"); + print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, + [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; } + ); +} + +void mesh_probing_done() { + mbl.set_has_mesh(true); + home_all_axes(); + set_bed_leveling_enabled(true); + #if ENABLED(MESH_G28_REST_ORIGIN) + current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS); + set_destination_to_current(); + line_to_destination(homing_feedrate(Z_AXIS)); + stepper.synchronize(); + #endif +} + +/** + * G29: Mesh-based Z probe, probes a grid and produces a + * mesh to compensate for variable bed height + * + * Parameters With MESH_BED_LEVELING: + * + * S0 Produce a mesh report + * S1 Start probing mesh points + * S2 Probe the next mesh point + * S3 Xn Yn Zn.nn Manually modify a single point + * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed. + * S5 Reset and disable mesh + * + * The S0 report the points as below + * + * +----> X-axis 1-n + * | + * | + * v Y-axis 1-n + * + */ +void gcode_G29() { + + static int mbl_probe_index = -1; + #if HAS_SOFTWARE_ENDSTOPS + static bool enable_soft_endstops; + #endif + + const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport); + if (!WITHIN(state, 0, 5)) { + SERIAL_PROTOCOLLNPGM("S out of range (0-5)."); + return; + } + + int8_t px, py; + + switch (state) { + case MeshReport: + if (leveling_is_valid()) { + SERIAL_PROTOCOLLNPAIR("State: ", leveling_is_active() ? MSG_ON : MSG_OFF); + mbl_mesh_report(); + } + else + SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data."); + break; + + case MeshStart: + mbl.reset(); + mbl_probe_index = 0; + enqueue_and_echo_commands_P(PSTR("G28\nG29 S2")); + break; + + case MeshNext: + if (mbl_probe_index < 0) { + SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first."); + return; + } + // For each G29 S2... + if (mbl_probe_index == 0) { + #if HAS_SOFTWARE_ENDSTOPS + // For the initial G29 S2 save software endstop state + enable_soft_endstops = soft_endstops_enabled; + #endif + } + else { + // For G29 S2 after adjusting Z. + mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]); + #if HAS_SOFTWARE_ENDSTOPS + soft_endstops_enabled = enable_soft_endstops; + #endif + } + // If there's another point to sample, move there with optional lift. + if (mbl_probe_index < GRID_MAX_POINTS) { + mbl.zigzag(mbl_probe_index, px, py); + _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); + + #if HAS_SOFTWARE_ENDSTOPS + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + soft_endstops_enabled = false; + #endif + + mbl_probe_index++; + } + else { + // One last "return to the bed" (as originally coded) at completion + current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT; + line_to_current_position(); + stepper.synchronize(); + + // After recording the last point, activate home and activate + mbl_probe_index = -1; + SERIAL_PROTOCOLLNPGM("Mesh probing done."); + BUZZ(100, 659); + BUZZ(100, 698); + mesh_probing_done(); + } + break; + + case MeshSet: + if (parser.seenval('X')) { + px = parser.value_int() - 1; + if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) { + SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ")."); + return; + } + } + else { + SERIAL_CHAR('X'); echo_not_entered(); + return; + } + + if (parser.seenval('Y')) { + py = parser.value_int() - 1; + if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) { + SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ")."); + return; + } + } + else { + SERIAL_CHAR('Y'); echo_not_entered(); + return; + } + + if (parser.seenval('Z')) { + mbl.z_values[px][py] = parser.value_linear_units(); + } + else { + SERIAL_CHAR('Z'); echo_not_entered(); + return; + } + break; + + case MeshSetZOffset: + if (parser.seenval('Z')) { + mbl.z_offset = parser.value_linear_units(); + } + else { + SERIAL_CHAR('Z'); echo_not_entered(); + return; + } + break; + + case MeshReset: + reset_bed_level(); + break; + + } // switch(state) + + report_current_position(); +} diff --git a/Marlin/src/gcode/calibrate/G29-ubl.h b/Marlin/src/gcode/calibrate/G29-ubl.h new file mode 100644 index 000000000..5b941eaaa --- /dev/null +++ b/Marlin/src/gcode/calibrate/G29-ubl.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_G29() { + + ubl.G29(); + +} diff --git a/Marlin/src/gcode/calibrate/G29.h b/Marlin/src/gcode/calibrate/G29.h new file mode 100644 index 000000000..ed51d4b47 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G29.h @@ -0,0 +1,65 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) + + #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) + extern bool lcd_wait_for_move; + #endif + + inline void _manual_goto_xy(const float &x, const float &y) { + const float old_feedrate_mm_s = feedrate_mm_s; + #if MANUAL_PROBE_HEIGHT > 0 + const float prev_z = current_position[Z_AXIS]; + feedrate_mm_s = homing_feedrate(Z_AXIS); + current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT); + line_to_current_position(); + #endif + + feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); + current_position[X_AXIS] = LOGICAL_X_POSITION(x); + current_position[Y_AXIS] = LOGICAL_Y_POSITION(y); + line_to_current_position(); + + #if MANUAL_PROBE_HEIGHT > 0 + feedrate_mm_s = homing_feedrate(Z_AXIS); + current_position[Z_AXIS] = prev_z; // move back to the previous Z. + line_to_current_position(); + #endif + + feedrate_mm_s = old_feedrate_mm_s; + stepper.synchronize(); + + #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) + lcd_wait_for_move = false; + #endif + } + +#endif + +#if ENABLED(MESH_BED_LEVELING) + #include "G29-mbl.h" +#elif ENABLED(AUTO_BED_LEVELING_UBL) + #include "G29-ubl.h" +#elif HAS_ABL + #include "G29-abl.h" +#endif diff --git a/Marlin/src/gcode/calibrate/G33.h b/Marlin/src/gcode/calibrate/G33.h new file mode 100644 index 000000000..f9c2bff4a --- /dev/null +++ b/Marlin/src/gcode/calibrate/G33.h @@ -0,0 +1,451 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "common.h" + +#if HOTENDS > 1 + #include "../control/tool_change.h" +#endif + +/** + * G33 - Delta '1-4-7-point' Auto-Calibration + * Calibrate height, endstops, delta radius, and tower angles. + * + * Parameters: + * + * Pn Number of probe points: + * + * P1 Probe center and set height only. + * P2 Probe center and towers. Set height, endstops, and delta radius. + * P3 Probe all positions: center, towers and opposite towers. Set all. + * P4-P7 Probe all positions at different locations and average them. + * + * T0 Don't calibrate tower angle corrections + * + * Cn.nn Calibration precision; when omitted calibrates to maximum precision + * + * Fn Force to run at least n iterations and takes the best result + * + * Vn Verbose level: + * + * V0 Dry-run mode. Report settings and probe results. No calibration. + * V1 Report settings + * V2 Report settings and probe results + * + * E Engage the probe for each point + */ + +void print_signed_float(const char * const prefix, const float &f) { + SERIAL_PROTOCOLPGM(" "); + serialprintPGM(prefix); + SERIAL_PROTOCOLCHAR(':'); + if (f >= 0) SERIAL_CHAR('+'); + SERIAL_PROTOCOL_F(f, 2); +} + +inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ??? + SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); + if (end_stops) { + print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]); + print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]); + print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]); + SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); + } + SERIAL_EOL(); + if (tower_angles) { + SERIAL_PROTOCOLPGM(".Tower angle : "); + print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]); + print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]); + SERIAL_PROTOCOLLNPGM(" Tz:+0.00"); + } +} + +void G33_cleanup( + #if HOTENDS > 1 + const uint8_t old_tool_index + #endif +) { + #if ENABLED(DELTA_HOME_TO_SAFE_ZONE) + do_blocking_move_to_z(delta_clip_start_height); + #endif + STOW_PROBE(); + clean_up_after_endstop_or_probe_move(); + #if HOTENDS > 1 + tool_change(old_tool_index, 0, true); + #endif +} + +void gcode_G33() { + + const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); + if (!WITHIN(probe_points, 1, 7)) { + SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1-7)."); + return; + } + + const int8_t verbose_level = parser.byteval('V', 1); + if (!WITHIN(verbose_level, 0, 2)) { + SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2)."); + return; + } + + const float calibration_precision = parser.floatval('C'); + if (calibration_precision < 0) { + SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0)."); + return; + } + + const int8_t force_iterations = parser.intval('F', 0); + if (!WITHIN(force_iterations, 0, 30)) { + SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30)."); + return; + } + + const bool towers_set = parser.boolval('T', true), + stow_after_each = parser.boolval('E'), + _1p_calibration = probe_points == 1, + _4p_calibration = probe_points == 2, + _4p_towers_points = _4p_calibration && towers_set, + _4p_opposite_points = _4p_calibration && !towers_set, + _7p_calibration = probe_points >= 3, + _7p_half_circle = probe_points == 3, + _7p_double_circle = probe_points == 5, + _7p_triple_circle = probe_points == 6, + _7p_quadruple_circle = probe_points == 7, + _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle, + _7p_intermed_points = _7p_calibration && !_7p_half_circle; + const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; + const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), + dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); + int8_t iterations = 0; + float test_precision, + zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end + zero_std_dev_old = zero_std_dev, + zero_std_dev_min = zero_std_dev, + e_old[XYZ] = { + endstop_adj[A_AXIS], + endstop_adj[B_AXIS], + endstop_adj[C_AXIS] + }, + dr_old = delta_radius, + zh_old = home_offset[Z_AXIS], + alpha_old = delta_tower_angle_trim[A_AXIS], + beta_old = delta_tower_angle_trim[B_AXIS]; + + if (!_1p_calibration) { // test if the outer radius is reachable + const float circles = (_7p_quadruple_circle ? 1.5 : + _7p_triple_circle ? 1.0 : + _7p_double_circle ? 0.5 : 0), + r = (1 + circles * 0.1) * delta_calibration_radius; + for (uint8_t axis = 1; axis < 13; ++axis) { + const float a = RADIANS(180 + 30 * axis); + if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) { + SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible."); + return; + } + } + } + SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); + + stepper.synchronize(); + #if HAS_LEVELING + reset_bed_level(); // After calibration bed-level data is no longer valid + #endif + + #if HOTENDS > 1 + const uint8_t old_tool_index = active_extruder; + tool_change(0, 0, true); + #define G33_CLEANUP() G33_cleanup(old_tool_index) + #else + #define G33_CLEANUP() G33_cleanup() + #endif + + setup_for_endstop_or_probe_move(); + endstops.enable(true); + if (!home_delta()) + return; + endstops.not_homing(); + + // print settings + + const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string + serialprintPGM(checkingac); + if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)"); + SERIAL_EOL(); + lcd_setstatusPGM(checkingac); + + print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); + + #if DISABLED(PROBE_MANUALLY) + const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height + if (isnan(measured_z)) return G33_CLEANUP(); + home_offset[Z_AXIS] -= measured_z; + #endif + + do { + + float z_at_pt[13] = { 0.0 }; + + test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; + + iterations++; + + // Probe the points + + if (!_7p_half_circle && !_7p_triple_circle) { // probe the center + #if ENABLED(PROBE_MANUALLY) + z_at_pt[0] += lcd_probe_pt(0, 0); + #else + z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false); + if (isnan(z_at_pt[0])) return G33_CLEANUP(); + #endif + } + if (_7p_calibration) { // probe extra center points + for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) { + const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1; + #if ENABLED(PROBE_MANUALLY) + z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r); + #else + z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); + if (isnan(z_at_pt[0])) return G33_CLEANUP(); + #endif + } + z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points); + } + if (!_1p_calibration) { // probe the radius + bool zig_zag = true; + const uint8_t start = _4p_opposite_points ? 3 : 1, + step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1; + for (uint8_t axis = start; axis < 13; axis += step) { + const float zigadd = (zig_zag ? 0.5 : 0.0), + offset_circles = _7p_quadruple_circle ? zigadd + 1.0 : + _7p_triple_circle ? zigadd + 0.5 : + _7p_double_circle ? zigadd : 0; + for (float circles = -offset_circles ; circles <= offset_circles; circles++) { + const float a = RADIANS(180 + 30 * axis), + r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1)); + #if ENABLED(PROBE_MANUALLY) + z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r); + #else + z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); + if (isnan(z_at_pt[axis])) return G33_CLEANUP(); + #endif + } + zig_zag = !zig_zag; + z_at_pt[axis] /= (2 * offset_circles + 1); + } + } + if (_7p_intermed_points) // average intermediates to tower and opposites + for (uint8_t axis = 1; axis < 13; axis += 2) + z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0; + + float S1 = z_at_pt[0], + S2 = sq(z_at_pt[0]); + int16_t N = 1; + if (!_1p_calibration) // std dev from zero plane + for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) { + S1 += z_at_pt[axis]; + S2 += sq(z_at_pt[axis]); + N++; + } + zero_std_dev_old = zero_std_dev; + zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001; + + // Solve matrices + + if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) { + if (zero_std_dev < zero_std_dev_min) { + COPY(e_old, endstop_adj); + dr_old = delta_radius; + zh_old = home_offset[Z_AXIS]; + alpha_old = delta_tower_angle_trim[A_AXIS]; + beta_old = delta_tower_angle_trim[B_AXIS]; + } + + float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0; + const float r_diff = delta_radius - delta_calibration_radius, + h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm + r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm + a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm + + #define ZP(N,I) ((N) * z_at_pt[I]) + #define Z1000(I) ZP(1.00, I) + #define Z1050(I) ZP(h_factor, I) + #define Z0700(I) ZP(h_factor * 2.0 / 3.00, I) + #define Z0350(I) ZP(h_factor / 3.00, I) + #define Z0175(I) ZP(h_factor / 6.00, I) + #define Z2250(I) ZP(r_factor, I) + #define Z0750(I) ZP(r_factor / 3.00, I) + #define Z0375(I) ZP(r_factor / 6.00, I) + #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I) + #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I) + + #if ENABLED(PROBE_MANUALLY) + test_precision = 0.00; // forced end + #endif + + switch (probe_points) { + case 1: + test_precision = 0.00; // forced end + LOOP_XYZ(i) e_delta[i] = Z1000(0); + break; + + case 2: + if (towers_set) { + e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9); + e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9); + e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9); + r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9); + } + else { + e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3); + e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3); + e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3); + r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3); + } + break; + + default: + e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3); + e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3); + e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3); + r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3); + + if (towers_set) { + t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3); + t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3); + } + break; + } + + LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis]; + delta_radius += r_delta; + delta_tower_angle_trim[A_AXIS] += t_alpha; + delta_tower_angle_trim[B_AXIS] += t_beta; + + // adjust delta_height and endstops by the max amount + const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]); + home_offset[Z_AXIS] -= z_temp; + LOOP_XYZ(i) endstop_adj[i] -= z_temp; + + recalc_delta_settings(delta_radius, delta_diagonal_rod); + } + else if (zero_std_dev >= test_precision) { // step one back + COPY(endstop_adj, e_old); + delta_radius = dr_old; + home_offset[Z_AXIS] = zh_old; + delta_tower_angle_trim[A_AXIS] = alpha_old; + delta_tower_angle_trim[B_AXIS] = beta_old; + + recalc_delta_settings(delta_radius, delta_diagonal_rod); + } + NOMORE(zero_std_dev_min, zero_std_dev); + + // print report + + if (verbose_level != 1) { + SERIAL_PROTOCOLPGM(". "); + print_signed_float(PSTR("c"), z_at_pt[0]); + if (_4p_towers_points || _7p_calibration) { + print_signed_float(PSTR(" x"), z_at_pt[1]); + print_signed_float(PSTR(" y"), z_at_pt[5]); + print_signed_float(PSTR(" z"), z_at_pt[9]); + } + if (!_4p_opposite_points) SERIAL_EOL(); + if ((_4p_opposite_points) || _7p_calibration) { + if (_7p_calibration) { + SERIAL_CHAR('.'); + SERIAL_PROTOCOL_SP(13); + } + print_signed_float(PSTR(" yz"), z_at_pt[7]); + print_signed_float(PSTR("zx"), z_at_pt[11]); + print_signed_float(PSTR("xy"), z_at_pt[3]); + SERIAL_EOL(); + } + } + if (verbose_level != 0) { // !dry run + if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations + SERIAL_PROTOCOLPGM("Calibration OK"); + SERIAL_PROTOCOL_SP(36); + #if DISABLED(PROBE_MANUALLY) + if (zero_std_dev >= test_precision && !_1p_calibration) + SERIAL_PROTOCOLPGM("rolling back."); + else + #endif + { + SERIAL_PROTOCOLPGM("std dev:"); + SERIAL_PROTOCOL_F(zero_std_dev_min, 3); + } + SERIAL_EOL(); + char mess[21]; + sprintf_P(mess, PSTR("Calibration sd:")); + if (zero_std_dev_min < 1) + sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0)); + else + sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min)); + lcd_setstatus(mess); + print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); + serialprintPGM(save_message); + SERIAL_EOL(); + } + else { // !end iterations + char mess[15]; + if (iterations < 31) + sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); + else + sprintf_P(mess, PSTR("No convergence")); + SERIAL_PROTOCOL(mess); + SERIAL_PROTOCOL_SP(36); + SERIAL_PROTOCOLPGM("std dev:"); + SERIAL_PROTOCOL_F(zero_std_dev, 3); + SERIAL_EOL(); + lcd_setstatus(mess); + print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); + } + } + else { // dry run + const char *enddryrun = PSTR("End DRY-RUN"); + serialprintPGM(enddryrun); + SERIAL_PROTOCOL_SP(39); + SERIAL_PROTOCOLPGM("std dev:"); + SERIAL_PROTOCOL_F(zero_std_dev, 3); + SERIAL_EOL(); + + char mess[21]; + sprintf_P(mess, enddryrun); + sprintf_P(&mess[11], PSTR(" sd:")); + if (zero_std_dev < 1) + sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0)); + else + sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev)); + lcd_setstatus(mess); + } + + endstops.enable(true); + home_delta(); + endstops.not_homing(); + + } + while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations); + + G33_CLEANUP(); +} diff --git a/Marlin/M100_Free_Mem_Chk.cpp b/Marlin/src/gcode/calibrate/M100.h similarity index 94% rename from Marlin/M100_Free_Mem_Chk.cpp rename to Marlin/src/gcode/calibrate/M100.h index 6620b0a16..b206177f2 100644 --- a/Marlin/M100_Free_Mem_Chk.cpp +++ b/Marlin/src/gcode/calibrate/M100.h @@ -20,6 +20,8 @@ * */ +#include "../../libs/hex_print_routines.h" + /** * M100 Free Memory Watcher * @@ -48,10 +50,6 @@ #define M100_FREE_MEMORY_DUMPER // Enable for the `M110 D` Dump sub-command #define M100_FREE_MEMORY_CORRUPTOR // Enable for the `M100 C` Corrupt sub-command -#include "MarlinConfig.h" - -#if ENABLED(M100_FREE_MEMORY_WATCHER) - #define TEST_BYTE ((char) 0xE5) extern char command_queue[BUFSIZE][MAX_CMD_SIZE]; @@ -60,16 +58,11 @@ extern char* __brkval; extern size_t __heap_start, __heap_end, __flp; extern char __bss_end; -#include "Marlin.h" -#include "gcode.h" -#include "hex_print_routines.h" - // // Utility functions // #define END_OF_HEAP() (__brkval ? __brkval : &__bss_end) -int check_for_free_memory_corruption(const char * const title); // Location of a variable on its stack frame. Returns a value above // the stack (once the function returns to the caller). @@ -137,18 +130,79 @@ int16_t count_test_bytes(const char * const ptr) { } } -void M100_dump_routine(const char * const title, const char *start, const char *end) { - SERIAL_ECHOLN(title); - // - // Round the start and end locations to produce full lines of output - // - start = (char*)((uint16_t) start & 0xFFF0); - end = (char*)((uint16_t) end | 0x000F); - dump_free_memory(start, end); -} + void M100_dump_routine(const char * const title, const char *start, const char *end) { + SERIAL_ECHOLN(title); + // + // Round the start and end locations to produce full lines of output + // + start = (char*)((uint16_t) start & 0xFFF0); + end = (char*)((uint16_t) end | 0x000F); + dump_free_memory(start, end); + } #endif // M100_FREE_MEMORY_DUMPER +int check_for_free_memory_corruption(const char * const title) { + SERIAL_ECHO(title); + + char *ptr = END_OF_HEAP(), *sp = top_of_stack(); + int n = sp - ptr; + + SERIAL_ECHOPAIR("\nfmc() n=", n); + SERIAL_ECHOPAIR("\n&__brkval: ", hex_address(&__brkval)); + SERIAL_ECHOPAIR("=", hex_address(__brkval)); + SERIAL_ECHOPAIR("\n__bss_end: ", hex_address(&__bss_end)); + SERIAL_ECHOPAIR(" sp=", hex_address(sp)); + + if (sp < ptr) { + SERIAL_ECHOPGM(" sp < Heap "); + // SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board + // safe_delay(5); // this code can be enabled to pause the display as soon as the + // while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch + // idle(); // being on pin-63 which is unassigend and available on most controller + // safe_delay(20); // boards. + // while ( !READ(63)) + // idle(); + safe_delay(20); + #if ENABLED(M100_FREE_MEMORY_DUMPER) + M100_dump_routine(" Memory corruption detected with sp 8) { + // SERIAL_ECHOPAIR("Found ", j); + // SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(ptr + i)); + i += j; + block_cnt++; + SERIAL_ECHOPAIR(" (", block_cnt); + SERIAL_ECHOPAIR(") found=", j); + SERIAL_ECHOPGM(" "); + } + } + } + SERIAL_ECHOPAIR(" block_found=", block_cnt); + + if (block_cnt != 1 || __brkval != 0x0000) + SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area."); + + if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an + block_cnt = -1; // error to the calling code! + + SERIAL_ECHOPGM(" return="); + if (block_cnt == 1) { + SERIAL_CHAR('0'); // if the block_cnt is 1, nothing has broken up the free memory + SERIAL_EOL(); // area and it is appropriate to say 'no corruption'. + return 0; + } + SERIAL_ECHOLNPGM("true"); + return block_cnt; +} + /** * M100 F * Return the number of free bytes in the memory pool, @@ -266,68 +320,3 @@ void gcode_M100() { #endif } - -int check_for_free_memory_corruption(const char * const title) { - SERIAL_ECHO(title); - - char *ptr = END_OF_HEAP(), *sp = top_of_stack(); - int n = sp - ptr; - - SERIAL_ECHOPAIR("\nfmc() n=", n); - SERIAL_ECHOPAIR("\n&__brkval: ", hex_address(&__brkval)); - SERIAL_ECHOPAIR("=", hex_address(__brkval)); - SERIAL_ECHOPAIR("\n__bss_end: ", hex_address(&__bss_end)); - SERIAL_ECHOPAIR(" sp=", hex_address(sp)); - - if (sp < ptr) { - SERIAL_ECHOPGM(" sp < Heap "); - // SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board - // safe_delay(5); // this code can be enabled to pause the display as soon as the - // while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch - // idle(); // being on pin-63 which is unassigend and available on most controller - // safe_delay(20); // boards. - // while ( !READ(63)) - // idle(); - safe_delay(20); - #ifdef M100_FREE_MEMORY_DUMPER - M100_dump_routine(" Memory corruption detected with sp 8) { - // SERIAL_ECHOPAIR("Found ", j); - // SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(ptr + i)); - i += j; - block_cnt++; - SERIAL_ECHOPAIR(" (", block_cnt); - SERIAL_ECHOPAIR(") found=", j); - SERIAL_ECHOPGM(" "); - } - } - } - SERIAL_ECHOPAIR(" block_found=", block_cnt); - - if (block_cnt != 1 || __brkval != 0x0000) - SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area."); - - if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an - block_cnt = -1; // error to the calling code! - - SERIAL_ECHOPGM(" return="); - if (block_cnt == 1) { - SERIAL_CHAR('0'); // if the block_cnt is 1, nothing has broken up the free memory - SERIAL_EOL(); // area and it is appropriate to say 'no corruption'. - return 0; - } - SERIAL_ECHOLNPGM("true"); - return block_cnt; -} - -#endif // M100_FREE_MEMORY_WATCHER - - diff --git a/Marlin/src/gcode/calibrate/M420.h b/Marlin/src/gcode/calibrate/M420.h new file mode 100644 index 000000000..6b3f6837c --- /dev/null +++ b/Marlin/src/gcode/calibrate/M420.h @@ -0,0 +1,121 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M420: Enable/Disable Bed Leveling and/or set the Z fade height. + * + * S[bool] Turns leveling on or off + * Z[height] Sets the Z fade height (0 or none to disable) + * V[bool] Verbose - Print the leveling grid + * + * With AUTO_BED_LEVELING_UBL only: + * + * L[index] Load UBL mesh from index (0 is default) + */ +void gcode_M420() { + + #if ENABLED(AUTO_BED_LEVELING_UBL) + + // L to load a mesh from the EEPROM + if (parser.seen('L')) { + + #if ENABLED(EEPROM_SETTINGS) + const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.state.storage_slot; + const int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_PROTOCOLLNPGM("?EEPROM storage not available."); + return; + } + + if (!WITHIN(storage_slot, 0, a - 1)) { + SERIAL_PROTOCOLLNPGM("?Invalid storage slot."); + SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1); + return; + } + + settings.load_mesh(storage_slot); + ubl.state.storage_slot = storage_slot; + + #else + + SERIAL_PROTOCOLLNPGM("?EEPROM storage not available."); + return; + + #endif + } + + // L to load a mesh from the EEPROM + if (parser.seen('L') || parser.seen('V')) { + ubl.display_map(0); // Currently only supports one map type + SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID); + SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot); + } + + #endif // AUTO_BED_LEVELING_UBL + + // V to print the matrix or mesh + if (parser.seen('V')) { + #if ABL_PLANAR + planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:")); + #else + if (leveling_is_valid()) { + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + print_bilinear_leveling_grid(); + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + print_bilinear_leveling_grid_virt(); + #endif + #elif ENABLED(MESH_BED_LEVELING) + SERIAL_ECHOLNPGM("Mesh Bed Level data:"); + mbl_mesh_report(); + #endif + } + #endif + } + + const bool to_enable = parser.boolval('S'); + if (parser.seen('S')) + set_bed_leveling_enabled(to_enable); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units()); + #endif + + const bool new_status = leveling_is_active(); + + if (to_enable && !new_status) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED); + } + + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Fade Height "); + if (planner.z_fade_height > 0.0) + SERIAL_ECHOLN(planner.z_fade_height); + else + SERIAL_ECHOLNPGM(MSG_OFF); + #endif +} diff --git a/Marlin/src/gcode/calibrate/M421-abl.h b/Marlin/src/gcode/calibrate/M421-abl.h new file mode 100644 index 000000000..a70dae618 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M421-abl.h @@ -0,0 +1,51 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M421: Set a single Mesh Bed Leveling Z coordinate + * + * Usage: + * M421 I J Z + * M421 I J Q + */ +void gcode_M421() { + int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1); + const bool hasI = ix >= 0, + hasJ = iy >= 0, + hasZ = parser.seen('Z'), + hasQ = !hasZ && parser.seen('Q'); + + if (!hasI || !hasJ || !(hasZ || hasQ)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); + } + else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); + } + else { + z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0); + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bed_level_virt_interpolate(); + #endif + } +} diff --git a/Marlin/src/gcode/calibrate/M421-mbl.h b/Marlin/src/gcode/calibrate/M421-mbl.h new file mode 100644 index 000000000..2fda83e55 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M421-mbl.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M421: Set a single Mesh Bed Leveling Z coordinate + * + * Usage: + * M421 X Y Z + * M421 X Y Q + * M421 I J Z + * M421 I J Q + */ +void gcode_M421() { + const bool hasX = parser.seen('X'), hasI = parser.seen('I'); + const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; + const bool hasY = parser.seen('Y'), hasJ = parser.seen('J'); + const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; + const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); + + if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); + } + else if (ix < 0 || iy < 0) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); + } + else + mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0)); +} diff --git a/Marlin/src/gcode/calibrate/M421-ubl.h b/Marlin/src/gcode/calibrate/M421-ubl.h new file mode 100644 index 000000000..6732c3877 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M421-ubl.h @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M421: Set a single Mesh Bed Leveling Z coordinate + * + * Usage: + * M421 I J Z + * M421 I J Q + * M421 C Z + * M421 C Q + */ +void gcode_M421() { + int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1); + const bool hasI = ix >= 0, + hasJ = iy >= 0, + hasC = parser.seen('C'), + hasZ = parser.seen('Z'), + hasQ = !hasZ && parser.seen('Q'); + + if (hasC) { + const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false); + ix = location.x_index; + iy = location.y_index; + } + + if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); + } + else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); + } + else + ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0); +} diff --git a/Marlin/src/gcode/calibrate/M48.h b/Marlin/src/gcode/calibrate/M48.h new file mode 100644 index 000000000..4ad990d75 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M48.h @@ -0,0 +1,273 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M48: Z probe repeatability measurement function. + * + * Usage: + * M48 + * P = Number of sampled points (4-50, default 10) + * X = Sample X position + * Y = Sample Y position + * V = Verbose level (0-4, default=1) + * E = Engage Z probe for each reading + * L = Number of legs of movement before probe + * S = Schizoid (Or Star if you prefer) + * + * This function assumes the bed has been homed. Specifically, 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. + */ +void gcode_M48() { + + if (axis_unhomed_error()) return; + + const int8_t verbose_level = parser.byteval('V', 1); + if (!WITHIN(verbose_level, 0, 4)) { + SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4)."); + return; + } + + if (verbose_level > 0) + SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test"); + + const int8_t n_samples = parser.byteval('P', 10); + if (!WITHIN(n_samples, 4, 50)) { + SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50)."); + return; + } + + const bool stow_probe_after_each = parser.boolval('E'); + + float X_current = current_position[X_AXIS], + Y_current = current_position[Y_AXIS]; + + const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER), + Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER); + + #if DISABLED(DELTA) + if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) { + out_of_range_error(PSTR("X")); + return; + } + if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) { + out_of_range_error(PSTR("Y")); + return; + } + #else + if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) { + SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius."); + return; + } + #endif + + bool seen_L = parser.seen('L'); + uint8_t n_legs = seen_L ? parser.value_byte() : 0; + if (n_legs > 15) { + SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15)."); + return; + } + if (n_legs == 1) n_legs = 2; + + const bool schizoid_flag = parser.boolval('S'); + if (schizoid_flag && !seen_L) n_legs = 7; + + /** + * 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_PROTOCOLLNPGM("Positioning the probe..."); + + // Disable bed level correction in M48 because we want the raw data when we probe + + #if HAS_LEVELING + const bool was_enabled = leveling_is_active(); + set_bed_leveling_enabled(false); + #endif + + setup_for_endstop_or_probe_move(); + + double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples]; + + // Move to the first point, deploy, and probe + const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level); + bool probing_good = !isnan(t); + + if (probing_good) { + randomSeed(millis()); + + for (uint8_t n = 0; n < n_samples; n++) { + if (n_legs) { + const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise + float angle = random(0.0, 360.0); + const float radius = random( + #if ENABLED(DELTA) + 0.1250000000 * (DELTA_PROBEABLE_RADIUS), + 0.3333333333 * (DELTA_PROBEABLE_RADIUS) + #else + 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE) + #endif + ); + + if (verbose_level > 3) { + SERIAL_ECHOPAIR("Starting radius: ", radius); + SERIAL_ECHOPAIR(" angle: ", angle); + SERIAL_ECHOPGM(" Direction: "); + if (dir > 0) SERIAL_ECHOPGM("Counter-"); + SERIAL_ECHOLNPGM("Clockwise"); + } + + for (uint8_t l = 0; l < n_legs - 1; l++) { + double delta_angle; + + if (schizoid_flag) + // The points of a 5 point star are 72 degrees apart. We need to + // skip a point and go to the next one on the star. + delta_angle = dir * 2.0 * 72.0; + + else + // If we do this line, we are just trying to move further + // around the circle. + delta_angle = dir * (float) random(25, 45); + + angle += delta_angle; + + while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the + angle -= 360.0; // Arduino documentation says the trig functions should not be given values + while (angle < 0.0) // outside of this range. It looks like they behave correctly with + angle += 360.0; // numbers outside of the range, but just to be safe we clamp them. + + X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius; + Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius; + + #if DISABLED(DELTA) + X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); + Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); + #else + // If we have gone out too far, we can do a simple fix and scale the numbers + // back in closer to the origin. + while (!position_is_reachable_by_probe_xy(X_current, Y_current)) { + X_current *= 0.8; + Y_current *= 0.8; + if (verbose_level > 3) { + SERIAL_ECHOPAIR("Pulling point towards center:", X_current); + SERIAL_ECHOLNPAIR(", ", Y_current); + } + } + #endif + if (verbose_level > 3) { + SERIAL_PROTOCOLPGM("Going to:"); + SERIAL_ECHOPAIR(" X", X_current); + SERIAL_ECHOPAIR(" Y", Y_current); + SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]); + } + do_blocking_move_to_xy(X_current, Y_current); + } // n_legs loop + } // n_legs + + // Probe a single point + sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0); + + // Break the loop if the probe fails + probing_good = !isnan(sample_set[n]); + if (!probing_good) break; + + /** + * Get the current mean for the data points we have so far + */ + double sum = 0.0; + for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; + mean = sum / (n + 1); + + NOMORE(min, sample_set[n]); + NOLESS(max, sample_set[n]); + + /** + * Now, use that mean to calculate the standard deviation for the + * data points we have so far + */ + sum = 0.0; + for (uint8_t j = 0; j <= n; j++) + sum += sq(sample_set[j] - mean); + + sigma = SQRT(sum / (n + 1)); + if (verbose_level > 0) { + if (verbose_level > 1) { + SERIAL_PROTOCOL(n + 1); + SERIAL_PROTOCOLPGM(" of "); + SERIAL_PROTOCOL((int)n_samples); + SERIAL_PROTOCOLPGM(": z: "); + SERIAL_PROTOCOL_F(sample_set[n], 3); + if (verbose_level > 2) { + SERIAL_PROTOCOLPGM(" mean: "); + SERIAL_PROTOCOL_F(mean, 4); + SERIAL_PROTOCOLPGM(" sigma: "); + SERIAL_PROTOCOL_F(sigma, 6); + SERIAL_PROTOCOLPGM(" min: "); + SERIAL_PROTOCOL_F(min, 3); + SERIAL_PROTOCOLPGM(" max: "); + SERIAL_PROTOCOL_F(max, 3); + SERIAL_PROTOCOLPGM(" range: "); + SERIAL_PROTOCOL_F(max-min, 3); + } + SERIAL_EOL(); + } + } + + } // n_samples loop + } + + STOW_PROBE(); + + if (probing_good) { + SERIAL_PROTOCOLLNPGM("Finished!"); + + if (verbose_level > 0) { + SERIAL_PROTOCOLPGM("Mean: "); + SERIAL_PROTOCOL_F(mean, 6); + SERIAL_PROTOCOLPGM(" Min: "); + SERIAL_PROTOCOL_F(min, 3); + SERIAL_PROTOCOLPGM(" Max: "); + SERIAL_PROTOCOL_F(max, 3); + SERIAL_PROTOCOLPGM(" Range: "); + SERIAL_PROTOCOL_F(max-min, 3); + SERIAL_EOL(); + } + + SERIAL_PROTOCOLPGM("Standard Deviation: "); + SERIAL_PROTOCOL_F(sigma, 6); + SERIAL_EOL(); + SERIAL_EOL(); + } + + clean_up_after_endstop_or_probe_move(); + + // Re-enable bed level correction if it had been on + #if HAS_LEVELING + set_bed_leveling_enabled(was_enabled); + #endif + + report_current_position(); +} diff --git a/Marlin/src/gcode/calibrate/M49.h b/Marlin/src/gcode/calibrate/M49.h new file mode 100644 index 000000000..d9d235b6a --- /dev/null +++ b/Marlin/src/gcode/calibrate/M49.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_M49() { + ubl.g26_debug_flag ^= true; + SERIAL_PROTOCOLPGM("UBL Debug Flag turned "); + serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off.")); +} diff --git a/Marlin/src/gcode/calibrate/M665.h b/Marlin/src/gcode/calibrate/M665.h new file mode 100644 index 000000000..da682fc12 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M665.h @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(DELTA) + + /** + * M665: Set delta configurations + * + * H = delta height + * L = diagonal rod + * R = delta radius + * S = segments per second + * B = delta calibration radius + * X = Alpha (Tower 1) angle trim + * Y = Beta (Tower 2) angle trim + * Z = Rotate A and B by this angle + */ + void gcode_M665() { + if (parser.seen('H')) { + home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT; + update_software_endstops(Z_AXIS); + } + if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units(); + if (parser.seen('R')) delta_radius = parser.value_linear_units(); + if (parser.seen('S')) delta_segments_per_second = parser.value_float(); + if (parser.seen('B')) delta_calibration_radius = parser.value_float(); + if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float(); + if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float(); + if (parser.seen('Z')) { // rotate all 3 axis for Z = 0 + delta_tower_angle_trim[A_AXIS] -= parser.value_float(); + delta_tower_angle_trim[B_AXIS] -= parser.value_float(); + } + recalc_delta_settings(delta_radius, delta_diagonal_rod); + } + +#elif IS_SCARA + + /** + * M665: Set SCARA settings + * + * Parameters: + * + * S[segments-per-second] - Segments-per-second + * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle + * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle + * + * A, P, and X are all aliases for the shoulder angle + * B, T, and Y are all aliases for the elbow angle + */ + void gcode_M665() { + if (parser.seen('S')) delta_segments_per_second = parser.value_float(); + + const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X'); + const uint8_t sumAPX = hasA + hasP + hasX; + if (sumAPX == 1) + home_offset[A_AXIS] = parser.value_float(); + else if (sumAPX > 1) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed."); + return; + } + + const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y'); + const uint8_t sumBTY = hasB + hasT + hasY; + if (sumBTY == 1) + home_offset[B_AXIS] = parser.value_float(); + else if (sumBTY > 1) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed."); + return; + } + } + +#endif diff --git a/Marlin/src/gcode/calibrate/M666.h b/Marlin/src/gcode/calibrate/M666.h new file mode 100644 index 000000000..5abe125a4 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M666.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(DELTA) + + /** + * M666: Set delta endstop adjustment + */ + void gcode_M666() { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPGM(">>> gcode_M666"); + } + #endif + LOOP_XYZ(i) { + if (parser.seen(axis_codes[i])) { + endstop_adj[i] = parser.value_linear_units(); + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]); + SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]); + } + #endif + } + } + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPGM("<<< gcode_M666"); + } + #endif + // normalize endstops so all are <=0; set the residue to delta height + const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]); + home_offset[Z_AXIS] -= z_temp; + LOOP_XYZ(i) endstop_adj[i] -= z_temp; + } + +#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS) + + /** + * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis. + */ + void gcode_M666() { + if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units(); + SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj); + } + +#endif diff --git a/Marlin/src/gcode/calibrate/common.h b/Marlin/src/gcode/calibrate/common.h new file mode 100644 index 000000000..410af658b --- /dev/null +++ b/Marlin/src/gcode/calibrate/common.h @@ -0,0 +1,81 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#ifndef CALIBRATE_COMMON_H +#define CALIBRATE_COMMON_H + +#if ENABLED(DELTA) + + /** + * A delta can only safely home all axes at the same time + * This is like quick_home_xy() but for 3 towers. + */ + inline bool home_delta() { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); + #endif + // Init the current position of all carriages to 0,0,0 + ZERO(current_position); + sync_plan_position(); + + // Move all carriages together linearly until an endstop is hit. + current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); + feedrate_mm_s = homing_feedrate(X_AXIS); + line_to_current_position(); + stepper.synchronize(); + + // If an endstop was not hit, then damage can occur if homing is continued. + // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is + // not set correctly. + if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) { + LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED); + return false; + } + + endstops.hit_on_purpose(); // clear endstop hit flags + + // At least one carriage has reached the top. + // Now re-home each carriage separately. + HOMEAXIS(A); + HOMEAXIS(B); + HOMEAXIS(C); + + // Set all carriages to their home positions + // Do this here all at once for Delta, because + // XYZ isn't ABC. Applying this per-tower would + // give the impression that they are the same. + LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); + + SYNC_PLAN_POSITION_KINEMATIC(); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position); + #endif + + return true; + } + +#endif // DELTA + +#endif // CALIBRATE_COMMON_H \ No newline at end of file diff --git a/Marlin/src/gcode/config/M200.h b/Marlin/src/gcode/config/M200.h new file mode 100644 index 000000000..aa85d65b8 --- /dev/null +++ b/Marlin/src/gcode/config/M200.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M200: Set filament diameter and set E axis units to cubic units + * + * T - Optional extruder number. Current extruder if omitted. + * D - Diameter of the filament. Use "D0" to switch back to linear units on the E axis. + */ +void gcode_M200() { + + if (get_target_extruder_from_command(200)) return; + + if (parser.seen('D')) { + // 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 = (parser.value_linear_units() != 0.0); + if (volumetric_enabled) { + filament_size[target_extruder] = parser.value_linear_units(); + // make sure all extruders have some sane value for the filament size + for (uint8_t i = 0; i < COUNT(filament_size); i++) + if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA; + } + } + calculate_volumetric_multipliers(); +} diff --git a/Marlin/src/gcode/config/M201.h b/Marlin/src/gcode/config/M201.h new file mode 100644 index 000000000..24464507c --- /dev/null +++ b/Marlin/src/gcode/config/M201.h @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) + * + * With multiple extruders use T to specify which one. + */ +void gcode_M201() { + + GET_TARGET_EXTRUDER(201); + + LOOP_XYZE(i) { + if (parser.seen(axis_codes[i])) { + const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0); + planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a); + } + } + // 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) + planner.reset_acceleration_rates(); +} diff --git a/Marlin/src/gcode/config/M203.h b/Marlin/src/gcode/config/M203.h new file mode 100644 index 000000000..9ef3bd031 --- /dev/null +++ b/Marlin/src/gcode/config/M203.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec + * + * With multiple extruders use T to specify which one. + */ +void gcode_M203() { + + GET_TARGET_EXTRUDER(203); + + LOOP_XYZE(i) + if (parser.seen(axis_codes[i])) { + const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0); + planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a); + } +} diff --git a/Marlin/src/gcode/config/M204.h b/Marlin/src/gcode/config/M204.h new file mode 100644 index 000000000..22d88f1d6 --- /dev/null +++ b/Marlin/src/gcode/config/M204.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000) + * + * P = Printing moves + * R = Retract only (no X, Y, Z) moves + * T = Travel (non printing) moves + * + * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate + */ +void gcode_M204() { + if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments. + planner.travel_acceleration = planner.acceleration = parser.value_linear_units(); + SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration); + } + if (parser.seen('P')) { + planner.acceleration = parser.value_linear_units(); + SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration); + } + if (parser.seen('R')) { + planner.retract_acceleration = parser.value_linear_units(); + SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration); + } + if (parser.seen('T')) { + planner.travel_acceleration = parser.value_linear_units(); + SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration); + } +} diff --git a/Marlin/src/gcode/config/M205.h b/Marlin/src/gcode/config/M205.h new file mode 100644 index 000000000..5b0ce3b57 --- /dev/null +++ b/Marlin/src/gcode/config/M205.h @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M205: Set Advanced Settings + * + * S = Min Feed Rate (units/s) + * T = Min Travel Feed Rate (units/s) + * B = Min Segment Time (µs) + * X = Max X Jerk (units/sec^2) + * Y = Max Y Jerk (units/sec^2) + * Z = Max Z Jerk (units/sec^2) + * E = Max E Jerk (units/sec^2) + */ +void gcode_M205() { + if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units(); + if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units(); + if (parser.seen('B')) planner.min_segment_time = parser.value_millis(); + if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units(); + if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units(); + if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units(); + if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units(); +} diff --git a/Marlin/src/gcode/config/M218.h b/Marlin/src/gcode/config/M218.h new file mode 100644 index 000000000..2359cc969 --- /dev/null +++ b/Marlin/src/gcode/config/M218.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M218 - set hotend offset (in linear units) + * + * T + * X + * Y + * Z - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE + */ +void gcode_M218() { + if (get_target_extruder_from_command(218) || target_extruder == 0) return; + + if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units(); + if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units(); + + #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER) + if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units(); + #endif + + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); + HOTEND_LOOP() { + SERIAL_CHAR(' '); + SERIAL_ECHO(hotend_offset[X_AXIS][e]); + SERIAL_CHAR(','); + SERIAL_ECHO(hotend_offset[Y_AXIS][e]); + #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER) + SERIAL_CHAR(','); + SERIAL_ECHO(hotend_offset[Z_AXIS][e]); + #endif + } + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/config/M220.h b/Marlin/src/gcode/config/M220.h new file mode 100644 index 000000000..9d90f43d8 --- /dev/null +++ b/Marlin/src/gcode/config/M220.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) + */ +void gcode_M220() { + if (parser.seenval('S')) feedrate_percentage = parser.value_int(); +} diff --git a/Marlin/src/gcode/config/M221.h b/Marlin/src/gcode/config/M221.h new file mode 100644 index 000000000..680d0ac17 --- /dev/null +++ b/Marlin/src/gcode/config/M221.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M221: Set extrusion percentage (M221 T0 S95) + */ +void gcode_M221() { + if (get_target_extruder_from_command(221)) return; + if (parser.seenval('S')) + flow_percentage[target_extruder] = parser.value_int(); +} diff --git a/Marlin/src/gcode/config/M301.h b/Marlin/src/gcode/config/M301.h new file mode 100644 index 000000000..e775bbe1c --- /dev/null +++ b/Marlin/src/gcode/config/M301.h @@ -0,0 +1,69 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M301: Set PID parameters P I D (and optionally C, L) + * + * P[float] Kp term + * I[float] Ki term (unscaled) + * D[float] Kd term (unscaled) + * + * With PID_EXTRUSION_SCALING: + * + * C[float] Kc term + * L[float] LPQ length + */ +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 + const uint8_t e = parser.byteval('E'); // extruder being updated + + if (e < HOTENDS) { // catch bad input value + if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float(); + if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float()); + if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float()); + #if ENABLED(PID_EXTRUSION_SCALING) + if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float(); + if (parser.seen('L')) lpq_len = parser.value_float(); + NOMORE(lpq_len, LPQ_MAX_LEN); + #endif + + thermalManager.updatePID(); + SERIAL_ECHO_START(); + #if ENABLED(PID_PARAMS_PER_HOTEND) + SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output + #endif // PID_PARAMS_PER_HOTEND + SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e)); + SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e))); + SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e))); + #if ENABLED(PID_EXTRUSION_SCALING) + //Kc does not have scaling applied above, or in resetting defaults + SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e)); + #endif + SERIAL_EOL(); + } + else { + SERIAL_ERROR_START(); + SERIAL_ERRORLN(MSG_INVALID_EXTRUDER); + } +} diff --git a/Marlin/src/gcode/config/M302.h b/Marlin/src/gcode/config/M302.h new file mode 100644 index 000000000..d85a2d0ef --- /dev/null +++ b/Marlin/src/gcode/config/M302.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M302: Allow cold extrudes, or set the minimum extrude temperature + * + * S sets the minimum extrude temperature + * P enables (1) or disables (0) cold extrusion + * + * Examples: + * + * M302 ; report current cold extrusion state + * M302 P0 ; enable cold extrusion checking + * M302 P1 ; disables cold extrusion checking + * M302 S0 ; always allow extrusion (disables checking) + * M302 S170 ; only allow extrusion above 170 + * M302 S170 P1 ; set min extrude temp to 170 but leave disabled + */ +void gcode_M302() { + const bool seen_S = parser.seen('S'); + if (seen_S) { + thermalManager.extrude_min_temp = parser.value_celsius(); + thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0); + } + + if (parser.seen('P')) + thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool(); + else if (!seen_S) { + // Report current state + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis")); + SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp); + SERIAL_ECHOLNPGM("C)"); + } +} diff --git a/Marlin/src/gcode/config/M304.h b/Marlin/src/gcode/config/M304.h new file mode 100644 index 000000000..c460f1648 --- /dev/null +++ b/Marlin/src/gcode/config/M304.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_M304() { + if (parser.seen('P')) thermalManager.bedKp = parser.value_float(); + if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float()); + if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float()); + + thermalManager.updatePID(); + + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(" p:", thermalManager.bedKp); + SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi)); + SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd)); +} diff --git a/Marlin/src/gcode/config/M43.h b/Marlin/src/gcode/config/M43.h new file mode 100644 index 000000000..dd4a14be7 --- /dev/null +++ b/Marlin/src/gcode/config/M43.h @@ -0,0 +1,311 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "../../pins/pinsDebug.h" + +inline void toggle_pins() { + const bool I_flag = parser.boolval('I'); + const int repeat = parser.intval('R', 1), + start = parser.intval('S'), + end = parser.intval('E', NUM_DIGITAL_PINS - 1), + wait = parser.intval('W', 500); + + for (uint8_t pin = start; pin <= end; pin++) { + //report_pin_state_extended(pin, I_flag, false); + if (!VALID_PIN(pin)) continue; + if (!I_flag && pin_is_protected(pin)) { + report_pin_state_extended(pin, I_flag, true, "Untouched "); + SERIAL_EOL(); + } + else { + report_pin_state_extended(pin, I_flag, true, "Pulsing "); + #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO + if (pin == TEENSY_E2) { + SET_OUTPUT(TEENSY_E2); + for (int16_t j = 0; j < repeat; j++) { + WRITE(TEENSY_E2, LOW); safe_delay(wait); + WRITE(TEENSY_E2, HIGH); safe_delay(wait); + WRITE(TEENSY_E2, LOW); safe_delay(wait); + } + } + else if (pin == TEENSY_E3) { + SET_OUTPUT(TEENSY_E3); + for (int16_t j = 0; j < repeat; j++) { + WRITE(TEENSY_E3, LOW); safe_delay(wait); + WRITE(TEENSY_E3, HIGH); safe_delay(wait); + WRITE(TEENSY_E3, LOW); safe_delay(wait); + } + } + else + #endif + { + pinMode(pin, OUTPUT); + for (int16_t j = 0; j < repeat; j++) { + digitalWrite(pin, 0); safe_delay(wait); + digitalWrite(pin, 1); safe_delay(wait); + digitalWrite(pin, 0); safe_delay(wait); + } + } + + } + SERIAL_EOL(); + } + SERIAL_ECHOLNPGM("Done."); + +} // toggle_pins + +inline void servo_probe_test() { + #if !(NUM_SERVOS > 0 && HAS_SERVO_0) + + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("SERVO not setup"); + + #elif !HAS_Z_SERVO_ENDSTOP + + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup"); + + #else // HAS_Z_SERVO_ENDSTOP + + const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR); + + SERIAL_PROTOCOLLNPGM("Servo probe test"); + SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index); + SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]); + SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]); + + bool probe_inverting; + + #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) + + #define PROBE_TEST_PIN Z_MIN_PIN + + SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN); + SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)"); + SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: "); + + #if Z_MIN_ENDSTOP_INVERTING + SERIAL_PROTOCOLLNPGM("true"); + #else + SERIAL_PROTOCOLLNPGM("false"); + #endif + + probe_inverting = Z_MIN_ENDSTOP_INVERTING; + + #elif ENABLED(Z_MIN_PROBE_ENDSTOP) + + #define PROBE_TEST_PIN Z_MIN_PROBE_PIN + SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); + SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)"); + SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: "); + + #if Z_MIN_PROBE_ENDSTOP_INVERTING + SERIAL_PROTOCOLLNPGM("true"); + #else + SERIAL_PROTOCOLLNPGM("false"); + #endif + + probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING; + + #endif + + SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times"); + SET_INPUT_PULLUP(PROBE_TEST_PIN); + bool deploy_state, stow_state; + for (uint8_t i = 0; i < 4; i++) { + MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy + safe_delay(500); + deploy_state = READ(PROBE_TEST_PIN); + MOVE_SERVO(probe_index, z_servo_angle[1]); //stow + safe_delay(500); + stow_state = READ(PROBE_TEST_PIN); + } + if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards"); + + refresh_cmd_timeout(); + + if (deploy_state != stow_state) { + SERIAL_PROTOCOLLNPGM("BLTouch clone detected"); + if (deploy_state) { + SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)"); + SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)"); + } + else { + SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)"); + SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)"); + } + #if ENABLED(BLTOUCH) + SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true."); + #endif + + } + else { // measure active signal length + MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy + safe_delay(500); + SERIAL_PROTOCOLLNPGM("please trigger probe"); + uint16_t probe_counter = 0; + + // Allow 30 seconds max for operator to trigger probe + for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) { + + safe_delay(2); + + if (0 == j % (500 * 1)) // keep cmd_timeout happy + refresh_cmd_timeout(); + + if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered + + for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter) + safe_delay(2); + + if (probe_counter == 50) + SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time + else if (probe_counter >= 2) + SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse + else + SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse + + MOVE_SERVO(probe_index, z_servo_angle[1]); //stow + + } // pulse detected + + } // for loop waiting for trigger + + if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected"); + + } // measure active signal length + + #endif + +} // servo_probe_test + +/** + * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report + * + * M43 - report name and state of pin(s) + * P Pin to read or watch. If omitted, reads all pins. + * I Flag to ignore Marlin's pin protection. + * + * M43 W - Watch pins -reporting changes- until reset, click, or M108. + * P Pin to read or watch. If omitted, read/watch all pins. + * I Flag to ignore Marlin's pin protection. + * + * M43 E - Enable / disable background endstop monitoring + * - Machine continues to operate + * - Reports changes to endstops + * - Toggles LED_PIN when an endstop changes + * - Can not reliably catch the 5mS pulse from BLTouch type probes + * + * M43 T - Toggle pin(s) and report which pin is being toggled + * S - Start Pin number. If not given, will default to 0 + * L - End Pin number. If not given, will default to last pin defined for this board + * I - Flag to ignore Marlin's pin protection. Use with caution!!!! + * R - Repeat pulses on each pin this number of times before continueing to next pin + * W - Wait time (in miliseconds) between pulses. If not given will default to 500 + * + * M43 S - Servo probe test + * P - Probe index (optional - defaults to 0 + */ +void gcode_M43() { + + if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test + toggle_pins(); + return; + } + + // Enable or disable endstop monitoring + if (parser.seen('E')) { + endstop_monitor_flag = parser.value_bool(); + SERIAL_PROTOCOLPGM("endstop monitor "); + serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis")); + SERIAL_PROTOCOLLNPGM("abled"); + return; + } + + if (parser.seen('S')) { + servo_probe_test(); + return; + } + + // Get the range of pins to test or watch + const uint8_t first_pin = parser.byteval('P'), + last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1; + + if (first_pin > last_pin) return; + + const bool ignore_protection = parser.boolval('I'); + + // Watch until click, M108, or reset + if (parser.boolval('W')) { + SERIAL_PROTOCOLLNPGM("Watching pins"); + uint8_t pin_state[last_pin - first_pin + 1]; + for (int8_t pin = first_pin; pin <= last_pin; pin++) { + if (!VALID_PIN(pin)) continue; + if (pin_is_protected(pin) && !ignore_protection) continue; + pinMode(pin, INPUT_PULLUP); + delay(1); + /* + if (IS_ANALOG(pin)) + pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...] + else + //*/ + pin_state[pin - first_pin] = digitalRead(pin); + } + + #if HAS_RESUME_CONTINUE + wait_for_user = true; + KEEPALIVE_STATE(PAUSED_FOR_USER); + #endif + + for (;;) { + for (int8_t pin = first_pin; pin <= last_pin; pin++) { + if (!VALID_PIN(pin)) continue; + if (pin_is_protected(pin) && !ignore_protection) continue; + const byte val = + /* + IS_ANALOG(pin) + ? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val + : + //*/ + digitalRead(pin); + if (val != pin_state[pin - first_pin]) { + report_pin_state_extended(pin, ignore_protection, false); + pin_state[pin - first_pin] = val; + } + } + + #if HAS_RESUME_CONTINUE + if (!wait_for_user) { + KEEPALIVE_STATE(IN_HANDLER); + break; + } + #endif + + safe_delay(200); + } + return; + } + + // Report current state of selected pin(s) + for (uint8_t pin = first_pin; pin <= last_pin; pin++) + if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true); +} diff --git a/Marlin/src/gcode/config/M540.h b/Marlin/src/gcode/config/M540.h new file mode 100644 index 000000000..c12887ade --- /dev/null +++ b/Marlin/src/gcode/config/M540.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) + */ +void gcode_M540() { + if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool(); +} diff --git a/Marlin/src/gcode/config/M92.h b/Marlin/src/gcode/config/M92.h new file mode 100644 index 000000000..5c8cd33b9 --- /dev/null +++ b/Marlin/src/gcode/config/M92.h @@ -0,0 +1,51 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E. + * (Follows the same syntax as G92) + * + * With multiple extruders use T to specify which one. + */ +void gcode_M92() { + + GET_TARGET_EXTRUDER(92); + + LOOP_XYZE(i) { + if (parser.seen(axis_codes[i])) { + if (i == E_AXIS) { + const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER)); + if (value < 20.0) { + float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab. + planner.max_jerk[E_AXIS] *= factor; + planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor; + planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor; + } + planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value; + } + else { + planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i); + } + } + } + planner.refresh_positioning(); +} diff --git a/Marlin/src/gcode/control/M108.h b/Marlin/src/gcode/control/M108.h new file mode 100644 index 000000000..e370f9421 --- /dev/null +++ b/Marlin/src/gcode/control/M108.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature. + */ +void gcode_M108() { + + wait_for_heatup = false; + +} diff --git a/Marlin/src/gcode/control/M111.h b/Marlin/src/gcode/control/M111.h new file mode 100644 index 000000000..748796da6 --- /dev/null +++ b/Marlin/src/gcode/control/M111.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M111: Set the debug level + */ +void gcode_M111() { + if (parser.seen('S')) marlin_debug_flags = parser.byteval('S'); + + const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO, + str_debug_2[] PROGMEM = MSG_DEBUG_INFO, + str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS, + str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN, + str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION + #if ENABLED(DEBUG_LEVELING_FEATURE) + , str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING + #endif + ; + + const static char* const debug_strings[] PROGMEM = { + str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16 + #if ENABLED(DEBUG_LEVELING_FEATURE) + , str_debug_32 + #endif + }; + + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(MSG_DEBUG_PREFIX); + if (marlin_debug_flags) { + uint8_t comma = 0; + for (uint8_t i = 0; i < COUNT(debug_strings); i++) { + if (TEST(marlin_debug_flags, i)) { + if (comma++) SERIAL_CHAR(','); + serialprintPGM((char*)pgm_read_word(&debug_strings[i])); + } + } + } + else { + SERIAL_ECHOPGM(MSG_DEBUG_OFF); + } + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/control/M112.h b/Marlin/src/gcode/control/M112.h new file mode 100644 index 000000000..2f86ff12b --- /dev/null +++ b/Marlin/src/gcode/control/M112.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M112: Emergency Stop + */ +void gcode_M112() { + + kill(PSTR(MSG_KILLED)); + +} diff --git a/Marlin/src/gcode/control/M120_M121.h b/Marlin/src/gcode/control/M120_M121.h new file mode 100644 index 000000000..4840a7a5a --- /dev/null +++ b/Marlin/src/gcode/control/M120_M121.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M120: Enable endstops and set non-homing endstop state to "enabled" + */ +void gcode_M120() { + + endstops.enable_globally(true); + +} + +/** + * M121: Disable endstops and set non-homing endstop state to "disabled" + */ +void gcode_M121() { + + endstops.enable_globally(false); + +} diff --git a/Marlin/src/gcode/control/M17.h b/Marlin/src/gcode/control/M17.h new file mode 100644 index 000000000..7ed3d4862 --- /dev/null +++ b/Marlin/src/gcode/control/M17.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M17: Enable power on all stepper motors + */ +void gcode_M17() { + LCD_MESSAGEPGM(MSG_NO_MOVE); + enable_all_steppers(); +} diff --git a/Marlin/src/gcode/control/M18_M84.h b/Marlin/src/gcode/control/M18_M84.h new file mode 100644 index 000000000..8d967446f --- /dev/null +++ b/Marlin/src/gcode/control/M18_M84.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) + extern bool defer_return_to_status; +#endif + +/** + * M18, M84: Disable stepper motors + */ +void gcode_M18_M84() { + if (parser.seenval('S')) { + stepper_inactive_time = parser.value_millis_from_seconds(); + } + else { + bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E'))); + if (all_axis) { + stepper.finish_and_disable(); + } + else { + stepper.synchronize(); + if (parser.seen('X')) disable_X(); + if (parser.seen('Y')) disable_Y(); + if (parser.seen('Z')) disable_Z(); + #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS + if (parser.seen('E')) disable_e_steppers(); + #endif + } + + #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD + ubl_lcd_map_control = defer_return_to_status = false; + #endif + } +} diff --git a/Marlin/src/gcode/control/M211.h b/Marlin/src/gcode/control/M211.h new file mode 100644 index 000000000..2c4d90de2 --- /dev/null +++ b/Marlin/src/gcode/control/M211.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M211: Enable, Disable, and/or Report software endstops + * + * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report + */ +void gcode_M211() { + SERIAL_ECHO_START(); + #if HAS_SOFTWARE_ENDSTOPS + if (parser.seen('S')) soft_endstops_enabled = parser.value_bool(); + SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS); + serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF)); + #else + SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS); + SERIAL_ECHOPGM(MSG_OFF); + #endif + SERIAL_ECHOPGM(MSG_SOFT_MIN); + SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]); + SERIAL_ECHOPGM(MSG_SOFT_MAX); + SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]); + SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]); +} diff --git a/Marlin/src/gcode/control/M226.h b/Marlin/src/gcode/control/M226.h new file mode 100644 index 000000000..003590f91 --- /dev/null +++ b/Marlin/src/gcode/control/M226.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M226: Wait until the specified pin reaches the state required (M226 P S) + */ +void gcode_M226() { + if (parser.seen('P')) { + const int pin_number = parser.value_int(), + pin_state = parser.intval('S', -1); // required pin state - default is inverted + + if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) { + + int target = LOW; + + stepper.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) idle(); + + } // pin_state -1 0 1 && pin_number > -1 + } // parser.seen('P') +} diff --git a/Marlin/src/gcode/control/M280.h b/Marlin/src/gcode/control/M280.h new file mode 100644 index 000000000..b61c6f59b --- /dev/null +++ b/Marlin/src/gcode/control/M280.h @@ -0,0 +1,43 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M280: Get or set servo position. P [S] + */ +void gcode_M280() { + if (!parser.seen('P')) return; + const int servo_index = parser.value_int(); + if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) { + if (parser.seen('S')) + MOVE_SERVO(servo_index, parser.value_int()); + else { + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(" Servo ", servo_index); + SERIAL_ECHOLNPAIR(": ", servo[servo_index].read()); + } + } + else { + SERIAL_ERROR_START(); + SERIAL_ECHOPAIR("Servo ", servo_index); + SERIAL_ECHOLNPGM(" out of range"); + } +} diff --git a/Marlin/src/gcode/control/M3-M5.h b/Marlin/src/gcode/control/M3-M5.h new file mode 100644 index 000000000..c45cf9f72 --- /dev/null +++ b/Marlin/src/gcode/control/M3-M5.h @@ -0,0 +1,127 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M3: Spindle Clockwise + * M4: Spindle Counter-clockwise + * + * S0 turns off spindle. + * + * If no speed PWM output is defined then M3/M4 just turns it on. + * + * At least 12.8KHz (50Hz * 256) is needed for spindle PWM. + * Hardware PWM is required. ISRs are too slow. + * + * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5. + * No other settings give a PWM signal that goes from 0 to 5 volts. + * + * The system automatically sets WGM to Mode 1, so no special + * initialization is needed. + * + * WGM bits for timer 2 are automatically set by the system to + * Mode 1. This produces an acceptable 0 to 5 volt signal. + * No special initialization is needed. + * + * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler + * factors for timers 2, 3, 4, and 5 are acceptable. + * + * SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on + * the spindle/laser during power-up or when connecting to the host + * (usually goes through a reset which sets all I/O pins to tri-state) + * + * PWM duty cycle goes from 0 (off) to 255 (always on). + */ + +// Wait for spindle to come up to speed +inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); } + +// Wait for spindle to stop turning +inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); } + +/** + * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line + * + * it accepts inputs of 0-255 + */ + +inline void ocr_val_mode() { + uint8_t spindle_laser_power = parser.value_byte(); + WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) + if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power; + analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power); +} + +void gcode_M3_M4(bool is_M3) { + + stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle + #if SPINDLE_DIR_CHANGE + const bool rotation_dir = (is_M3 != SPINDLE_INVERT_DIR); + if (SPINDLE_STOP_ON_DIR_CHANGE \ + && READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \ + && READ(SPINDLE_DIR_PIN) != rotation_dir + ) { + WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off + delay_for_power_down(); + } + WRITE(SPINDLE_DIR_PIN, rotation_dir); + #endif + + /** + * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t. + * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111. + * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest. + */ + #if ENABLED(SPINDLE_LASER_PWM) + if (parser.seen('O')) ocr_val_mode(); + else { + const float spindle_laser_power = parser.floatval('S'); + if (spindle_laser_power == 0) { + WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low) + delay_for_power_down(); + } + else { + int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle + NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support + if (spindle_laser_power <= SPEED_POWER_MIN) + ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting + if (spindle_laser_power >= SPEED_POWER_MAX) + ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM + if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val; + WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) + analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte + delay_for_power_up(); + } + } + #else + WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled + delay_for_power_up(); + #endif +} + +/** +* M5 turn off spindle +*/ +void gcode_M5() { + stepper.synchronize(); + WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); + delay_for_power_down(); +} diff --git a/Marlin/src/gcode/control/M350.h b/Marlin/src/gcode/control/M350.h new file mode 100644 index 000000000..32fdb9778 --- /dev/null +++ b/Marlin/src/gcode/control/M350.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M350: Set axis microstepping modes. S sets mode for all drivers. + * + * Warning: Steps-per-unit remains unchanged. + */ +void gcode_M350() { + if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte()); + LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte()); + if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte()); + stepper.microstep_readings(); +} diff --git a/Marlin/src/gcode/control/M351.h b/Marlin/src/gcode/control/M351.h new file mode 100644 index 000000000..1a8b2e6fd --- /dev/null +++ b/Marlin/src/gcode/control/M351.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * 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. + */ +void gcode_M351() { + if (parser.seenval('S')) switch (parser.value_byte()) { + case 1: + LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1); + if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1); + break; + case 2: + LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte()); + if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte()); + break; + } + stepper.microstep_readings(); +} diff --git a/Marlin/src/gcode/control/M380_M381.h b/Marlin/src/gcode/control/M380_M381.h new file mode 100644 index 000000000..dfa056254 --- /dev/null +++ b/Marlin/src/gcode/control/M380_M381.h @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(EXT_SOLENOID) + +void enable_solenoid(const uint8_t num) { + switch (num) { + case 0: + OUT_WRITE(SOL0_PIN, HIGH); + break; + #if HAS_SOLENOID_1 && EXTRUDERS > 1 + case 1: + OUT_WRITE(SOL1_PIN, HIGH); + break; + #endif + #if HAS_SOLENOID_2 && EXTRUDERS > 2 + case 2: + OUT_WRITE(SOL2_PIN, HIGH); + break; + #endif + #if HAS_SOLENOID_3 && EXTRUDERS > 3 + case 3: + OUT_WRITE(SOL3_PIN, HIGH); + break; + #endif + #if HAS_SOLENOID_4 && EXTRUDERS > 4 + case 4: + OUT_WRITE(SOL4_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); + #if HAS_SOLENOID_1 && EXTRUDERS > 1 + OUT_WRITE(SOL1_PIN, LOW); + #endif + #if HAS_SOLENOID_2 && EXTRUDERS > 2 + OUT_WRITE(SOL2_PIN, LOW); + #endif + #if HAS_SOLENOID_3 && EXTRUDERS > 3 + OUT_WRITE(SOL3_PIN, LOW); + #endif + #if HAS_SOLENOID_4 && EXTRUDERS > 4 + OUT_WRITE(SOL4_PIN, LOW); + #endif +} + +/** + * M380: Enable solenoid on the active extruder + */ +void gcode_M380() { + + enable_solenoid_on_active_extruder(); + +} + +/** + * M381: Disable all solenoids + */ +void gcode_M381() { + + disable_all_solenoids(); + +} + +#endif // EXT_SOLENOID diff --git a/Marlin/src/gcode/control/M400.h b/Marlin/src/gcode/control/M400.h new file mode 100644 index 000000000..d785c865b --- /dev/null +++ b/Marlin/src/gcode/control/M400.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M400: Finish all moves + */ +void gcode_M400() { + + stepper.synchronize(); + +} diff --git a/Marlin/src/gcode/control/M410.h b/Marlin/src/gcode/control/M410.h new file mode 100644 index 000000000..b023ddec6 --- /dev/null +++ b/Marlin/src/gcode/control/M410.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M410: Quickstop - Abort all planned moves + * + * This will stop the carriages mid-move, so most likely they + * will be out of sync with the stepper position after this. + */ +void gcode_M410() { + + quickstop_stepper(); + +} diff --git a/Marlin/src/gcode/control/M42.h b/Marlin/src/gcode/control/M42.h new file mode 100644 index 000000000..ec559d691 --- /dev/null +++ b/Marlin/src/gcode/control/M42.h @@ -0,0 +1,59 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M42: Change pin status via GCode + * + * P Pin number (LED if omitted) + * S Pin status from 0 - 255 + */ +void gcode_M42() { + if (!parser.seenval('S')) return; + const byte pin_status = parser.value_byte(); + + const int pin_number = parser.intval('P', LED_PIN); + if (pin_number < 0) return; + + if (pin_is_protected(pin_number)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN); + return; + } + + pinMode(pin_number, OUTPUT); + digitalWrite(pin_number, pin_status); + analogWrite(pin_number, pin_status); + + #if FAN_COUNT > 0 + switch (pin_number) { + #if HAS_FAN0 + case FAN_PIN: fanSpeeds[0] = pin_status; break; + #endif + #if HAS_FAN1 + case FAN1_PIN: fanSpeeds[1] = pin_status; break; + #endif + #if HAS_FAN2 + case FAN2_PIN: fanSpeeds[2] = pin_status; break; + #endif + } + #endif +} diff --git a/Marlin/src/gcode/control/M605.h b/Marlin/src/gcode/control/M605.h new file mode 100644 index 000000000..ab423ab60 --- /dev/null +++ b/Marlin/src/gcode/control/M605.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(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 + * units 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 100mm in the x direction and 2 degrees hotter. + * + * Note: the X axis should be homed after changing dual x-carriage mode. + */ + void gcode_M605() { + stepper.synchronize(); + if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte(); + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: + case DXC_AUTO_PARK_MODE: + break; + case DXC_DUPLICATION_MODE: + if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0)); + if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); + SERIAL_CHAR(' '); + SERIAL_ECHO(hotend_offset[X_AXIS][0]); + SERIAL_CHAR(','); + SERIAL_ECHO(hotend_offset[Y_AXIS][0]); + SERIAL_CHAR(' '); + SERIAL_ECHO(duplicate_extruder_x_offset); + SERIAL_CHAR(','); + SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]); + break; + default: + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + break; + } + active_extruder_parked = false; + extruder_duplication_enabled = false; + delayed_move_time = 0; + } + +#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + + void gcode_M605() { + stepper.synchronize(); + extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE; + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF); + } + +#endif // DUAL_NOZZLE_DUPLICATION_MODE diff --git a/Marlin/src/gcode/control/M80.h b/Marlin/src/gcode/control/M80.h new file mode 100644 index 000000000..7f6a2775a --- /dev/null +++ b/Marlin/src/gcode/control/M80.h @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M80 : Turn on the Power Supply + * M80 S : Report the current state and exit + */ +void gcode_M80() { + + // S: Report the current power supply state and exit + if (parser.seen('S')) { + serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n")); + return; + } + + 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 HAS_SUICIDE + OUT_WRITE(SUICIDE_PIN, HIGH); + #endif + + #if ENABLED(HAVE_TMC2130) + delay(100); + tmc2130_init(); // Settings only stick when the driver has power + #endif + + powersupply_on = true; + + #if ENABLED(ULTIPANEL) + LCD_MESSAGEPGM(WELCOME_MSG); + #endif +} diff --git a/Marlin/src/gcode/control/M81.h b/Marlin/src/gcode/control/M81.h new file mode 100644 index 000000000..9944eced2 --- /dev/null +++ b/Marlin/src/gcode/control/M81.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M81: Turn off Power, including Power Supply, if there is one. + * + * This code should ALWAYS be available for EMERGENCY SHUTDOWN! + */ +void gcode_M81() { + thermalManager.disable_all_heaters(); + stepper.finish_and_disable(); + + #if FAN_COUNT > 0 + for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0; + #if ENABLED(PROBING_FANS_OFF) + fans_paused = false; + ZERO(paused_fanSpeeds); + #endif + #endif + + safe_delay(1000); // Wait 1 second before switching off + + #if HAS_SUICIDE + stepper.synchronize(); + suicide(); + #elif HAS_POWER_SWITCH + OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); + powersupply_on = false; + #endif + + #if ENABLED(ULTIPANEL) + LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF "."); + #endif +} diff --git a/Marlin/src/gcode/control/M85.h b/Marlin/src/gcode/control/M85.h new file mode 100644 index 000000000..4570e66fe --- /dev/null +++ b/Marlin/src/gcode/control/M85.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M85: Set inactivity shutdown timer with parameter S. To disable set zero (default) + */ +void gcode_M85() { + + if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds(); + +} + diff --git a/Marlin/src/gcode/control/M999.h b/Marlin/src/gcode/control/M999.h new file mode 100644 index 000000000..b8d60427a --- /dev/null +++ b/Marlin/src/gcode/control/M999.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M999: Restart after being stopped + * + * Default behaviour is to flush the serial buffer and request + * a resend to the host starting on the last N line received. + * + * Sending "M999 S1" will resume printing without flushing the + * existing command buffer. + * + */ +void gcode_M999() { + Running = true; + lcd_reset_alert_level(); + + if (parser.boolval('S')) return; + + // gcode_LastN = Stopped_gcode_LastN; + FlushSerialRequestResend(); +} diff --git a/Marlin/src/gcode/control/T.h b/Marlin/src/gcode/control/T.h new file mode 100644 index 000000000..e45af907e --- /dev/null +++ b/Marlin/src/gcode/control/T.h @@ -0,0 +1,62 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "../../module/tool_change.h" + +/** + * T0-T3: Switch tool, usually switching extruders + * + * F[units/min] Set the movement feedrate + * S1 Don't move the tool in XY after change + */ +void gcode_T(uint8_t tmp_extruder) { + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder); + SERIAL_CHAR(')'); + SERIAL_EOL(); + DEBUG_POS("BEFORE", current_position); + } + #endif + + #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1) + + tool_change(tmp_extruder); + + #elif HOTENDS > 1 + + tool_change( + tmp_extruder, + MMM_TO_MMS(parser.linearval('F')), + (tmp_extruder == active_extruder) || parser.boolval('S') + ); + + #endif + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + DEBUG_POS("AFTER", current_position); + SERIAL_ECHOLNPGM("<<< gcode_T"); + } + #endif +} diff --git a/Marlin/src/gcode/eeprom/M500.h b/Marlin/src/gcode/eeprom/M500.h new file mode 100644 index 000000000..122e1f099 --- /dev/null +++ b/Marlin/src/gcode/eeprom/M500.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M500: Store settings in EEPROM + */ +void gcode_M500() { + (void)settings.save(); +} diff --git a/Marlin/src/gcode/eeprom/M501.h b/Marlin/src/gcode/eeprom/M501.h new file mode 100644 index 000000000..5cae9e059 --- /dev/null +++ b/Marlin/src/gcode/eeprom/M501.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M501: Read settings from EEPROM + */ +void gcode_M501() { + (void)settings.load(); +} diff --git a/Marlin/src/gcode/eeprom/M502.h b/Marlin/src/gcode/eeprom/M502.h new file mode 100644 index 000000000..0482b60ff --- /dev/null +++ b/Marlin/src/gcode/eeprom/M502.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M502: Revert to default settings + */ +void gcode_M502() { + (void)settings.reset(); +} diff --git a/Marlin/src/gcode/eeprom/M503.h b/Marlin/src/gcode/eeprom/M503.h new file mode 100644 index 000000000..fe1457461 --- /dev/null +++ b/Marlin/src/gcode/eeprom/M503.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M503: print settings currently in memory + */ +void gcode_M503() { + (void)settings.report(!parser.boolval('S', true)); +} diff --git a/Marlin/src/gcode/feature/advance/M900.h b/Marlin/src/gcode/feature/advance/M900.h new file mode 100644 index 000000000..c5734943c --- /dev/null +++ b/Marlin/src/gcode/feature/advance/M900.h @@ -0,0 +1,52 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M900: Set and/or Get advance K factor and WH/D ratio + * + * K Set advance K factor + * R Set ratio directly (overrides WH/D) + * W H D Set ratio from WH/D + */ +void gcode_M900() { + stepper.synchronize(); + + const float newK = parser.floatval('K', -1); + if (newK >= 0) planner.extruder_advance_k = newK; + + float newR = parser.floatval('R', -1); + if (newR < 0) { + const float newD = parser.floatval('D', -1), + newW = parser.floatval('W', -1), + newH = parser.floatval('H', -1); + if (newD >= 0 && newW >= 0 && newH >= 0) + newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0; + } + if (newR >= 0) planner.advance_ed_ratio = newR; + + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k); + SERIAL_ECHOPGM(" E/D="); + const float ratio = planner.advance_ed_ratio; + if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto"); + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/feature/baricuda/M126.h b/Marlin/src/gcode/feature/baricuda/M126.h new file mode 100644 index 000000000..2543273ec --- /dev/null +++ b/Marlin/src/gcode/feature/baricuda/M126.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M126: Heater 1 valve open + */ +void gcode_M126() { + + baricuda_valve_pressure = parser.byteval('S', 255); + +} diff --git a/Marlin/src/gcode/feature/baricuda/M127.h b/Marlin/src/gcode/feature/baricuda/M127.h new file mode 100644 index 000000000..1fb1202be --- /dev/null +++ b/Marlin/src/gcode/feature/baricuda/M127.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M127: Heater 1 valve close + */ +void gcode_M127() { + + baricuda_valve_pressure = 0; + +} diff --git a/Marlin/src/gcode/feature/baricuda/M128.h b/Marlin/src/gcode/feature/baricuda/M128.h new file mode 100644 index 000000000..5a7e7823b --- /dev/null +++ b/Marlin/src/gcode/feature/baricuda/M128.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M128: Heater 2 valve open + */ +void gcode_M128() { + + baricuda_e_to_p_pressure = parser.byteval('S', 255); + +} diff --git a/Marlin/src/gcode/feature/baricuda/M129.h b/Marlin/src/gcode/feature/baricuda/M129.h new file mode 100644 index 000000000..2401fd6fb --- /dev/null +++ b/Marlin/src/gcode/feature/baricuda/M129.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M129: Heater 2 valve close + */ +void gcode_M129() { + + baricuda_e_to_p_pressure = 0; + +} diff --git a/Marlin/src/gcode/feature/camera/M240.h b/Marlin/src/gcode/feature/camera/M240.h new file mode 100644 index 000000000..31210a3d6 --- /dev/null +++ b/Marlin/src/gcode/feature/camera/M240.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M240: Trigger a camera by emulating a Canon RC-1 + * See http://www.doc-diy.net/photo/rc-1_hacked/ + */ +void gcode_M240() { + #ifdef CHDK + + OUT_WRITE(CHDK, HIGH); + chdkHigh = millis(); + chdkActive = true; + + #elif HAS_PHOTOGRAPH + + 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 +} diff --git a/Marlin/src/gcode/feature/caselight/M355.h b/Marlin/src/gcode/feature/caselight/M355.h new file mode 100644 index 000000000..4a8edaf8a --- /dev/null +++ b/Marlin/src/gcode/feature/caselight/M355.h @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if HAS_CASE_LIGHT + + #ifndef INVERT_CASE_LIGHT + #define INVERT_CASE_LIGHT false + #endif + int case_light_brightness; // LCD routine wants INT + bool case_light_on; + + void update_case_light() { + pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode + uint8_t case_light_bright = (uint8_t)case_light_brightness; + if (case_light_on) { + if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) { + analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness ); + } + else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH); + } + else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW); + } + +#endif // HAS_CASE_LIGHT + +/** + * M355: Turn case light on/off and set brightness + * + * P Set case light brightness (PWM pin required - ignored otherwise) + * + * S Set case light on/off + * + * When S turns on the light on a PWM pin then the current brightness level is used/restored + * + * M355 P200 S0 turns off the light & sets the brightness level + * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin) + */ +void gcode_M355() { + #if HAS_CASE_LIGHT + uint8_t args = 0; + if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte(); + if (parser.seenval('S')) ++args, case_light_on = parser.value_bool(); + if (args) update_case_light(); + + // always report case light status + SERIAL_ECHO_START(); + if (!case_light_on) { + SERIAL_ECHOLN("Case light: off"); + } + else { + if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on"); + else SERIAL_ECHOLNPAIR("Case light: ", case_light_brightness); + } + #else + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE); + #endif +} diff --git a/Marlin/src/gcode/feature/clean/G12.h b/Marlin/src/gcode/feature/clean/G12.h new file mode 100644 index 000000000..35dea1220 --- /dev/null +++ b/Marlin/src/gcode/feature/clean/G12.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G12: Clean the nozzle + */ +void gcode_G12() { + // Don't allow nozzle cleaning without homing first + if (axis_unhomed_error()) return; + + const uint8_t pattern = parser.ushortval('P', 0), + strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES), + objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES); + const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS); + + Nozzle::clean(pattern, strokes, radius, objects); +} diff --git a/Marlin/src/gcode/feature/digipot/M907.h b/Marlin/src/gcode/feature/digipot/M907.h new file mode 100644 index 000000000..ebd4aa4c8 --- /dev/null +++ b/Marlin/src/gcode/feature/digipot/M907.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S + */ +void gcode_M907() { + #if HAS_DIGIPOTSS + + LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int()); + if (parser.seen('B')) stepper.digipot_current(4, parser.value_int()); + if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int()); + + #elif HAS_MOTOR_CURRENT_PWM + + #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) + if (parser.seen('X')) stepper.digipot_current(0, parser.value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + if (parser.seen('E')) stepper.digipot_current(2, parser.value_int()); + #endif + + #endif + + #if ENABLED(DIGIPOT_I2C) + // this one uses actual amps in floating point + LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float()); + // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...) + for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float()); + #endif + + #if ENABLED(DAC_STEPPER_CURRENT) + if (parser.seen('S')) { + const float dac_percent = parser.value_float(); + for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent); + } + LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float()); + #endif +} diff --git a/Marlin/src/gcode/feature/digipot/M908.h b/Marlin/src/gcode/feature/digipot/M908.h new file mode 100644 index 000000000..f646fbd29 --- /dev/null +++ b/Marlin/src/gcode/feature/digipot/M908.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M908: Control digital trimpot directly (M908 P S) + */ +void gcode_M908() { + #if HAS_DIGIPOTSS + stepper.digitalPotWrite( + parser.intval('P'), + parser.intval('S') + ); + #endif + #ifdef DAC_STEPPER_CURRENT + dac_current_raw( + parser.byteval('P', -1), + parser.ushortval('S', 0) + ); + #endif +} diff --git a/Marlin/src/gcode/feature/digipot/M909.h b/Marlin/src/gcode/feature/digipot/M909.h new file mode 100644 index 000000000..63951ce2a --- /dev/null +++ b/Marlin/src/gcode/feature/digipot/M909.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_M909() { + + dac_print_values(); + +} diff --git a/Marlin/src/gcode/feature/digipot/M910.h b/Marlin/src/gcode/feature/digipot/M910.h new file mode 100644 index 000000000..4abe7972c --- /dev/null +++ b/Marlin/src/gcode/feature/digipot/M910.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void gcode_M910() { + + dac_commit_eeprom(); + +} diff --git a/Marlin/src/gcode/feature/fwretract/G10_G11.h b/Marlin/src/gcode/feature/fwretract/G10_G11.h new file mode 100644 index 000000000..be8df5039 --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/G10_G11.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G10 - Retract filament according to settings of M207 + */ +void gcode_G10() { + #if EXTRUDERS > 1 + const bool rs = parser.boolval('S'); + retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false + #endif + retract(true + #if EXTRUDERS > 1 + , rs + #endif + ); +} + +/** + * G11 - Recover filament according to settings of M208 + */ +void gcode_G11() { retract(false); } diff --git a/Marlin/src/gcode/feature/fwretract/M207.h b/Marlin/src/gcode/feature/fwretract/M207.h new file mode 100644 index 000000000..07ca82e33 --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/M207.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M207: Set firmware retraction values + * + * S[+units] retract_length + * W[+units] swap_retract_length (multi-extruder) + * F[units/min] retract_feedrate_mm_s + * Z[units] retract_zlift + */ +void gcode_M207() { + if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS); + if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('Z')) retract_zlift = parser.value_linear_units(); + if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS); +} diff --git a/Marlin/src/gcode/feature/fwretract/M208.h b/Marlin/src/gcode/feature/fwretract/M208.h new file mode 100644 index 000000000..c5cabb714 --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/M208.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M208: Set firmware un-retraction values + * + * S[+units] retract_recover_length (in addition to M207 S*) + * W[+units] swap_retract_recover_length (multi-extruder) + * F[units/min] retract_recover_feedrate_mm_s + * R[units/min] swap_retract_recover_feedrate_mm_s + */ +void gcode_M208() { + if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS); + if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS); +} diff --git a/Marlin/src/gcode/feature/fwretract/M209.h b/Marlin/src/gcode/feature/fwretract/M209.h new file mode 100644 index 000000000..9e92d100c --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/M209.h @@ -0,0 +1,35 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M209: Enable automatic retract (M209 S1) + * For slicers that don't support G10/11, reversed extrude-only + * moves will be classified as retraction. + */ +void gcode_M209() { + if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { + if (parser.seen('S')) { + autoretract_enabled = parser.value_bool(); + for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false; + } + } +} diff --git a/Marlin/src/gcode/feature/i2c/M260_M261.h b/Marlin/src/gcode/feature/i2c/M260_M261.h new file mode 100644 index 000000000..c66d19c52 --- /dev/null +++ b/Marlin/src/gcode/feature/i2c/M260_M261.h @@ -0,0 +1,70 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M260: Send data to a I2C slave device + * + * This is a PoC, the formating and arguments for the GCODE will + * change to be more compatible, the current proposal is: + * + * M260 A ; Sets the I2C slave address the data will be sent to + * + * M260 B + * M260 B + * M260 B + * + * M260 S1 ; Send the buffered data and reset the buffer + * M260 R1 ; Reset the buffer without sending data + * + */ +void gcode_M260() { + // Set the target address + if (parser.seen('A')) i2c.address(parser.value_byte()); + + // Add a new byte to the buffer + if (parser.seen('B')) i2c.addbyte(parser.value_byte()); + + // Flush the buffer to the bus + if (parser.seen('S')) i2c.send(); + + // Reset and rewind the buffer + else if (parser.seen('R')) i2c.reset(); +} + +/** + * M261: Request X bytes from I2C slave device + * + * Usage: M261 A B + */ +void gcode_M261() { + if (parser.seen('A')) i2c.address(parser.value_byte()); + + uint8_t bytes = parser.byteval('B', 1); + + if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) { + i2c.relay(bytes); + } + else { + SERIAL_ERROR_START(); + SERIAL_ERRORLN("Bad i2c request"); + } +} diff --git a/Marlin/src/gcode/feature/leds/M150.h b/Marlin/src/gcode/feature/leds/M150.h new file mode 100644 index 000000000..210616ea7 --- /dev/null +++ b/Marlin/src/gcode/feature/leds/M150.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W + * + * Always sets all 3 or 4 components. If a component is left out, set to 0. + * + * Examples: + * + * M150 R255 ; Turn LED red + * M150 R255 U127 ; Turn LED orange (PWM only) + * M150 ; Turn LED off + * M150 R U B ; Turn LED white + * M150 W ; Turn LED white using a white LED + * + */ +void gcode_M150() { + set_led_color( + parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0, + parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0, + parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0 + #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED) + , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0 + #endif + ); +} diff --git a/Marlin/src/gcode/feature/mixing/M163.h b/Marlin/src/gcode/feature/mixing/M163.h new file mode 100644 index 000000000..5dd8df481 --- /dev/null +++ b/Marlin/src/gcode/feature/mixing/M163.h @@ -0,0 +1,38 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M163: Set a single mix factor for a mixing extruder + * This is called "weight" by some systems. + * + * S[index] The channel index to set + * P[float] The mix value + * + */ +void gcode_M163() { + const int mix_index = parser.intval('S'); + if (mix_index < MIXING_STEPPERS) { + float mix_value = parser.floatval('P'); + NOLESS(mix_value, 0.0); + mixing_factor[mix_index] = RECIPROCAL(mix_value); + } +} diff --git a/Marlin/src/gcode/feature/mixing/M164.h b/Marlin/src/gcode/feature/mixing/M164.h new file mode 100644 index 000000000..07176766d --- /dev/null +++ b/Marlin/src/gcode/feature/mixing/M164.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M164: Store the current mix factors as a virtual tool. + * + * S[index] The virtual tool to store + * + */ +void gcode_M164() { + const int tool_index = parser.intval('S'); + if (tool_index < MIXING_VIRTUAL_TOOLS) { + normalize_mix(); + for (uint8_t i = 0; i < MIXING_STEPPERS; i++) + mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i]; + } +} diff --git a/Marlin/src/gcode/feature/mixing/M165.h b/Marlin/src/gcode/feature/mixing/M165.h new file mode 100644 index 000000000..4c7589129 --- /dev/null +++ b/Marlin/src/gcode/feature/mixing/M165.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M165: Set multiple mix factors for a mixing extruder. + * Factors that are left out will be set to 0. + * All factors together must add up to 1.0. + * + * A[factor] Mix factor for extruder stepper 1 + * B[factor] Mix factor for extruder stepper 2 + * C[factor] Mix factor for extruder stepper 3 + * D[factor] Mix factor for extruder stepper 4 + * H[factor] Mix factor for extruder stepper 5 + * I[factor] Mix factor for extruder stepper 6 + * + */ +void gcode_M165() { gcode_get_mix(); } diff --git a/Marlin/src/gcode/feature/pause/G27.h b/Marlin/src/gcode/feature/pause/G27.h new file mode 100644 index 000000000..2c6144982 --- /dev/null +++ b/Marlin/src/gcode/feature/pause/G27.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G27: Park the nozzle + */ +void gcode_G27() { + // Don't allow nozzle parking without homing first + if (axis_unhomed_error()) return; + Nozzle::park(parser.ushortval('P')); +} diff --git a/Marlin/src/gcode/feature/pause/M125.h b/Marlin/src/gcode/feature/pause/M125.h new file mode 100644 index 000000000..e9ed31c3e --- /dev/null +++ b/Marlin/src/gcode/feature/pause/M125.h @@ -0,0 +1,89 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "common.h" + +/** + * M125: Store current position and move to filament change position. + * Called on pause (by M25) to prevent material leaking onto the + * object. On resume (M24) the head will be moved back and the + * print will resume. + * + * If Marlin is compiled without SD Card support, M125 can be + * used directly to pause the print and move to park position, + * resuming with a button click or M108. + * + * L = override retract length + * X = override X + * Y = override Y + * Z = override Z raise + */ +void gcode_M125() { + + // Initial retract before move to filament change position + const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0 + #ifdef PAUSE_PARK_RETRACT_LENGTH + - (PAUSE_PARK_RETRACT_LENGTH) + #endif + ; + + // Lift Z axis + const float z_lift = parser.linearval('Z') + #ifdef PAUSE_PARK_Z_ADD + + PAUSE_PARK_Z_ADD + #endif + ; + + // Move XY axes to filament change position or given position + const float x_pos = parser.linearval('X') + #ifdef PAUSE_PARK_X_POS + + PAUSE_PARK_X_POS + #endif + #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) + + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0) + #endif + ; + const float y_pos = parser.linearval('Y') + #ifdef PAUSE_PARK_Y_POS + + PAUSE_PARK_Y_POS + #endif + #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) + + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0) + #endif + ; + + #if DISABLED(SDSUPPORT) + const bool job_running = print_job_timer.isRunning(); + #endif + + if (pause_print(retract, z_lift, x_pos, y_pos)) { + #if DISABLED(SDSUPPORT) + // Wait for lcd click or M108 + wait_for_filament_reload(); + + // Return to print position and continue + resume_print(); + + if (job_running) print_job_timer.start(); + #endif + } +} diff --git a/Marlin/src/gcode/feature/pause/M600.h b/Marlin/src/gcode/feature/pause/M600.h new file mode 100644 index 000000000..6e47fb59d --- /dev/null +++ b/Marlin/src/gcode/feature/pause/M600.h @@ -0,0 +1,103 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "common.h" + +/** + * M600: Pause for filament change + * + * E[distance] - Retract the filament this far (negative value) + * Z[distance] - Move the Z axis by this distance + * X[position] - Move to this X position, with Y + * Y[position] - Move to this Y position, with X + * U[distance] - Retract distance for removal (negative value) (manual reload) + * L[distance] - Extrude distance for insertion (positive value) (manual reload) + * B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer) + * + * Default values are used for omitted arguments. + * + */ +void gcode_M600() { + + #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE) + // Don't allow filament change without homing first + if (axis_unhomed_error()) home_all_axes(); + #endif + + // Initial retract before move to filament change position + const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0 + #ifdef PAUSE_PARK_RETRACT_LENGTH + - (PAUSE_PARK_RETRACT_LENGTH) + #endif + ; + + // Lift Z axis + const float z_lift = parser.linearval('Z', 0 + #ifdef PAUSE_PARK_Z_ADD + + PAUSE_PARK_Z_ADD + #endif + ); + + // Move XY axes to filament exchange position + const float x_pos = parser.linearval('X', 0 + #ifdef PAUSE_PARK_X_POS + + PAUSE_PARK_X_POS + #endif + ); + const float y_pos = parser.linearval('Y', 0 + #ifdef PAUSE_PARK_Y_POS + + PAUSE_PARK_Y_POS + #endif + ); + + // Unload filament + const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0 + #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0 + - (FILAMENT_CHANGE_UNLOAD_LENGTH) + #endif + ; + + // Load filament + const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0 + #ifdef FILAMENT_CHANGE_LOAD_LENGTH + + FILAMENT_CHANGE_LOAD_LENGTH + #endif + ; + + const int beep_count = parser.intval('B', + #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + #else + -1 + #endif + ); + + const bool job_running = print_job_timer.isRunning(); + + if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) { + wait_for_filament_reload(beep_count); + resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count); + } + + // Resume the print job timer if it was running + if (job_running) print_job_timer.start(); +} diff --git a/Marlin/src/gcode/feature/pause/common.h b/Marlin/src/gcode/feature/pause/common.h new file mode 100644 index 000000000..b28213d44 --- /dev/null +++ b/Marlin/src/gcode/feature/pause/common.h @@ -0,0 +1,335 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * feature/pause/common.h - Merge this with its G-codes in the refactor + */ + +#ifndef PAUSE_COMMON_H +#define PAUSE_COMMON_H + +#if IS_KINEMATIC + #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder) +#else + #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S) +#endif + +static float resume_position[XYZE]; +static bool move_away_flag = false; +#if ENABLED(SDSUPPORT) + static bool sd_print_paused = false; +#endif + +static void filament_change_beep(const int8_t max_beep_count, const bool init=false) { + static millis_t next_buzz = 0; + static int8_t runout_beep = 0; + + if (init) next_buzz = runout_beep = 0; + + const millis_t ms = millis(); + if (ELAPSED(ms, next_buzz)) { + if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to + next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400); + BUZZ(300, 2000); + runout_beep++; + } + } +} + +static void ensure_safe_temperature() { + bool heaters_heating = true; + + wait_for_heatup = true; // M108 will clear this + while (wait_for_heatup && heaters_heating) { + idle(); + heaters_heating = false; + HOTEND_LOOP() { + if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) { + heaters_heating = true; + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT); + #endif + break; + } + } + } +} + +static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos, + const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false +) { + if (move_away_flag) return false; // already paused + + if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) { + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (!thermalManager.allow_cold_extrude && + thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600); + return false; + } + #endif + + ensure_safe_temperature(); // wait for extruder to heat up before unloading + } + + // Indicate that the printer is paused + move_away_flag = true; + + // Pause the print job and timer + #if ENABLED(SDSUPPORT) + if (IS_SD_PRINTING) { + card.pauseSDPrint(); + sd_print_paused = true; + } + #endif + print_job_timer.pause(); + + // Show initial message and wait for synchronize steppers + if (show_lcd) { + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT); + #endif + } + + // Save current position + stepper.synchronize(); + COPY(resume_position, current_position); + + if (retract) { + // Initial retract before move to filament change position + set_destination_to_current(); + destination[E_AXIS] += retract; + RUNPLAN(PAUSE_PARK_RETRACT_FEEDRATE); + stepper.synchronize(); + } + + // Lift Z axis + if (z_lift > 0) + do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE); + + // Move XY axes to filament exchange position + do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE); + + if (unload_length != 0) { + if (show_lcd) { + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD); + idle(); + #endif + } + + // Unload filament + set_destination_to_current(); + destination[E_AXIS] += unload_length; + RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE); + stepper.synchronize(); + } + + if (show_lcd) { + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); + #endif + } + + #if HAS_BUZZER + filament_change_beep(max_beep_count, true); + #endif + + idle(); + + // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS) + #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN + disable_e_steppers(); + safe_delay(100); + #endif + + // Start the heater idle timers + const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL; + + HOTEND_LOOP() + thermalManager.start_heater_idle_timer(e, nozzle_timeout); + + return true; +} + +static void wait_for_filament_reload(const int8_t max_beep_count = 0) { + bool nozzle_timed_out = false; + + // Wait for filament insert by user and press button + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; // LCD click or M108 will clear this + while (wait_for_user) { + #if HAS_BUZZER + filament_change_beep(max_beep_count); + #endif + + // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then + // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over + if (!nozzle_timed_out) + HOTEND_LOOP() + nozzle_timed_out |= thermalManager.is_heater_idle(e); + + if (nozzle_timed_out) { + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE); + #endif + + // Wait for LCD click or M108 + while (wait_for_user) idle(true); + + // Re-enable the heaters if they timed out + HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e); + + // Wait for the heaters to reach the target temperatures + ensure_safe_temperature(); + + #if ENABLED(ULTIPANEL) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); + #endif + + // Start the heater idle timers + const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL; + + HOTEND_LOOP() + thermalManager.start_heater_idle_timer(e, nozzle_timeout); + + wait_for_user = true; /* Wait for user to load filament */ + nozzle_timed_out = false; + + #if HAS_BUZZER + filament_change_beep(max_beep_count, true); + #endif + } + + idle(true); + } + KEEPALIVE_STATE(IN_HANDLER); +} + +static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) { + bool nozzle_timed_out = false; + + if (!move_away_flag) return; + + // Re-enable the heaters if they timed out + HOTEND_LOOP() { + nozzle_timed_out |= thermalManager.is_heater_idle(e); + thermalManager.reset_heater_idle_timer(e); + } + + if (nozzle_timed_out) ensure_safe_temperature(); + + #if HAS_BUZZER + filament_change_beep(max_beep_count, true); + #endif + + if (load_length != 0) { + #if ENABLED(ULTIPANEL) + // Show "insert filament" + if (nozzle_timed_out) + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); + #endif + + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; // LCD click or M108 will clear this + while (wait_for_user && nozzle_timed_out) { + #if HAS_BUZZER + filament_change_beep(max_beep_count); + #endif + idle(true); + } + KEEPALIVE_STATE(IN_HANDLER); + + #if ENABLED(ULTIPANEL) + // Show "load" message + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD); + #endif + + // Load filament + destination[E_AXIS] += load_length; + RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE); + stepper.synchronize(); + } + + #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0 + + float extrude_length = initial_extrude_length; + + do { + if (extrude_length > 0) { + // "Wait for filament extrude" + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE); + + // Extrude filament to get into hotend + destination[E_AXIS] += extrude_length; + RUNPLAN(ADVANCED_PAUSE_EXTRUDE_FEEDRATE); + stepper.synchronize(); + } + + // Show "Extrude More" / "Resume" menu and wait for reply + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = false; + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION); + while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true); + KEEPALIVE_STATE(IN_HANDLER); + + extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH; + + // Keep looping if "Extrude More" was selected + } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE); + + #endif + + #if ENABLED(ULTIPANEL) + // "Wait for print to resume" + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME); + #endif + + // Set extruder to saved position + destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]; + planner.set_e_position_mm(current_position[E_AXIS]); + + // Move XY to starting position, then Z + do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE); + do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE); + + #if ENABLED(FILAMENT_RUNOUT_SENSOR) + filament_ran_out = false; + #endif + + #if ENABLED(ULTIPANEL) + // Show status screen + lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS); + #endif + + #if ENABLED(SDSUPPORT) + if (sd_print_paused) { + card.startFileprint(); + sd_print_paused = false; + } + #endif + + move_away_flag = false; +} + +#endif // PAUSE_COMMON_H diff --git a/Marlin/src/gcode/feature/snmm/M702.h b/Marlin/src/gcode/feature/snmm/M702.h new file mode 100644 index 000000000..efc99cac4 --- /dev/null +++ b/Marlin/src/gcode/feature/snmm/M702.h @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +inline void select_multiplexed_stepper(const uint8_t e) { + stepper.synchronize(); + disable_e_steppers(); + WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW); + WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW); + WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW); + safe_delay(100); +} + +/** + * M702: Unload all extruders + */ +void gcode_M702() { + for (uint8_t s = 0; s < E_STEPPERS; s++) { + select_multiplexed_stepper(e); + // TODO: standard unload filament function + // MK2 firmware behavior: + // - Make sure temperature is high enough + // - Raise Z to at least 15 to make room + // - Extrude 1cm of filament in 1 second + // - Under 230C quickly purge ~12mm, over 230C purge ~10mm + // - Change E max feedrate to 80, eject the filament from the tube. Sync. + // - Restore E max feedrate to 50 + } + // Go back to the last active extruder + select_multiplexed_stepper(active_extruder); + disable_e_steppers(); +} diff --git a/Marlin/src/gcode/feature/trinamic/M906.h b/Marlin/src/gcode/feature/trinamic/M906.h new file mode 100644 index 000000000..cb5c7883d --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M906.h @@ -0,0 +1,65 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static void tmc2130_get_current(TMC2130Stepper &st, const char name) { + SERIAL_CHAR(name); + SERIAL_ECHOPGM(" axis driver current: "); + SERIAL_ECHOLN(st.getCurrent()); +} +static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) { + st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); + tmc2130_get_current(st, name); +} + +/** + * M906: Set motor current in milliamps using axis codes X, Y, Z, E + * Report driver currents when no axis specified + * + * S1: Enable automatic current control + * S0: Disable + */ +void gcode_M906() { + uint16_t values[XYZE]; + LOOP_XYZE(i) + values[i] = parser.intval(axis_codes[i]); + + #if ENABLED(X_IS_TMC2130) + if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]); + else tmc2130_get_current(stepperX, 'X'); + #endif + #if ENABLED(Y_IS_TMC2130) + if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]); + else tmc2130_get_current(stepperY, 'Y'); + #endif + #if ENABLED(Z_IS_TMC2130) + if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]); + else tmc2130_get_current(stepperZ, 'Z'); + #endif + #if ENABLED(E0_IS_TMC2130) + if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]); + else tmc2130_get_current(stepperE0, 'E'); + #endif + + #if ENABLED(AUTOMATIC_CURRENT_CONTROL) + if (parser.seen('S')) auto_current_control = parser.value_bool(); + #endif +} diff --git a/Marlin/src/gcode/feature/trinamic/M911.h b/Marlin/src/gcode/feature/trinamic/M911.h new file mode 100644 index 000000000..26e85ee18 --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M911.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) { + SERIAL_CHAR(name); + SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); + serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); + SERIAL_EOL(); +} + +/** + * M911: Report TMC2130 stepper driver overtemperature pre-warn flag + * The flag is held by the library and persist until manually cleared by M912 + */ +void gcode_M911() { + const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'), + reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE); + #if ENABLED(X_IS_TMC2130) + if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X'); + #endif + #if ENABLED(Y_IS_TMC2130) + if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y'); + #endif + #if ENABLED(Z_IS_TMC2130) + if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z'); + #endif + #if ENABLED(E0_IS_TMC2130) + if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E'); + #endif +} diff --git a/Marlin/src/gcode/feature/trinamic/M912.h b/Marlin/src/gcode/feature/trinamic/M912.h new file mode 100644 index 000000000..9a124d5cf --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M912.h @@ -0,0 +1,47 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) { + st.clear_otpw(); + SERIAL_CHAR(name); + SERIAL_ECHOLNPGM(" prewarn flag cleared"); +} + +/** + * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library + */ +void gcode_M912() { + const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'), + clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE); + #if ENABLED(X_IS_TMC2130) + if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X'); + #endif + #if ENABLED(Y_IS_TMC2130) + if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y'); + #endif + #if ENABLED(Z_IS_TMC2130) + if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z'); + #endif + #if ENABLED(E0_IS_TMC2130) + if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E'); + #endif +} diff --git a/Marlin/src/gcode/feature/trinamic/M913.h b/Marlin/src/gcode/feature/trinamic/M913.h new file mode 100644 index 000000000..c7ec3e474 --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M913.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) { + SERIAL_CHAR(name); + SERIAL_ECHOPGM(" stealthChop max speed set to "); + SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm)); +} +static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) { + st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm)); + tmc2130_get_pwmthrs(st, name, spmm); +} + +/** + * M913: Set HYBRID_THRESHOLD speed. + */ +void gcode_M913() { + uint16_t values[XYZE]; + LOOP_XYZE(i) + values[i] = parser.intval(axis_codes[i]); + + #if ENABLED(X_IS_TMC2130) + if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); + else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]); + #endif + #if ENABLED(Y_IS_TMC2130) + if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); + else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]); + #endif + #if ENABLED(Z_IS_TMC2130) + if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); + else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]); + #endif + #if ENABLED(E0_IS_TMC2130) + if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); + else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]); + #endif +} diff --git a/Marlin/src/gcode/feature/trinamic/M914.h b/Marlin/src/gcode/feature/trinamic/M914.h new file mode 100644 index 000000000..7c5ef3bf3 --- /dev/null +++ b/Marlin/src/gcode/feature/trinamic/M914.h @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) { + SERIAL_CHAR(name); + SERIAL_ECHOPGM(" driver homing sensitivity set to "); + SERIAL_ECHOLN(st.sgt()); +} +static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) { + st.sgt(sgt_val); + tmc2130_get_sgt(st, name); +} + +/** + * M914: Set SENSORLESS_HOMING sensitivity. + */ +void gcode_M914() { + #if ENABLED(X_IS_TMC2130) + if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int()); + else tmc2130_get_sgt(stepperX, 'X'); + #endif + #if ENABLED(Y_IS_TMC2130) + if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int()); + else tmc2130_get_sgt(stepperY, 'Y'); + #endif +} diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h new file mode 100644 index 000000000..90e91898f --- /dev/null +++ b/Marlin/src/gcode/gcode.h @@ -0,0 +1,682 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * gcode.h - Temporary container for all gcode handlers + */ + +/** + * ----------------- + * G-Codes in Marlin + * ----------------- + * + * Helpful G-code references: + * - http://linuxcnc.org/handbook/gcode/g-code.html + * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes + * + * Help to document Marlin's G-codes online: + * - http://reprap.org/wiki/G-code + * - https://github.com/MarlinFirmware/MarlinDocumentation + * + * ----------------- + * + * "G" Codes + * + * G0 -> G1 + * G1 - Coordinated Movement X Y Z E + * G2 - CW ARC + * G3 - CCW ARC + * G4 - Dwell S or P + * G5 - Cubic B-spline with XYZE destination and IJPQ offsets + * G10 - Retract filament according to settings of M207 (Requires FWRETRACT) + * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT) + * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE) + * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) + * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) + * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) + * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT) + * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT) + * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION) + * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) + * G28 - Home one or more axes + * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling) + * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) + * G31 - Dock sled (Z_PROBE_SLED only) + * G32 - Undock sled (Z_PROBE_SLED only) + * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION) + * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET) + * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL) + * 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 -> M0 + * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise + * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise + * M5 - Turn laser/spindle off + * M17 - Enable/Power all stepper motors + * M18 - Disable all stepper motors; same as M84 + * M20 - List SD card. (Requires SDSUPPORT) + * M21 - Init SD card. (Requires SDSUPPORT) + * M22 - Release SD card. (Requires SDSUPPORT) + * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) + * M24 - Start/resume SD print. (Requires SDSUPPORT) + * M25 - Pause SD print. (Requires SDSUPPORT) + * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) + * M27 - Report SD print status. (Requires SDSUPPORT) + * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) + * M29 - Stop SD write. (Requires SDSUPPORT) + * M30 - Delete file from SD: "M30 /path/file.gco" + * M31 - Report time since last M109 or SD card start to serial. + * M32 - Select file and start SD print: "M32 [S] !/path/file.gco#". (Requires SDSUPPORT) + * Use P to run other files as sub-programs: "M32 P !filename#" + * The '#' is necessary when calling from within sd files, as it stops buffer prereading + * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT) + * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA) + * M42 - Change pin status via gcode: M42 P S. LED pin assumed if P is omitted. + * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins + * M48 - Measure Z Probe repeatability: M48 P X Y V E L. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) + * M75 - Start the print job timer. + * M76 - Pause the print job timer. + * M77 - Stop the print job timer. + * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER) + * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0) + * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0) + * M82 - Set E codes absolute (default). + * M83 - Set E codes relative while in Absolute (G90) mode. + * M84 - Disable steppers until next move, or use S to specify an idle + * duration after which steppers should turn off. S0 disables the timeout. + * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) + * M92 - Set planner.axis_steps_per_mm for one or more axes. + * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) + * M104 - Set extruder target temp. + * M105 - Report current temperatures. + * M106 - Fan on. + * M107 - Fan off. + * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) + * 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 B F. Exit autotemp by any M109 without F + * M110 - Set the current line number. (Used by host printing) + * M111 - Set debug flags: "M111 S". See flag bits defined in enum.h. + * M112 - Emergency stop. + * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE) + * M114 - Report current position. + * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) + * M117 - Display a message on the controller screen. (Requires an LCD) + * M118 - Display a message in the host console. + * M119 - Report endstops status. + * M120 - Enable endstops detection. + * M121 - Disable endstops detection. + * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE) + * M126 - Solenoid Air Valve Open. (Requires BARICUDA) + * M127 - Solenoid Air Valve Closed. (Requires BARICUDA) + * M128 - EtoP Open. (Requires BARICUDA) + * M129 - EtoP Closed. (Requires BARICUDA) + * M140 - Set bed target temp. S + * M145 - Set heatup values for materials on the LCD. H B F for S (0=PLA, 1=ABS) + * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) + * M150 - Set Status LED Color as R U B. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632) + * M155 - Auto-report temperatures with interval of S. (Requires AUTO_REPORT_TEMPERATURES) + * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) + * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS) + * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER) + * 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 for heating or cooling. ** + * M200 - Set filament diameter, D, setting E axis units to cubic. (Use S0 to revert to linear units.) + * M201 - Set max acceleration in units/s^2 for print moves: "M201 X Y Z E" + * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X Y Z E" ** UNUSED IN MARLIN! ** + * M203 - Set maximum feedrate: "M203 X Y Z E" in units/sec. + * M204 - Set default acceleration in units/sec^2: P R T + * M205 - Set advanced settings. Current units apply: + S T minimum speeds + B + X, Y, Z, E + * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) + * M207 - Set Retract Length: S, Feedrate: F, and Z lift: Z. (Requires FWRETRACT) + * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F. (Requires FWRETRACT) + * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT) + Every normal extrude-only move will be classified as retract depending on the direction. + * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) + * M218 - Set a tool offset: "M218 T X Y". (Requires 2 or more extruders) + * M220 - Set Feedrate Percentage: "M220 S" (i.e., "FR" on the LCD) + * M221 - Set Flow Percentage: "M221 S" + * M226 - Wait until a pin is in a given state: "M226 P S" + * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN) + * M250 - Set LCD contrast: "M250 C" (0-63). (Requires LCD support) + * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS) + * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS) + * M280 - Set servo position absolute: "M280 P S". (Requires servos) + * M300 - Play beep sound S P + * M301 - Set PID parameters P I and D. (Requires PIDTEMP) + * M302 - Allow cold extrudes, or set the minimum extrude S. (Requires PREVENT_COLD_EXTRUSION) + * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) + * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) + * M350 - Set microstepping mode. (Requires digital microstepping pins.) + * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) + * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) + * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) + * M381 - Disable all solenoids. (Requires EXT_SOLENOID) + * M400 - Finish all moves. + * M401 - Lower Z probe. (Requires a probe) + * M402 - Raise Z probe. (Requires a probe) + * M404 - Display or set the Nominal Filament Width: "W". (Requires FILAMENT_WIDTH_SENSOR) + * M405 - Enable Filament Sensor flow control. "M405 D". (Requires FILAMENT_WIDTH_SENSOR) + * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR) + * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR) + * M410 - Quickstop. Abort all planned moves. + * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL) + * M421 - Set a single Z coordinate in the Mesh Leveling grid. X Y Z (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL) + * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) + * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS) + * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS) + * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! ** + * M503 - Print the current settings (in memory): "M503 S". S0 specifies compact output. + * M540 - Enable/disable SD card abort on endstop hit: "M540 S". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) + * M600 - Pause for filament change: "M600 X Y Z E L". (Requires ADVANCED_PAUSE_FEATURE) + * M665 - Set delta configurations: "M665 L R S A B C I J K" (Requires DELTA) + * M666 - Set delta endstop adjustment. (Requires DELTA) + * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) + * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) + * M860 - Report the position of position encoder modules. + * M861 - Report the status of position encoder modules. + * M862 - Perform an axis continuity test for position encoder modules. + * M863 - Perform steps-per-mm calibration for position encoder modules. + * M864 - Change position encoder module I2C address. + * M865 - Check position encoder module firmware version. + * M866 - Report or reset position encoder module error count. + * M867 - Enable/disable or toggle error correction for position encoder modules. + * M868 - Report or set position encoder module error correction threshold. + * M869 - Report position encoder module error. + * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE) + * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130) + * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) + * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) + * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT) + * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT) + * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130) + * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130) + * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) + * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) + * + * 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) + * + * ************ Custom codes - This can change to suit future G-code regulations + * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT) + * M999 - Restart after being stopped by error + * + * "T" Codes + * + * T0-T3 - Select an extruder (tool) by index: "T F" + * + */ + +#ifndef GCODE_H +#define GCODE_H + +#include "../inc/MarlinConfig.h" +#include "parser.h" + +#if ENABLED(I2C_POSITION_ENCODERS) + #include "../feature/I2CPositionEncoder.h" +#endif + +class GcodeSuite { +public: + + GcodeSuite() {} + +private: + + static void G0_G1( + #if IS_SCARA + bool fast_move=false + #endif + ); + + #if ENABLED(ARC_SUPPORT) + static void G2_G3(bool clockwise); + #endif + + static void G4(); + + #if ENABLED(BEZIER_CURVE_SUPPORT) + static void G5(); + #endif + + #if ENABLED(FWRETRACT) + static void G10(); + static void G11(); + #endif + + #if ENABLED(NOZZLE_CLEAN_FEATURE) + static void G12(); + #endif + + #if ENABLED(CNC_WORKSPACE_PLANES) + static void G17(); + static void G18(); + static void G19(); + #endif + + #if ENABLED(INCH_MODE_SUPPORT) + static void G20(); + static void G21(); + #endif + + #if ENABLED(UBL_G26_MESH_VALIDATION) + static void G26(); + #endif + + #if ENABLED(NOZZLE_PARK_FEATURE) + static void G27(); + #endif + + static void G28(const bool always_home_all); + + #if HAS_LEVELING + static void G29(); + #endif + + #if HAS_BED_PROBE + static void G30(); + #if ENABLED(Z_PROBE_SLED) + static void G31(); + static void G32(); + #endif + #endif + + #if PROBE_SELECTED && ENABLED(DELTA_AUTO_CALIBRATION) + static void G33(); + #endif + + #if ENABLED(G38_PROBE_TARGET) + static void G38(bool is_38_2); + #endif + + #if HAS_MESH + static void G42(); + #endif + + static void G92(); + + #if HAS_RESUME_CONTINUE + static void M0_M1(); + #endif + + #if ENABLED(SPINDLE_LASER_ENABLE) + static void M3_M4(bool is_M3); + static void M5(); + #endif + + static void M17(); + + static void M18_M84(); + + #if ENABLED(SDSUPPORT) + static void M20(); + static void M21(); + static void M22(); + static void M23(); + static void M24(); + static void M25(); + static void M26(); + static void M27(); + static void M28(); + static void M29(); + static void M30(); + #endif + + static void M31(); + + #if ENABLED(SDSUPPORT) + static void M32(); + #if ENABLED(LONG_FILENAME_HOST_SUPPORT) + static void M33(); + #endif + #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE) + static void M34(); + #endif + #endif + + static void M42(); + + #if ENABLED(PINS_DEBUGGING) + static void M43(); + #endif + + #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) + static void M48(); + #endif + + #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) + static void M49(); + #endif + + static void M75(); + static void M76(); + static void M77(); + + #if ENABLED(PRINTCOUNTER) + static void M78(); + #endif + + #if HAS_POWER_SWITCH + static void M80(); + #endif + + static void M81(); + static void M82(); + static void M83(); + static void M85(); + static void M92(); + + #if ENABLED(M100_FREE_MEMORY_WATCHER) + static void M100(); + #endif + + static void M104(); + static void M105(); + static void M106(); + static void M107(); + + #if DISABLED(EMERGENCY_PARSER) + static void M108(); + #endif + + static void M109(); + + static void M110(); + static void M111(); + + #if DISABLED(EMERGENCY_PARSER) + static void M112(); + #endif + + #if ENABLED(HOST_KEEPALIVE_FEATURE) + static void M113(); + #endif + + static void M114(); + static void M115(); + static void M117(); + static void M118(); + static void M119(); + static void M120(); + static void M121(); + + #if ENABLED(PARK_HEAD_ON_PAUSE) + static void M125(); + #endif + + #if ENABLED(BARICUDA) + #if HAS_HEATER_1 + static void M126(); + static void M127(); + #endif + #if HAS_HEATER_2 + static void M128(); + static void M129(); + #endif + #endif + + #if HAS_TEMP_BED + static void M140(); + #endif + + #if ENABLED(ULTIPANEL) + static void M145(); + #endif + + #if ENABLED(TEMPERATURE_UNITS_SUPPORT) + static void M149(); + #endif + + #if HAS_COLOR_LEDS + static void M150(); + #endif + + #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED) + static void M155(); + #endif + + #if ENABLED(MIXING_EXTRUDER) + static void M163(); + #if MIXING_VIRTUAL_TOOLS > 1 + static void M164(); + #endif + #if ENABLED(DIRECT_MIXING_IN_G1) + static void M165(); + #endif + #endif + + #if HAS_TEMP_BED + static void M190(); + #endif + + static void M200(); + static void M201(); + + #if 0 + static void M202(); // Not used for Sprinter/grbl gen6 + #endif + + static void M203(); + static void M204(); + static void M205(); + + #if HAS_M206_COMMAND + static void M206(); + #endif + + #if ENABLED(FWRETRACT) + static void M207(); + static void M208(); + static void M209(); + #endif + + static void M211(); + + #if HOTENDS > 1 + static void M218(); + #endif + + static void M220(); + static void M221(); + static void M226(); + + #if defined(CHDK) || HAS_PHOTOGRAPH + static void M240(); + #endif + + #if HAS_LCD_CONTRAST + static void M250(); + #endif + + #if ENABLED(EXPERIMENTAL_I2CBUS) + static void M260(); + static void M261(); + #endif + + #if HAS_SERVOS + static void M280(); + #endif + + #if HAS_BUZZER + static void M300(); + #endif + + #if ENABLED(PIDTEMP) + static void M301(); + #endif + + #if ENABLED(PREVENT_COLD_EXTRUSION) + static void M302(); + #endif + + static void M303(); + + #if ENABLED(PIDTEMPBED) + static void M304(); + #endif + + #if HAS_MICROSTEPS + static void M350(); + static void M351(); + #endif + + static void M355(); + + #if ENABLED(MORGAN_SCARA) + static bool M360(); + static bool M361(); + static bool M362(); + static bool M363(); + static bool M364(); + #endif + + #if ENABLED(EXT_SOLENOID) + static void M380(); + static void M381(); + #endif + + static void M400(); + + #if HAS_BED_PROBE + static void M401(); + static void M402(); + #endif + + #if ENABLED(FILAMENT_WIDTH_SENSOR) + static void M404(); + static void M405(); + static void M406(); + static void M407(); + #endif + + #if DISABLED(EMERGENCY_PARSER) + static void M410(); + #endif + + #if HAS_LEVELING + static void M420(); + static void M421(); + #endif + + #if HAS_M206_COMMAND + static void M428(); + #endif + + static void M500(); + static void M501(); + static void M502(); + #if DISABLED(DISABLE_M503) + static void M503(); + #endif + + #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) + static void M540(); + #endif + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + static void M600(); + #endif + + #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + static void M605(); + #endif + + #if IS_KINEMATIC + static void M665(); + #endif + + #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS) + static void M666(); + #endif + + #if ENABLED(MK2_MULTIPLEXER) + static void M702(); + #endif + + #if HAS_BED_PROBE + static void M851(); + #endif + + #if ENABLED(I2C_POSITION_ENCODERS) + FORCE_INLINE static void M860() { I2CPEM.M860(); } + FORCE_INLINE static void M861() { I2CPEM.M861(); } + FORCE_INLINE static void M862() { I2CPEM.M862(); } + FORCE_INLINE static void M863() { I2CPEM.M863(); } + FORCE_INLINE static void M864() { I2CPEM.M864(); } + FORCE_INLINE static void M865() { I2CPEM.M865(); } + FORCE_INLINE static void M866() { I2CPEM.M866(); } + FORCE_INLINE static void M867() { I2CPEM.M867(); } + FORCE_INLINE static void M868() { I2CPEM.M868(); } + FORCE_INLINE static void M869() { I2CPEM.M869(); } + #endif + + #if ENABLED(LIN_ADVANCE) + static void M900(); + #endif + + #if ENABLED(HAVE_TMC2130) + static void M906(); + static void M911(); + static void M912(); + #if ENABLED(HYBRID_THRESHOLD) + static void M913(); + #endif + #if ENABLED(SENSORLESS_HOMING) + static void M914(); + #endif + #endif + + static void M907(); + + #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT) + static void M908(); + #if ENABLED(DAC_STEPPER_CURRENT) + static void M909(); + static void M910(); + #endif + #endif + + #if ENABLED(SDSUPPORT) + static void M928(); + #endif + + static void M999(); + + static void T(uint8_t tmp_extruder); + +}; + +extern GcodeSuite gcode; + +#endif // GCODE_H diff --git a/Marlin/src/gcode/geometry/G17-G19.h b/Marlin/src/gcode/geometry/G17-G19.h new file mode 100644 index 000000000..7bff34fe4 --- /dev/null +++ b/Marlin/src/gcode/geometry/G17-G19.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void report_workspace_plane() { + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Workspace Plane "); + serialprintPGM(workspace_plane == PLANE_YZ ? PSTR("YZ\n") : workspace_plane == PLANE_ZX ? PSTR("ZX\n") : PSTR("XY\n")); +} + +/** + * G17: Select Plane XY + * G18: Select Plane ZX + * G19: Select Plane YZ + */ +void gcode_G17() { workspace_plane = PLANE_XY; } +void gcode_G18() { workspace_plane = PLANE_ZX; } +void gcode_G19() { workspace_plane = PLANE_YZ; } diff --git a/Marlin/src/gcode/geometry/G92.h b/Marlin/src/gcode/geometry/G92.h new file mode 100644 index 000000000..98569248d --- /dev/null +++ b/Marlin/src/gcode/geometry/G92.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G92: Set current position to given X Y Z E + */ +void gcode_G92() { + bool didXYZ = false, + didE = parser.seenval('E'); + + if (!didE) stepper.synchronize(); + + LOOP_XYZE(i) { + if (parser.seenval(axis_codes[i])) { + #if IS_SCARA + current_position[i] = parser.value_axis_units((AxisEnum)i); + if (i != E_AXIS) didXYZ = true; + #else + #if HAS_POSITION_SHIFT + const float p = current_position[i]; + #endif + const float v = parser.value_axis_units((AxisEnum)i); + + current_position[i] = v; + + if (i != E_AXIS) { + didXYZ = true; + #if HAS_POSITION_SHIFT + position_shift[i] += v - p; // Offset the coordinate space + update_software_endstops((AxisEnum)i); + + #if ENABLED(I2C_POSITION_ENCODERS) + I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]); + #endif + + #endif + } + #endif + } + } + if (didXYZ) + SYNC_PLAN_POSITION_KINEMATIC(); + else if (didE) + sync_plan_position_e(); + + report_current_position(); +} diff --git a/Marlin/src/gcode/geometry/M206.h b/Marlin/src/gcode/geometry/M206.h new file mode 100644 index 000000000..bf0e4e528 --- /dev/null +++ b/Marlin/src/gcode/geometry/M206.h @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y + * + * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665. + * *** M206 for SCARA will remain enabled in 1.1.x for compatibility. + * *** In the 2.0 release, it will simply be disabled by default. + */ +void gcode_M206() { + LOOP_XYZ(i) + if (parser.seen(axis_codes[i])) + set_home_offset((AxisEnum)i, parser.value_linear_units()); + + #if ENABLED(MORGAN_SCARA) + if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta + if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi + #endif + + SYNC_PLAN_POSITION_KINEMATIC(); + report_current_position(); +} diff --git a/Marlin/src/gcode/geometry/M428.h b/Marlin/src/gcode/geometry/M428.h new file mode 100644 index 000000000..77b58cf30 --- /dev/null +++ b/Marlin/src/gcode/geometry/M428.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M428: Set home_offset based on the distance between the + * current_position and the nearest "reference point." + * If an axis is past center its endstop position + * is the reference-point. Otherwise it uses 0. This allows + * the Z offset to be set near the bed when using a max endstop. + * + * M428 can't be used more than 2cm away from 0 or an endstop. + * + * Use M206 to set these values directly. + */ +void gcode_M428() { + bool err = false; + LOOP_XYZ(i) { + if (axis_homed[i]) { + const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0, + diff = base - RAW_POSITION(current_position[i], i); + if (WITHIN(diff, -20, 20)) { + set_home_offset((AxisEnum)i, diff); + } + else { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR); + LCD_ALERTMESSAGEPGM("Err: Too far!"); + BUZZ(200, 40); + err = true; + break; + } + } + } + + if (!err) { + SYNC_PLAN_POSITION_KINEMATIC(); + report_current_position(); + LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); + BUZZ(100, 659); + BUZZ(100, 698); + } +} diff --git a/Marlin/src/gcode/host/M110.h b/Marlin/src/gcode/host/M110.h new file mode 100644 index 000000000..711c05dbb --- /dev/null +++ b/Marlin/src/gcode/host/M110.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M110: Set Current Line Number + */ +void gcode_M110() { + if (parser.seenval('N')) gcode_LastN = parser.value_long(); +} diff --git a/Marlin/src/gcode/host/M113.h b/Marlin/src/gcode/host/M113.h new file mode 100644 index 000000000..e7310dfa4 --- /dev/null +++ b/Marlin/src/gcode/host/M113.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M113: Get or set Host Keepalive interval (0 to disable) + * + * S Optional. Set the keepalive interval. + */ +void gcode_M113() { + if (parser.seenval('S')) { + host_keepalive_interval = parser.value_byte(); + NOMORE(host_keepalive_interval, 60); + } + else { + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval); + } +} diff --git a/Marlin/src/gcode/host/M114.h b/Marlin/src/gcode/host/M114.h new file mode 100644 index 000000000..e0ed295cc --- /dev/null +++ b/Marlin/src/gcode/host/M114.h @@ -0,0 +1,113 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#ifdef M114_DETAIL + + void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) { + char str[12]; + for (uint8_t i = 0; i < n; i++) { + SERIAL_CHAR(' '); + SERIAL_CHAR(axis_codes[i]); + SERIAL_CHAR(':'); + SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str)); + } + SERIAL_EOL(); + } + + inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); } + + void report_current_position_detail() { + + stepper.synchronize(); + + SERIAL_PROTOCOLPGM("\nLogical:"); + report_xyze(current_position); + + SERIAL_PROTOCOLPGM("Raw: "); + const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) }; + report_xyz(raw); + + SERIAL_PROTOCOLPGM("Leveled:"); + float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] }; + planner.apply_leveling(leveled); + report_xyz(leveled); + + SERIAL_PROTOCOLPGM("UnLevel:"); + float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] }; + planner.unapply_leveling(unleveled); + report_xyz(unleveled); + + #if IS_KINEMATIC + #if IS_SCARA + SERIAL_PROTOCOLPGM("ScaraK: "); + #else + SERIAL_PROTOCOLPGM("DeltaK: "); + #endif + inverse_kinematics(leveled); // writes delta[] + report_xyz(delta); + #endif + + SERIAL_PROTOCOLPGM("Stepper:"); + const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) }; + report_xyze(step_count, 4, 0); + + #if IS_SCARA + const float deg[XYZ] = { + stepper.get_axis_position_degrees(A_AXIS), + stepper.get_axis_position_degrees(B_AXIS) + }; + SERIAL_PROTOCOLPGM("Degrees:"); + report_xyze(deg, 2); + #endif + + SERIAL_PROTOCOLPGM("FromStp:"); + get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics) + const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) }; + report_xyze(from_steppers); + + const float diff[XYZE] = { + from_steppers[X_AXIS] - leveled[X_AXIS], + from_steppers[Y_AXIS] - leveled[Y_AXIS], + from_steppers[Z_AXIS] - leveled[Z_AXIS], + from_steppers[E_AXIS] - current_position[E_AXIS] + }; + SERIAL_PROTOCOLPGM("Differ: "); + report_xyze(diff); + } + +#endif // M114_DETAIL + +/** + * M114: Report current position to host + */ +void gcode_M114() { + + #ifdef M114_DETAIL + if (parser.seen('D')) { + report_current_position_detail(); + return; + } + #endif + + stepper.synchronize(); + report_current_position(); +} diff --git a/Marlin/src/gcode/host/M115.h b/Marlin/src/gcode/host/M115.h new file mode 100644 index 000000000..a58a474ee --- /dev/null +++ b/Marlin/src/gcode/host/M115.h @@ -0,0 +1,100 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M115: Capabilities string + */ +void gcode_M115() { + SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT); + + #if ENABLED(EXTENDED_CAPABILITIES_REPORT) + + // EEPROM (M500, M501) + #if ENABLED(EEPROM_SETTINGS) + SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0"); + #endif + + // AUTOREPORT_TEMP (M155) + #if ENABLED(AUTO_REPORT_TEMPERATURES) + SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0"); + #endif + + // PROGRESS (M530 S L, M531 , M532 X L) + SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0"); + + // Print Job timer M75, M76, M77 + SERIAL_PROTOCOLLNPGM("Cap:PRINT_JOB:1"); + + // AUTOLEVEL (G29) + #if HAS_AUTOLEVEL + SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0"); + #endif + + // Z_PROBE (G30) + #if HAS_BED_PROBE + SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0"); + #endif + + // MESH_REPORT (M420 V) + #if HAS_LEVELING + SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0"); + #endif + + // SOFTWARE_POWER (M80, M81) + #if HAS_POWER_SWITCH + SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0"); + #endif + + // CASE LIGHTS (M355) + #if HAS_CASE_LIGHT + SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1"); + if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) { + SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:1"); + } + else + SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0"); + #else + SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0"); + SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0"); + #endif + + // EMERGENCY_PARSER (M108, M112, M410) + #if ENABLED(EMERGENCY_PARSER) + SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1"); + #else + SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0"); + #endif + + #endif // EXTENDED_CAPABILITIES_REPORT +} diff --git a/Marlin/src/gcode/host/M118.h b/Marlin/src/gcode/host/M118.h new file mode 100644 index 000000000..70e8c5f5d --- /dev/null +++ b/Marlin/src/gcode/host/M118.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M118: Display a message in the host console. + * + * A Append '// ' for an action command, as in OctoPrint + * E Have the host 'echo:' the text + */ +void gcode_M118() { + if (parser.boolval('E')) SERIAL_ECHO_START(); + if (parser.boolval('A')) SERIAL_ECHOPGM("// "); + SERIAL_ECHOLN(parser.string_arg); +} diff --git a/Marlin/src/gcode/host/M119.h b/Marlin/src/gcode/host/M119.h new file mode 100644 index 000000000..6b68ba090 --- /dev/null +++ b/Marlin/src/gcode/host/M119.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M119: Output endstop states to serial output + */ +void gcode_M119() { endstops.M119(); } diff --git a/Marlin/src/gcode/lcd/M0_M1.h b/Marlin/src/gcode/lcd/M0_M1.h new file mode 100644 index 000000000..599dfbd5e --- /dev/null +++ b/Marlin/src/gcode/lcd/M0_M1.h @@ -0,0 +1,84 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M0: Unconditional stop - Wait for user button press on LCD + * M1: Conditional stop - Wait for user button press on LCD + */ +void gcode_M0_M1() { + const char * const args = parser.string_arg; + + millis_t ms = 0; + bool hasP = false, hasS = false; + if (parser.seenval('P')) { + ms = parser.value_millis(); // milliseconds to wait + hasP = ms > 0; + } + if (parser.seenval('S')) { + ms = parser.value_millis_from_seconds(); // seconds to wait + hasS = ms > 0; + } + + #if ENABLED(ULTIPANEL) + + if (!hasP && !hasS && args && *args) + lcd_setstatus(args, true); + else { + LCD_MESSAGEPGM(MSG_USERWAIT); + #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0 + dontExpireStatus(); + #endif + } + + #else + + if (!hasP && !hasS && args && *args) { + SERIAL_ECHO_START(); + SERIAL_ECHOLN(args); + } + + #endif + + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; + + stepper.synchronize(); + refresh_cmd_timeout(); + + if (ms > 0) { + ms += previous_cmd_ms; // wait until this time for a click + while (PENDING(millis(), ms) && wait_for_user) idle(); + } + else { + #if ENABLED(ULTIPANEL) + if (lcd_detected()) { + while (wait_for_user) idle(); + IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG); + } + #else + while (wait_for_user) idle(); + #endif + } + + wait_for_user = false; + KEEPALIVE_STATE(IN_HANDLER); +} diff --git a/Marlin/src/gcode/lcd/M117.h b/Marlin/src/gcode/lcd/M117.h new file mode 100644 index 000000000..ea0ed877a --- /dev/null +++ b/Marlin/src/gcode/lcd/M117.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M117: Set LCD Status Message + */ +void gcode_M117() { + + lcd_setstatus(parser.string_arg); + +} diff --git a/Marlin/src/gcode/lcd/M145.h b/Marlin/src/gcode/lcd/M145.h new file mode 100644 index 000000000..3d203f1c3 --- /dev/null +++ b/Marlin/src/gcode/lcd/M145.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M145: Set the heatup state for a material in the LCD menu + * + * S (0=PLA, 1=ABS) + * H + * B + * F + */ +void gcode_M145() { + const uint8_t material = (uint8_t)parser.intval('S'); + if (material >= COUNT(lcd_preheat_hotend_temp)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX); + } + else { + int v; + if (parser.seenval('H')) { + v = parser.value_int(); + lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15); + } + if (parser.seenval('F')) { + v = parser.value_int(); + lcd_preheat_fan_speed[material] = constrain(v, 0, 255); + } + #if TEMP_SENSOR_BED != 0 + if (parser.seenval('B')) { + v = parser.value_int(); + lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15); + } + #endif + } +} diff --git a/Marlin/src/gcode/lcd/M250.h b/Marlin/src/gcode/lcd/M250.h new file mode 100644 index 000000000..fbcb9045c --- /dev/null +++ b/Marlin/src/gcode/lcd/M250.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M250: Read and optionally set the LCD contrast + */ +void gcode_M250() { + if (parser.seen('C')) set_lcd_contrast(parser.value_int()); + SERIAL_PROTOCOLPGM("lcd contrast value: "); + SERIAL_PROTOCOL(lcd_contrast); + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/lcd/M300.h b/Marlin/src/gcode/lcd/M300.h new file mode 100644 index 000000000..9acfb2842 --- /dev/null +++ b/Marlin/src/gcode/lcd/M300.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M300: Play beep sound S P + */ +void gcode_M300() { + uint16_t const frequency = parser.ushortval('S', 260); + uint16_t duration = parser.ushortval('P', 1000); + + // Limits the tone duration to 0-5 seconds. + NOMORE(duration, 5000); + + BUZZ(duration, frequency); +} diff --git a/Marlin/src/gcode/motion/G0_G1.h b/Marlin/src/gcode/motion/G0_G1.h new file mode 100644 index 000000000..077e664bd --- /dev/null +++ b/Marlin/src/gcode/motion/G0_G1.h @@ -0,0 +1,55 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G0, G1: Coordinated movement of X Y Z E axes + */ +void gcode_G0_G1( + #if IS_SCARA + bool fast_move=false + #endif +) { + if (IsRunning()) { + gcode_get_destination(); // For X Y Z E F + + #if ENABLED(FWRETRACT) + if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { + // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves + if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) { + const float echange = destination[E_AXIS] - current_position[E_AXIS]; + // Is this a retract or recover move? + if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) { + current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations + sync_plan_position_e(); // AND from the planner + return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored) + } + } + } + #endif // FWRETRACT + + #if IS_SCARA + fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination(); + #else + prepare_move_to_destination(); + #endif + } +} diff --git a/Marlin/src/gcode/motion/G2_G3.h b/Marlin/src/gcode/motion/G2_G3.h new file mode 100644 index 000000000..f06e623a1 --- /dev/null +++ b/Marlin/src/gcode/motion/G2_G3.h @@ -0,0 +1,263 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if N_ARC_CORRECTION < 1 + #undef N_ARC_CORRECTION + #define N_ARC_CORRECTION 1 +#endif + +/** + * Plan an arc in 2 dimensions + * + * The arc is approximated by generating many small linear segments. + * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm) + * Arcs should only be made relatively large (over 5mm), as larger arcs with + * larger segments will tend to be more efficient. Your slicer should have + * options for G2/G3 arc generation. In future these options may be GCode tunable. + */ +void plan_arc( + float logical[XYZE], // Destination position + float *offset, // Center of rotation relative to current_position + uint8_t clockwise // Clockwise? +) { + #if ENABLED(CNC_WORKSPACE_PLANES) + AxisEnum p_axis, q_axis, l_axis; + switch (workspace_plane) { + case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break; + case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break; + case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break; + } + #else + constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS; + #endif + + // Radius vector from center to current location + float r_P = -offset[0], r_Q = -offset[1]; + + const float radius = HYPOT(r_P, r_Q), + center_P = current_position[p_axis] - r_P, + center_Q = current_position[q_axis] - r_Q, + rt_X = logical[p_axis] - center_P, + rt_Y = logical[q_axis] - center_Q, + linear_travel = logical[l_axis] - current_position[l_axis], + extruder_travel = logical[E_AXIS] - current_position[E_AXIS]; + + // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required. + float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y); + if (angular_travel < 0) angular_travel += RADIANS(360); + if (clockwise) angular_travel -= RADIANS(360); + + // Make a circle if the angular rotation is 0 and the target is current position + if (angular_travel == 0 && current_position[p_axis] == logical[p_axis] && current_position[q_axis] == logical[q_axis]) + angular_travel = RADIANS(360); + + const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel)); + if (mm_of_travel < 0.001) return; + + uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT)); + if (segments == 0) segments = 1; + + /** + * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, + * and phi is the angle of rotation. Based on the solution approach by Jens Geisler. + * r_T = [cos(phi) -sin(phi); + * sin(phi) cos(phi)] * r ; + * + * For arc generation, the center of the circle is the axis of rotation and the radius vector is + * defined from the circle center to the initial position. Each line segment is formed by successive + * vector rotations. This requires only two cos() and sin() computations to form the rotation + * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since + * all double numbers are single precision on the Arduino. (True double precision will not have + * round off issues for CNC applications.) Single precision error can accumulate to be greater than + * tool precision in some cases. Therefore, arc path correction is implemented. + * + * Small angle approximation may be used to reduce computation overhead further. This approximation + * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words, + * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large + * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for + * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an + * issue for CNC machines with the single precision Arduino calculations. + * + * This approximation also allows plan_arc to immediately insert a line segment into the planner + * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied + * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. + * This is important when there are successive arc motions. + */ + // Vector rotation matrix values + float arc_target[XYZE]; + const float theta_per_segment = angular_travel / segments, + linear_per_segment = linear_travel / segments, + extruder_per_segment = extruder_travel / segments, + sin_T = theta_per_segment, + cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation + + // Initialize the linear axis + arc_target[l_axis] = current_position[l_axis]; + + // Initialize the extruder axis + arc_target[E_AXIS] = current_position[E_AXIS]; + + const float fr_mm_s = MMS_SCALED(feedrate_mm_s); + + millis_t next_idle_ms = millis() + 200UL; + + #if N_ARC_CORRECTION > 1 + int8_t arc_recalc_count = N_ARC_CORRECTION; + #endif + + for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times + + thermalManager.manage_heater(); + if (ELAPSED(millis(), next_idle_ms)) { + next_idle_ms = millis() + 200UL; + idle(); + } + + #if N_ARC_CORRECTION > 1 + if (--arc_recalc_count) { + // Apply vector rotation matrix to previous r_P / 1 + const float r_new_Y = r_P * sin_T + r_Q * cos_T; + r_P = r_P * cos_T - r_Q * sin_T; + r_Q = r_new_Y; + } + else + #endif + { + #if N_ARC_CORRECTION > 1 + arc_recalc_count = N_ARC_CORRECTION; + #endif + + // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments. + // Compute exact location by applying transformation matrix from initial radius vector(=-offset). + // To reduce stuttering, the sin and cos could be computed at different times. + // For now, compute both at the same time. + const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment); + r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti; + r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti; + } + + // Update arc_target location + arc_target[p_axis] = center_P + r_P; + arc_target[q_axis] = center_Q + r_Q; + arc_target[l_axis] += linear_per_segment; + arc_target[E_AXIS] += extruder_per_segment; + + clamp_to_software_endstops(arc_target); + + planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder); + } + + // Ensure last segment arrives at target location. + planner.buffer_line_kinematic(logical, fr_mm_s, 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. + set_current_to_destination(); +} // plan_arc + +/** + * G2: Clockwise Arc + * G3: Counterclockwise Arc + * + * This command has two forms: IJ-form and R-form. + * + * - I specifies an X offset. J specifies a Y offset. + * At least one of the IJ parameters is required. + * X and Y can be omitted to do a complete circle. + * The given XY is not error-checked. The arc ends + * based on the angle of the destination. + * Mixing I or J with R will throw an error. + * + * - R specifies the radius. X or Y is required. + * Omitting both X and Y will throw an error. + * X or Y must differ from the current XY. + * Mixing R with I or J will throw an error. + * + * - P specifies the number of full circles to do + * before the specified arc move. + * + * Examples: + * + * G2 I10 ; CW circle centered at X+10 + * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12 + */ +void gcode_G2_G3(bool clockwise) { + if (IsRunning()) { + + #if ENABLED(SF_ARC_FIX) + const bool relative_mode_backup = relative_mode; + relative_mode = true; + #endif + + gcode_get_destination(); + + #if ENABLED(SF_ARC_FIX) + relative_mode = relative_mode_backup; + #endif + + float arc_offset[2] = { 0.0, 0.0 }; + if (parser.seenval('R')) { + const float r = parser.value_linear_units(), + p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS], + p2 = destination[X_AXIS], q2 = destination[Y_AXIS]; + if (r && (p2 != p1 || q2 != q1)) { + const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1 + dx = p2 - p1, dy = q2 - q1, // X and Y differences + d = HYPOT(dx, dy), // Linear distance between the points + h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point + mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points + sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector + cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc + arc_offset[0] = cx - p1; + arc_offset[1] = cy - q1; + } + } + else { + if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units(); + if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units(); + } + + if (arc_offset[0] || arc_offset[1]) { + + #if ENABLED(ARC_P_CIRCLES) + // P indicates number of circles to do + int8_t circles_to_do = parser.byteval('P'); + if (!WITHIN(circles_to_do, 0, 100)) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS); + } + while (circles_to_do--) + plan_arc(current_position, arc_offset, clockwise); + #endif + + // Send the arc to the planner + plan_arc(destination, arc_offset, clockwise); + refresh_cmd_timeout(); + } + else { + // Bad arguments + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS); + } + } +} diff --git a/Marlin/src/gcode/motion/G4.h b/Marlin/src/gcode/motion/G4.h new file mode 100644 index 000000000..a10b974af --- /dev/null +++ b/Marlin/src/gcode/motion/G4.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G4: Dwell S or P + */ +void gcode_G4() { + millis_t dwell_ms = 0; + + if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait + if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait + + stepper.synchronize(); + + if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL); + + dwell(dwell_ms); +} diff --git a/Marlin/src/gcode/motion/G5.h b/Marlin/src/gcode/motion/G5.h new file mode 100644 index 000000000..9dc162508 --- /dev/null +++ b/Marlin/src/gcode/motion/G5.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "../../module/planner_bezier.h" + +void plan_cubic_move(const float offset[4]) { + cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder); + + // As far as the parser is concerned, the position is now == destination. In reality the + // motion control system might still be processing the action and the real tool position + // in any intermediate location. + set_current_to_destination(); +} + +/** + * Parameters interpreted according to: + * http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline + * However I, J omission is not supported at this point; all + * parameters can be omitted and default to zero. + */ + +/** + * G5: Cubic B-spline + */ +void gcode_G5() { + if (IsRunning()) { + + #if ENABLED(CNC_WORKSPACE_PLANES) + if (workspace_plane != PLANE_XY) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE); + return; + } + #endif + + gcode_get_destination(); + + const float offset[] = { + parser.linearval('I'), + parser.linearval('J'), + parser.linearval('P'), + parser.linearval('Q') + }; + + plan_cubic_move(offset); + } +} diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp index edeb00e22..6cf8b8ee0 100644 --- a/Marlin/src/gcode/parser.cpp +++ b/Marlin/src/gcode/parser.cpp @@ -21,13 +21,16 @@ */ /** - * gcode.cpp - Parser for a GCode line, providing a parameter interface. + * parser.cpp - Parser for a GCode line, providing a parameter interface. */ -#include "gcode.h" +#include "parser.h" -#include "Marlin.h" -#include "language.h" +#include "../Marlin.h" + +#if ENABLED(DEBUG_GCODE_PARSER) + #include "../../libs/hex_print_routines.h" +#endif // Must be declared for allocation and to satisfy the linker // Zero values need no initialization. diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h index 36549b851..2a9a81c6d 100644 --- a/Marlin/src/gcode/parser.h +++ b/Marlin/src/gcode/parser.h @@ -21,29 +21,18 @@ */ /** - * gcode.h - Parser for a GCode line, providing a parameter interface. + * parser.h - Parser for a GCode line, providing a parameter interface. * Codes like M149 control the way the GCode parser behaves, * so settings for these codes are located in this class. */ -#ifndef GCODE_H -#define GCODE_H +#ifndef _PARSER_H_ +#define _PARSER_H_ -#include "enum.h" -#include "types.h" -#include "MarlinConfig.h" +#include "../inc/MarlinConfig.h" //#define DEBUG_GCODE_PARSER -#if ENABLED(DEBUG_GCODE_PARSER) - #if ENABLED(AUTO_BED_LEVELING_UBL) - extern char* hex_address(const void * const w); - #else - #include "hex_print_routines.h" - #endif - #include "serial.h" -#endif - #if ENABLED(INCH_MODE_SUPPORT) extern bool volumetric_enabled; #endif @@ -320,4 +309,4 @@ public: extern GCodeParser parser; -#endif // GCODE_H +#endif // _PARSER_H_ diff --git a/Marlin/src/gcode/probe/G30.h b/Marlin/src/gcode/probe/G30.h new file mode 100644 index 000000000..80cab1815 --- /dev/null +++ b/Marlin/src/gcode/probe/G30.h @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G30: Do a single Z probe at the current XY + * + * Parameters: + * + * X Probe X position (default current X) + * Y Probe Y position (default current Y) + * S0 Leave the probe deployed + */ +void gcode_G30() { + const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER), + ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER); + + if (!position_is_reachable_by_probe_xy(xpos, ypos)) return; + + // Disable leveling so the planner won't mess with us + #if HAS_LEVELING + set_bed_leveling_enabled(false); + #endif + + setup_for_endstop_or_probe_move(); + + const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1); + + if (!isnan(measured_z)) { + SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos)); + SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos)); + SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z)); + } + + clean_up_after_endstop_or_probe_move(); + + report_current_position(); +} diff --git a/Marlin/src/gcode/probe/G31_G32.h b/Marlin/src/gcode/probe/G31_G32.h new file mode 100644 index 000000000..280226b5c --- /dev/null +++ b/Marlin/src/gcode/probe/G31_G32.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G31: Deploy the Z probe + */ +void gcode_G31() { DEPLOY_PROBE(); } + +/** + * G32: Stow the Z probe + */ +void gcode_G32() { STOW_PROBE(); } diff --git a/Marlin/src/gcode/probe/G38.h b/Marlin/src/gcode/probe/G38.h new file mode 100644 index 000000000..ec9ad806a --- /dev/null +++ b/Marlin/src/gcode/probe/G38.h @@ -0,0 +1,108 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +static bool G38_run_probe() { + + bool G38_pass_fail = false; + + #if ENABLED(PROBE_DOUBLE_TOUCH) + // Get direction of move and retract + float retract_mm[XYZ]; + LOOP_XYZ(i) { + float dist = destination[i] - current_position[i]; + retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1); + } + #endif + + stepper.synchronize(); // wait until the machine is idle + + // Move until destination reached or target hit + endstops.enable(true); + G38_move = true; + G38_endstop_hit = false; + prepare_move_to_destination(); + stepper.synchronize(); + G38_move = false; + + endstops.hit_on_purpose(); + set_current_from_steppers_for_axis(ALL_AXES); + SYNC_PLAN_POSITION_KINEMATIC(); + + if (G38_endstop_hit) { + + G38_pass_fail = true; + + #if ENABLED(PROBE_DOUBLE_TOUCH) + // Move away by the retract distance + set_destination_to_current(); + LOOP_XYZ(i) destination[i] += retract_mm[i]; + endstops.enable(false); + prepare_move_to_destination(); + stepper.synchronize(); + + feedrate_mm_s /= 4; + + // Bump the target more slowly + LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2; + + endstops.enable(true); + G38_move = true; + prepare_move_to_destination(); + stepper.synchronize(); + G38_move = false; + + set_current_from_steppers_for_axis(ALL_AXES); + SYNC_PLAN_POSITION_KINEMATIC(); + #endif + } + + endstops.hit_on_purpose(); + endstops.not_homing(); + return G38_pass_fail; +} + +/** + * G38.2 - probe toward workpiece, stop on contact, signal error if failure + * G38.3 - probe toward workpiece, stop on contact + * + * Like G28 except uses Z min probe for all axes + */ +void gcode_G38(bool is_38_2) { + // Get X Y Z E F + gcode_get_destination(); + + setup_for_endstop_or_probe_move(); + + // If any axis has enough movement, do the move + LOOP_XYZ(i) + if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) { + if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i); + // If G38.2 fails throw an error + if (!G38_run_probe() && is_38_2) { + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM("Failed to reach target"); + } + break; + } + + clean_up_after_endstop_or_probe_move(); +} diff --git a/Marlin/src/gcode/probe/G42.h b/Marlin/src/gcode/probe/G42.h new file mode 100644 index 000000000..374887700 --- /dev/null +++ b/Marlin/src/gcode/probe/G42.h @@ -0,0 +1,67 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G42: Move X & Y axes to mesh coordinates (I & J) + */ +void gcode_G42() { + if (IsRunning()) { + const bool hasI = parser.seenval('I'); + const int8_t ix = hasI ? parser.value_int() : 0; + const bool hasJ = parser.seenval('J'); + const int8_t iy = hasJ ? parser.value_int() : 0; + + if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) { + SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY); + return; + } + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + #define _GET_MESH_X(I) bilinear_start[X_AXIS] + I * bilinear_grid_spacing[X_AXIS] + #define _GET_MESH_Y(J) bilinear_start[Y_AXIS] + J * bilinear_grid_spacing[Y_AXIS] + #elif ENABLED(AUTO_BED_LEVELING_UBL) + #define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I) + #define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J) + #elif ENABLED(MESH_BED_LEVELING) + #define _GET_MESH_X(I) mbl.index_to_xpos[I] + #define _GET_MESH_Y(J) mbl.index_to_ypos[J] + #endif + + set_destination_to_current(); + if (hasI) destination[X_AXIS] = LOGICAL_X_POSITION(_GET_MESH_X(ix)); + if (hasJ) destination[Y_AXIS] = LOGICAL_Y_POSITION(_GET_MESH_Y(iy)); + if (parser.boolval('P')) { + if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; + if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; + } + + const float fval = parser.linearval('F'); + if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval); + + // SCARA kinematic has "safe" XY raw moves + #if IS_SCARA + prepare_uninterpolated_move_to_destination(); + #else + prepare_move_to_destination(); + #endif + } +} diff --git a/Marlin/src/gcode/probe/M401_M402.h b/Marlin/src/gcode/probe/M401_M402.h new file mode 100644 index 000000000..95f2456b2 --- /dev/null +++ b/Marlin/src/gcode/probe/M401_M402.h @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M401: Engage Z Servo endstop if available + */ +void gcode_M401() { DEPLOY_PROBE(); } + +/** + * M402: Retract Z Servo endstop if enabled + */ +void gcode_M402() { STOW_PROBE(); } + diff --git a/Marlin/src/gcode/probe/M851.h b/Marlin/src/gcode/probe/M851.h new file mode 100644 index 000000000..02ced5291 --- /dev/null +++ b/Marlin/src/gcode/probe/M851.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) { + static float last_zoffset = NAN; + + if (!isnan(last_zoffset)) { + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA) + const float diff = zprobe_zoffset - last_zoffset; + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + // Correct bilinear grid for new probe offset + if (diff) { + for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) + for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) + z_values[x][y] -= diff; + } + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bed_level_virt_interpolate(); + #endif + #endif + + #if ENABLED(BABYSTEP_ZPROBE_OFFSET) + if (!no_babystep && leveling_is_active()) + thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS])); + #else + UNUSED(no_babystep); + #endif + + #if ENABLED(DELTA) // correct the delta_height + home_offset[Z_AXIS] -= diff; + #endif + } + + last_zoffset = zprobe_zoffset; +} + +void gcode_M851() { + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " "); + if (parser.seen('Z')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) { + zprobe_zoffset = value; + refresh_zprobe_zoffset(); + SERIAL_ECHO(zprobe_zoffset); + } + else + SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX)); + } + else + SERIAL_ECHOPAIR(": ", zprobe_zoffset); + + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/process_next_command.h b/Marlin/src/gcode/process_next_command.h new file mode 100644 index 000000000..c4108751e --- /dev/null +++ b/Marlin/src/gcode/process_next_command.h @@ -0,0 +1,871 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * Process a single command and dispatch it to its handler + * This is called from the main loop() + */ +void process_next_command() { + char * const current_command = command_queue[cmd_queue_index_r]; + + if (DEBUGGING(ECHO)) { + SERIAL_ECHO_START(); + SERIAL_ECHOLN(current_command); + #if ENABLED(M100_FREE_MEMORY_WATCHER) + SERIAL_ECHOPAIR("slot:", cmd_queue_index_r); + M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue))); + #endif + } + + KEEPALIVE_STATE(IN_HANDLER); + + // Parse the next command in the queue + parser.parse(current_command); + + // Handle a known G, M, or T + switch (parser.command_letter) { + case 'G': switch (parser.codenum) { + + // G0, G1 + case 0: + case 1: + #if IS_SCARA + gcode_G0_G1(parser.codenum == 0); + #else + gcode_G0_G1(); + #endif + break; + + // G2, G3 + #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA) + case 2: // G2: CW ARC + case 3: // G3: CCW ARC + gcode_G2_G3(parser.codenum == 2); + break; + #endif + + // G4 Dwell + case 4: + gcode_G4(); + break; + + #if ENABLED(BEZIER_CURVE_SUPPORT) + case 5: // G5: Cubic B_spline + gcode_G5(); + break; + #endif // BEZIER_CURVE_SUPPORT + + #if ENABLED(FWRETRACT) + case 10: // G10: retract + gcode_G10(); + break; + case 11: // G11: retract_recover + gcode_G11(); + break; + #endif // FWRETRACT + + #if ENABLED(NOZZLE_CLEAN_FEATURE) + case 12: + gcode_G12(); // G12: Nozzle Clean + break; + #endif // NOZZLE_CLEAN_FEATURE + + #if ENABLED(CNC_WORKSPACE_PLANES) + case 17: // G17: Select Plane XY + gcode_G17(); + break; + case 18: // G18: Select Plane ZX + gcode_G18(); + break; + case 19: // G19: Select Plane YZ + gcode_G19(); + break; + #endif // CNC_WORKSPACE_PLANES + + #if ENABLED(INCH_MODE_SUPPORT) + case 20: // G20: Inch Mode + gcode_G20(); + break; + + case 21: // G21: MM Mode + gcode_G21(); + break; + #endif // INCH_MODE_SUPPORT + + #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) + case 26: // G26: Mesh Validation Pattern generation + gcode_G26(); + break; + #endif // AUTO_BED_LEVELING_UBL + + #if ENABLED(NOZZLE_PARK_FEATURE) + case 27: // G27: Nozzle Park + gcode_G27(); + break; + #endif // NOZZLE_PARK_FEATURE + + case 28: // G28: Home all axes, one at a time + gcode_G28(false); + break; + + #if HAS_LEVELING + case 29: // G29 Detailed Z probe, probes the bed at 3 or more points, + // or provides access to the UBL System if enabled. + gcode_G29(); + break; + #endif // HAS_LEVELING + + #if HAS_BED_PROBE + + case 30: // G30 Single Z probe + gcode_G30(); + break; + + #if ENABLED(Z_PROBE_SLED) + + case 31: // G31: dock the sled + gcode_G31(); + break; + + case 32: // G32: undock the sled + gcode_G32(); + break; + + #endif // Z_PROBE_SLED + + #endif // HAS_BED_PROBE + + #if PROBE_SELECTED + + #if ENABLED(DELTA_AUTO_CALIBRATION) + + case 33: // G33: Delta Auto-Calibration + gcode_G33(); + break; + + #endif // DELTA_AUTO_CALIBRATION + + #endif // PROBE_SELECTED + + #if ENABLED(G38_PROBE_TARGET) + case 38: // G38.2 & G38.3 + if (parser.subcode == 2 || parser.subcode == 3) + gcode_G38(parser.subcode == 2); + break; + #endif + + case 90: // G90 + relative_mode = false; + break; + case 91: // G91 + relative_mode = true; + break; + + case 92: // G92 + gcode_G92(); + break; + + #if HAS_MESH + case 42: + gcode_G42(); + break; + #endif + + #if ENABLED(DEBUG_GCODE_PARSER) + case 800: + parser.debug(); // GCode Parser Test for G + break; + #endif + } + break; + + case 'M': switch (parser.codenum) { + #if HAS_RESUME_CONTINUE + 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 + + #if ENABLED(SPINDLE_LASER_ENABLE) + case 3: + gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW + break; // synchronizes with movement commands + case 4: + gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW + break; // synchronizes with movement commands + case 5: + gcode_M5(); // M5 - turn spindle/laser off + break; // synchronizes with movement commands + #endif + case 17: // M17: Enable all stepper motors + gcode_M17(); + break; + + #if ENABLED(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 Delete File + gcode_M30(); break; + case 32: // M32: Select file and start SD print + gcode_M32(); break; + + #if ENABLED(LONG_FILENAME_HOST_SUPPORT) + case 33: // M33: Get the long full path to a file or folder + gcode_M33(); break; + #endif + + #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE) + case 34: // M34: Set SD card sorting options + gcode_M34(); break; + #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE + + case 928: // M928: Start SD write + gcode_M928(); break; + #endif // SDSUPPORT + + case 31: // M31: Report time since the start of SD print or last M109 + gcode_M31(); break; + + case 42: // M42: Change pin state + gcode_M42(); break; + + #if ENABLED(PINS_DEBUGGING) + case 43: // M43: Read pin state + gcode_M43(); break; + #endif + + + #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) + case 48: // M48: Z probe repeatability test + gcode_M48(); + break; + #endif // Z_MIN_PROBE_REPEATABILITY_TEST + + #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) + case 49: // M49: Turn on or off G26 debug flag for verbose output + gcode_M49(); + break; + #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION + + case 75: // M75: Start print timer + gcode_M75(); break; + case 76: // M76: Pause print timer + gcode_M76(); break; + case 77: // M77: Stop print timer + gcode_M77(); break; + + #if ENABLED(PRINTCOUNTER) + case 78: // M78: Show print statistics + gcode_M78(); break; + #endif + + #if ENABLED(M100_FREE_MEMORY_WATCHER) + case 100: // M100: Free Memory Report + gcode_M100(); + break; + #endif + + case 104: // M104: Set hot end temperature + gcode_M104(); + break; + + case 110: // M110: Set Current Line Number + gcode_M110(); + break; + + case 111: // M111: Set debug level + gcode_M111(); + break; + + #if DISABLED(EMERGENCY_PARSER) + + case 108: // M108: Cancel Waiting + gcode_M108(); + break; + + case 112: // M112: Emergency Stop + gcode_M112(); + break; + + case 410: // M410 quickstop - Abort all the planned moves. + gcode_M410(); + break; + + #endif + + #if ENABLED(HOST_KEEPALIVE_FEATURE) + case 113: // M113: Set Host Keepalive interval + gcode_M113(); + break; + #endif + + case 140: // M140: Set bed temperature + gcode_M140(); + break; + + + case 105: // M105: Report current temperature + gcode_M105(); + KEEPALIVE_STATE(NOT_BUSY); + return; // "ok" already printed + + #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED) + case 155: // M155: Set temperature auto-report interval + gcode_M155(); + break; + #endif + + case 109: // M109: Wait for hotend temperature to reach target + gcode_M109(); + break; + + #if HAS_TEMP_BED + case 190: // M190: Wait for bed temperature to reach target + gcode_M190(); + break; + #endif // HAS_TEMP_BED + + #if FAN_COUNT > 0 + case 106: // M106: Fan On + gcode_M106(); + break; + case 107: // M107: Fan Off + gcode_M107(); + break; + #endif // FAN_COUNT > 0 + + #if ENABLED(PARK_HEAD_ON_PAUSE) + case 125: // M125: Store current position and move to filament change position + gcode_M125(); break; + #endif + + #if ENABLED(BARICUDA) + // PWM for HEATER_1_PIN + #if HAS_HEATER_1 + case 126: // M126: valve open + gcode_M126(); + break; + case 127: // M127: valve closed + gcode_M127(); + break; + #endif // HAS_HEATER_1 + + // PWM for HEATER_2_PIN + #if HAS_HEATER_2 + case 128: // M128: valve open + gcode_M128(); + break; + case 129: // M129: valve closed + gcode_M129(); + break; + #endif // HAS_HEATER_2 + #endif // BARICUDA + + #if HAS_POWER_SWITCH + + case 80: // M80: Turn on Power Supply + gcode_M80(); + break; + + #endif // HAS_POWER_SWITCH + + case 81: // M81: Turn off Power, including Power Supply, if possible + gcode_M81(); + break; + + case 82: // M82: Set E axis normal mode (same as other axes) + gcode_M82(); + break; + case 83: // M83: Set E axis relative mode + gcode_M83(); + break; + case 18: // M18 => M84 + case 84: // M84: Disable all steppers or set timeout + gcode_M18_M84(); + break; + case 85: // M85: Set inactivity stepper shutdown timeout + gcode_M85(); + break; + case 92: // M92: Set the steps-per-unit for one or more axes + gcode_M92(); + break; + case 114: // M114: Report current position + gcode_M114(); + break; + case 115: // M115: Report capabilities + gcode_M115(); + break; + case 117: // M117: Set LCD message text, if possible + gcode_M117(); + break; + case 118: // M118: Display a message in the host console + gcode_M118(); + break; + case 119: // M119: Report endstop states + gcode_M119(); + break; + case 120: // M120: Enable endstops + gcode_M120(); + break; + case 121: // M121: Disable endstops + gcode_M121(); + break; + + #if ENABLED(ULTIPANEL) + + case 145: // M145: Set material heatup parameters + gcode_M145(); + break; + + #endif + + #if ENABLED(TEMPERATURE_UNITS_SUPPORT) + case 149: // M149: Set temperature units + gcode_M149(); + break; + #endif + + #if HAS_COLOR_LEDS + + case 150: // M150: Set Status LED Color + gcode_M150(); + break; + + #endif // HAS_COLOR_LEDS + + #if ENABLED(MIXING_EXTRUDER) + case 163: // M163: Set a component weight for mixing extruder + gcode_M163(); + break; + #if MIXING_VIRTUAL_TOOLS > 1 + case 164: // M164: Save current mix as a virtual extruder + gcode_M164(); + break; + #endif + #if ENABLED(DIRECT_MIXING_IN_G1) + case 165: // M165: Set multiple mix weights + gcode_M165(); + break; + #endif + #endif + + case 200: // M200: Set filament diameter, E to cubic units + gcode_M200(); + break; + case 201: // M201: Set max acceleration for print moves (units/s^2) + gcode_M201(); + break; + #if 0 // Not used for Sprinter/grbl gen6 + case 202: // M202 + gcode_M202(); + break; + #endif + case 203: // M203: Set max feedrate (units/sec) + gcode_M203(); + break; + case 204: // M204: Set acceleration + gcode_M204(); + break; + case 205: // M205: Set advanced settings + gcode_M205(); + break; + + #if HAS_M206_COMMAND + case 206: // M206: Set home offsets + gcode_M206(); + break; + #endif + + #if ENABLED(DELTA) + case 665: // M665: Set delta configurations + gcode_M665(); + break; + #endif + + #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS) + case 666: // M666: Set delta or dual endstop adjustment + gcode_M666(); + break; + #endif + + #if ENABLED(FWRETRACT) + case 207: // M207: Set Retract Length, Feedrate, and Z lift + gcode_M207(); + break; + case 208: // M208: Set Recover (unretract) Additional Length and Feedrate + gcode_M208(); + break; + case 209: // M209: Turn Automatic Retract Detection on/off + if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209(); + break; + #endif // FWRETRACT + + case 211: // M211: Enable, Disable, and/or Report software endstops + gcode_M211(); + break; + + #if HOTENDS > 1 + case 218: // M218: Set a tool offset + gcode_M218(); + break; + #endif + + case 220: // M220: Set Feedrate Percentage: S ("FR" on your LCD) + gcode_M220(); + break; + + case 221: // M221: Set Flow Percentage + gcode_M221(); + break; + + case 226: // M226: Wait until a pin reaches a state + gcode_M226(); + break; + + #if HAS_SERVOS + case 280: // M280: Set servo position absolute + gcode_M280(); + break; + #endif // HAS_SERVOS + + #if HAS_BUZZER + case 300: // M300: Play beep tone + gcode_M300(); + break; + #endif // HAS_BUZZER + + #if ENABLED(PIDTEMP) + case 301: // M301: Set hotend PID parameters + gcode_M301(); + break; + #endif // PIDTEMP + + #if ENABLED(PIDTEMPBED) + case 304: // M304: Set bed PID parameters + gcode_M304(); + break; + #endif // PIDTEMPBED + + #if defined(CHDK) || HAS_PHOTOGRAPH + case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ + gcode_M240(); + break; + #endif // CHDK || PHOTOGRAPH_PIN + + #if HAS_LCD_CONTRAST + case 250: // M250: Set LCD contrast + gcode_M250(); + break; + #endif // HAS_LCD_CONTRAST + + #if ENABLED(EXPERIMENTAL_I2CBUS) + + case 260: // M260: Send data to an i2c slave + gcode_M260(); + break; + + case 261: // M261: Request data from an i2c slave + gcode_M261(); + break; + + #endif // EXPERIMENTAL_I2CBUS + + #if ENABLED(PREVENT_COLD_EXTRUSION) + case 302: // M302: Allow cold extrudes (set the minimum extrude temperature) + gcode_M302(); + break; + #endif // PREVENT_COLD_EXTRUSION + + case 303: // M303: PID autotune + gcode_M303(); + break; + + #if ENABLED(MORGAN_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; + #endif // SCARA + + case 400: // M400: Finish all moves + gcode_M400(); + break; + + #if HAS_BED_PROBE + case 401: // M401: Deploy probe + gcode_M401(); + break; + case 402: // M402: Stow probe + gcode_M402(); + break; + #endif // HAS_BED_PROBE + + #if ENABLED(FILAMENT_WIDTH_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_WIDTH_SENSOR + + #if HAS_LEVELING + case 420: // M420: Enable/Disable Bed Leveling + gcode_M420(); + break; + #endif + + #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR) + case 421: // M421: Set a Mesh Bed Leveling Z coordinate + gcode_M421(); + break; + #endif + + #if HAS_M206_COMMAND + case 428: // M428: Apply current_position to home_offset + gcode_M428(); + break; + #endif + + 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; + + #if DISABLED(DISABLE_M503) + case 503: // M503: print settings currently in memory + gcode_M503(); + break; + #endif + + #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) + case 540: // M540: Set abort on endstop hit for SD printing + gcode_M540(); + break; + #endif + + #if HAS_BED_PROBE + case 851: // M851: Set Z Probe Z Offset + gcode_M851(); + break; + #endif // HAS_BED_PROBE + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + case 600: // M600: Pause for filament change + gcode_M600(); + break; + #endif // ADVANCED_PAUSE_FEATURE + + #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + case 605: // M605: Set Dual X Carriage movement mode + gcode_M605(); + break; + #endif // DUAL_X_CARRIAGE + + #if ENABLED(MK2_MULTIPLEXER) + case 702: // M702: Unload all extruders + gcode_M702(); + break; + #endif + + #if ENABLED(LIN_ADVANCE) + case 900: // M900: Set advance K factor. + gcode_M900(); + break; + #endif + + #if ENABLED(HAVE_TMC2130) + case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E + gcode_M906(); + break; + #endif + + case 907: // M907: Set digital trimpot motor current using axis codes. + gcode_M907(); + break; + + #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT) + + case 908: // M908: Control digital trimpot directly. + gcode_M908(); + break; + + #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF + + case 909: // M909: Print digipot/DAC current value + gcode_M909(); + break; + + case 910: // M910: Commit digipot/DAC value to external EEPROM + gcode_M910(); + break; + + #endif + + #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT + + #if ENABLED(HAVE_TMC2130) + case 911: // M911: Report TMC2130 prewarn triggered flags + gcode_M911(); + break; + + case 912: // M911: Clear TMC2130 prewarn triggered flags + gcode_M912(); + break; + + #if ENABLED(HYBRID_THRESHOLD) + case 913: // M913: Set HYBRID_THRESHOLD speed. + gcode_M913(); + break; + #endif + + #if ENABLED(SENSORLESS_HOMING) + case 914: // M914: Set SENSORLESS_HOMING sensitivity. + gcode_M914(); + break; + #endif + #endif + + #if HAS_MICROSTEPS + + 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; + + #endif // HAS_MICROSTEPS + + case 355: // M355 set case light brightness + gcode_M355(); + break; + + #if ENABLED(DEBUG_GCODE_PARSER) + case 800: + parser.debug(); // GCode Parser Test for M + break; + #endif + + #if ENABLED(I2C_POSITION_ENCODERS) + + case 860: // M860 Report encoder module position + gcode_M860(); + break; + + case 861: // M861 Report encoder module status + gcode_M861(); + break; + + case 862: // M862 Perform axis test + gcode_M862(); + break; + + case 863: // M863 Calibrate steps/mm + gcode_M863(); + break; + + case 864: // M864 Change module address + gcode_M864(); + break; + + case 865: // M865 Check module firmware version + gcode_M865(); + break; + + case 866: // M866 Report axis error count + gcode_M866(); + break; + + case 867: // M867 Toggle error correction + gcode_M867(); + break; + + case 868: // M868 Set error correction threshold + gcode_M868(); + break; + + case 869: // M869 Report axis error + gcode_M869(); + break; + + #endif // I2C_POSITION_ENCODERS + + case 999: // M999: Restart after being Stopped + gcode_M999(); + break; + } + break; + + case 'T': + gcode_T(parser.codenum); + break; + + default: parser.unknown_command_error(); + } + + KEEPALIVE_STATE(NOT_BUSY); + + ok_to_send(); +} \ No newline at end of file diff --git a/Marlin/src/gcode/scara/M360-M364.h b/Marlin/src/gcode/scara/M360-M364.h new file mode 100644 index 000000000..0fabb751b --- /dev/null +++ b/Marlin/src/gcode/scara/M360-M364.h @@ -0,0 +1,73 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) { + if (IsRunning()) { + forward_kinematics_SCARA(delta_a, delta_b); + destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]); + destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]); + destination[Z_AXIS] = current_position[Z_AXIS]; + prepare_move_to_destination(); + return true; + } + return false; +} + +/** + * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration) + */ +bool gcode_M360() { + SERIAL_ECHOLNPGM(" Cal: Theta 0"); + return SCARA_move_to_cal(0, 120); +} + +/** + * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) + */ +bool gcode_M361() { + SERIAL_ECHOLNPGM(" Cal: Theta 90"); + return SCARA_move_to_cal(90, 130); +} + +/** + * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration) + */ +bool gcode_M362() { + SERIAL_ECHOLNPGM(" Cal: Psi 0"); + return SCARA_move_to_cal(60, 180); +} + +/** + * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) + */ +bool gcode_M363() { + SERIAL_ECHOLNPGM(" Cal: Psi 90"); + return SCARA_move_to_cal(50, 90); +} + +/** + * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position) + */ +bool gcode_M364() { + SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90"); + return SCARA_move_to_cal(45, 135); +} diff --git a/Marlin/src/gcode/sdcard/M20.h b/Marlin/src/gcode/sdcard/M20.h new file mode 100644 index 000000000..89b2d6d44 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M20.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M20: List SD card to serial output + */ +void gcode_M20() { + SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); + card.ls(); + SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); +} diff --git a/Marlin/src/gcode/sdcard/M21.h b/Marlin/src/gcode/sdcard/M21.h new file mode 100644 index 000000000..3812bca03 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M21.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M21: Init SD Card + */ +void gcode_M21() { card.initsd(); } diff --git a/Marlin/src/gcode/sdcard/M22.h b/Marlin/src/gcode/sdcard/M22.h new file mode 100644 index 000000000..3a8848829 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M22.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M22: Release SD Card + */ +void gcode_M22() { card.release(); } diff --git a/Marlin/src/gcode/sdcard/M23.h b/Marlin/src/gcode/sdcard/M23.h new file mode 100644 index 000000000..46059e2d4 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M23.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M23: Open a file + */ +void gcode_M23() { + // Simplify3D includes the size, so zero out all spaces (#7227) + for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0'; + card.openFile(parser.string_arg, true); +} diff --git a/Marlin/src/gcode/sdcard/M24.h b/Marlin/src/gcode/sdcard/M24.h new file mode 100644 index 000000000..7e5caf30b --- /dev/null +++ b/Marlin/src/gcode/sdcard/M24.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#if ENABLED(PARK_HEAD_ON_PAUSE) + #include "../feature/pause/common.h" +#endif + +/** + * M24: Start or Resume SD Print + */ +void gcode_M24() { + #if ENABLED(PARK_HEAD_ON_PAUSE) + resume_print(); + #endif + + card.startFileprint(); + print_job_timer.start(); +} diff --git a/Marlin/src/gcode/sdcard/M25.h b/Marlin/src/gcode/sdcard/M25.h new file mode 100644 index 000000000..7f466ad92 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M25.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M25: Pause SD Print + */ +void gcode_M25() { + card.pauseSDPrint(); + print_job_timer.pause(); + + #if ENABLED(PARK_HEAD_ON_PAUSE) + enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer + #endif +} diff --git a/Marlin/src/gcode/sdcard/M26.h b/Marlin/src/gcode/sdcard/M26.h new file mode 100644 index 000000000..a3eaf6121 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M26.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M26: Set SD Card file index + */ +void gcode_M26() { + if (card.cardOK && parser.seenval('S')) + card.setIndex(parser.value_long()); +} diff --git a/Marlin/src/gcode/sdcard/M27.h b/Marlin/src/gcode/sdcard/M27.h new file mode 100644 index 000000000..6825e8466 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M27.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M27: Get SD Card status + */ +void gcode_M27() { card.getStatus(); } diff --git a/Marlin/src/gcode/sdcard/M28.h b/Marlin/src/gcode/sdcard/M28.h new file mode 100644 index 000000000..5e8689f43 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M28.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M28: Start SD Write + */ +void gcode_M28() { card.openFile(parser.string_arg, false); } diff --git a/Marlin/src/gcode/sdcard/M29.h b/Marlin/src/gcode/sdcard/M29.h new file mode 100644 index 000000000..341640981 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M29.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M29: Stop SD Write + * Processed in write to file routine above + */ +void gcode_M29() { + // card.saving = false; +} diff --git a/Marlin/src/gcode/sdcard/M30.h b/Marlin/src/gcode/sdcard/M30.h new file mode 100644 index 000000000..5d584a39b --- /dev/null +++ b/Marlin/src/gcode/sdcard/M30.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M30 : Delete SD Card file + */ +void gcode_M30() { + if (card.cardOK) { + card.closefile(); + card.removeFile(parser.string_arg); + } +} diff --git a/Marlin/src/gcode/sdcard/M32.h b/Marlin/src/gcode/sdcard/M32.h new file mode 100644 index 000000000..5938d8c5d --- /dev/null +++ b/Marlin/src/gcode/sdcard/M32.h @@ -0,0 +1,44 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M32: Select file and start SD Print + */ +void gcode_M32() { + if (IS_SD_PRINTING) + stepper.synchronize(); + + char* namestartpos = parser.string_arg; + const bool call_procedure = parser.boolval('P'); + + if (card.cardOK) { + card.openFile(namestartpos, true, call_procedure); + + if (parser.seenval('S')) + card.setIndex(parser.value_long()); + + card.startFileprint(); + + // Procedure calls count as normal print time. + if (!call_procedure) print_job_timer.start(); + } +} diff --git a/Marlin/src/gcode/sdcard/M33.h b/Marlin/src/gcode/sdcard/M33.h new file mode 100644 index 000000000..2380c9f53 --- /dev/null +++ b/Marlin/src/gcode/sdcard/M33.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M33: Get the long full path of a file or folder + * + * Parameters: + * Case-insensitive DOS-style path to a file or folder + * + * Example: + * M33 miscel~1/armchair/armcha~1.gco + * + * Output: + * /Miscellaneous/Armchair/Armchair.gcode + */ +void gcode_M33() { + card.printLongPath(parser.string_arg); +} diff --git a/Marlin/src/gcode/sdcard/M34.h b/Marlin/src/gcode/sdcard/M34.h new file mode 100644 index 000000000..189eaa2da --- /dev/null +++ b/Marlin/src/gcode/sdcard/M34.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M34: Set SD Card Sorting Options + */ +void gcode_M34() { + if (parser.seen('S')) card.setSortOn(parser.value_bool()); + if (parser.seenval('F')) { + const int v = parser.value_long(); + card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0); + } + //if (parser.seen('R')) card.setSortReverse(parser.value_bool()); +} diff --git a/Marlin/src/gcode/sdcard/M928.h b/Marlin/src/gcode/sdcard/M928.h new file mode 100644 index 000000000..41c83fe9f --- /dev/null +++ b/Marlin/src/gcode/sdcard/M928.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M928: Start SD Write + */ +void gcode_M928() { + card.openLogFile(parser.string_arg); +} diff --git a/Marlin/src/gcode/sensor/M404.h b/Marlin/src/gcode/sensor/M404.h new file mode 100644 index 000000000..f94cdc2dc --- /dev/null +++ b/Marlin/src/gcode/sensor/M404.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0> + */ +void gcode_M404() { + if (parser.seen('W')) { + filament_width_nominal = parser.value_linear_units(); + } + else { + SERIAL_PROTOCOLPGM("Filament dia (nominal mm):"); + SERIAL_PROTOCOLLN(filament_width_nominal); + } +} diff --git a/Marlin/src/gcode/sensor/M405.h b/Marlin/src/gcode/sensor/M405.h new file mode 100644 index 000000000..ed7496e9b --- /dev/null +++ b/Marlin/src/gcode/sensor/M405.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M405: Turn on filament sensor for control + */ +void gcode_M405() { + // This is technically a linear measurement, but since it's quantized to centimeters and is a different + // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units(). + if (parser.seen('D')) { + meas_delay_cm = parser.value_byte(); + NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY); + } + + if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup + const uint8_t temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte + + for (uint8_t i = 0; i < COUNT(measurement_delay); ++i) + measurement_delay[i] = temp_ratio; + + filwidth_delay_index[0] = filwidth_delay_index[1] = 0; + } + + filament_sensor = true; + + //SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); + //SERIAL_PROTOCOL(filament_width_meas); + //SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); + //SERIAL_PROTOCOL(flow_percentage[active_extruder]); +} diff --git a/Marlin/src/gcode/sensor/M406.h b/Marlin/src/gcode/sensor/M406.h new file mode 100644 index 000000000..0074d8eb5 --- /dev/null +++ b/Marlin/src/gcode/sensor/M406.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M406: Turn off filament sensor for control + */ +void gcode_M406() { + filament_sensor = false; + calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value +} diff --git a/Marlin/src/gcode/sensor/M407.h b/Marlin/src/gcode/sensor/M407.h new file mode 100644 index 000000000..a68bc8963 --- /dev/null +++ b/Marlin/src/gcode/sensor/M407.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M407: Get measured filament diameter on serial output + */ +void gcode_M407() { + SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); + SERIAL_PROTOCOLLN(filament_width_meas); +} diff --git a/Marlin/src/gcode/stats/M31.h b/Marlin/src/gcode/stats/M31.h new file mode 100644 index 000000000..06cf78356 --- /dev/null +++ b/Marlin/src/gcode/stats/M31.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M31: Get the time since the start of SD Print (or last M109) + */ +void gcode_M31() { + char buffer[21]; + duration_t elapsed = print_job_timer.duration(); + elapsed.toString(buffer); + lcd_setstatus(buffer); + + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR("Print time: ", buffer); +} diff --git a/Marlin/src/gcode/stats/M75.h b/Marlin/src/gcode/stats/M75.h new file mode 100644 index 000000000..14ea71723 --- /dev/null +++ b/Marlin/src/gcode/stats/M75.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M75: Start print timer + */ +void gcode_M75() { print_job_timer.start(); } diff --git a/Marlin/src/gcode/stats/M76.h b/Marlin/src/gcode/stats/M76.h new file mode 100644 index 000000000..bacbdd89e --- /dev/null +++ b/Marlin/src/gcode/stats/M76.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M76: Pause print timer + */ +void gcode_M76() { print_job_timer.pause(); } diff --git a/Marlin/src/gcode/stats/M77.h b/Marlin/src/gcode/stats/M77.h new file mode 100644 index 000000000..424d8498e --- /dev/null +++ b/Marlin/src/gcode/stats/M77.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M77: Stop print timer + */ +void gcode_M77() { print_job_timer.stop(); } diff --git a/Marlin/src/gcode/stats/M78.h b/Marlin/src/gcode/stats/M78.h new file mode 100644 index 000000000..af1c0ddc9 --- /dev/null +++ b/Marlin/src/gcode/stats/M78.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M78: Show print statistics + */ +void gcode_M78() { + if (parser.intval('S') == 78) // "M78 S78" will reset the statistics + print_job_timer.initStats(); + else + print_job_timer.showStats(); +} diff --git a/Marlin/src/gcode/temperature/M104.h b/Marlin/src/gcode/temperature/M104.h new file mode 100644 index 000000000..1d5facb28 --- /dev/null +++ b/Marlin/src/gcode/temperature/M104.h @@ -0,0 +1,63 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M104: Set hot end temperature + */ +void gcode_M104() { + if (get_target_extruder_from_command(104)) return; + if (DEBUGGING(DRYRUN)) return; + + #if ENABLED(SINGLENOZZLE) + if (target_extruder != active_extruder) return; + #endif + + if (parser.seenval('S')) { + const int16_t temp = parser.value_celsius(); + thermalManager.setTargetHotend(temp, target_extruder); + + #if ENABLED(DUAL_X_CARRIAGE) + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0) + thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1); + #endif + + #if ENABLED(PRINTJOB_TIMER_AUTOSTART) + /** + * Stop the timer at the end of print. Start is managed by 'heat and wait' M109. + * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot + * standby mode, for instance in a dual extruder setup, without affecting + * the running print timer. + */ + if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) { + print_job_timer.stop(); + LCD_MESSAGEPGM(WELCOME_MSG); + } + #endif + + if (parser.value_celsius() > thermalManager.degHotend(target_extruder)) + lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING); + } + + #if ENABLED(AUTOTEMP) + planner.autotemp_M104_M109(); + #endif +} diff --git a/Marlin/src/gcode/temperature/M105.h b/Marlin/src/gcode/temperature/M105.h new file mode 100644 index 000000000..351ff25c9 --- /dev/null +++ b/Marlin/src/gcode/temperature/M105.h @@ -0,0 +1,38 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M105: Read hot end and bed temperature + */ +void gcode_M105() { + if (get_target_extruder_from_command(105)) return; + + #if HAS_TEMP_HOTEND || HAS_TEMP_BED + SERIAL_PROTOCOLPGM(MSG_OK); + print_heaterstates(); + #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); + #endif + + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/temperature/M106.h b/Marlin/src/gcode/temperature/M106.h new file mode 100644 index 000000000..14c1b2ca7 --- /dev/null +++ b/Marlin/src/gcode/temperature/M106.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M106: Set Fan Speed + * + * S Speed between 0-255 + * P Fan index, if more than one fan + */ +void gcode_M106() { + uint16_t s = parser.ushortval('S', 255); + NOMORE(s, 255); + const uint8_t p = parser.byteval('P', 0); + if (p < FAN_COUNT) fanSpeeds[p] = s; +} diff --git a/Marlin/src/gcode/temperature/M107.h b/Marlin/src/gcode/temperature/M107.h new file mode 100644 index 000000000..ed95801f6 --- /dev/null +++ b/Marlin/src/gcode/temperature/M107.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M107: Fan Off + */ +void gcode_M107() { + const uint16_t p = parser.ushortval('P'); + if (p < FAN_COUNT) fanSpeeds[p] = 0; +} diff --git a/Marlin/src/gcode/temperature/M109.h b/Marlin/src/gcode/temperature/M109.h new file mode 100644 index 000000000..b51cf3049 --- /dev/null +++ b/Marlin/src/gcode/temperature/M109.h @@ -0,0 +1,185 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating. + * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling. + */ + +#ifndef MIN_COOLING_SLOPE_DEG + #define MIN_COOLING_SLOPE_DEG 1.50 +#endif +#ifndef MIN_COOLING_SLOPE_TIME + #define MIN_COOLING_SLOPE_TIME 60 +#endif + +void gcode_M109() { + + if (get_target_extruder_from_command(109)) return; + if (DEBUGGING(DRYRUN)) return; + + #if ENABLED(SINGLENOZZLE) + if (target_extruder != active_extruder) return; + #endif + + const bool no_wait_for_cooling = parser.seenval('S'); + if (no_wait_for_cooling || parser.seenval('R')) { + const int16_t temp = parser.value_celsius(); + thermalManager.setTargetHotend(temp, target_extruder); + + #if ENABLED(DUAL_X_CARRIAGE) + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0) + thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1); + #endif + + #if ENABLED(PRINTJOB_TIMER_AUTOSTART) + /** + * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot + * standby mode, (e.g., in a dual extruder setup) without affecting + * the running print timer. + */ + if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) { + print_job_timer.stop(); + LCD_MESSAGEPGM(WELCOME_MSG); + } + else + print_job_timer.start(); + #endif + + if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING); + } + else return; + + #if ENABLED(AUTOTEMP) + planner.autotemp_M104_M109(); + #endif + + #if TEMP_RESIDENCY_TIME > 0 + millis_t residency_start_ms = 0; + // Loop until the temperature has stabilized + #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL)) + #else + // Loop until the temperature is very close target + #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder)) + #endif + + float target_temp = -1.0, old_temp = 9999.0; + bool wants_to_cool = false; + wait_for_heatup = true; + millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; + + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + #if ENABLED(PRINTER_EVENT_LEDS) + const float start_temp = thermalManager.degHotend(target_extruder); + uint8_t old_blue = 0; + #endif + + do { + // Target temperature might be changed during the loop + if (target_temp != thermalManager.degTargetHotend(target_extruder)) { + wants_to_cool = thermalManager.isCoolingHotend(target_extruder); + target_temp = thermalManager.degTargetHotend(target_extruder); + + // Exit if S, continue if S, R, or R + if (no_wait_for_cooling && wants_to_cool) break; + } + + now = millis(); + if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting + next_temp_ms = now + 1000UL; + print_heaterstates(); + #if TEMP_RESIDENCY_TIME > 0 + SERIAL_PROTOCOLPGM(" W:"); + if (residency_start_ms) + SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL)); + else + SERIAL_PROTOCOLCHAR('?'); + #endif + SERIAL_EOL(); + } + + idle(); + refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out + + const float temp = thermalManager.degHotend(target_extruder); + + #if ENABLED(PRINTER_EVENT_LEDS) + // Gradually change LED strip from violet to red as nozzle heats up + if (!wants_to_cool) { + const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0); + if (blue != old_blue) { + old_blue = blue; + set_led_color(255, 0, blue + #if ENABLED(NEOPIXEL_RGBW_LED) + , 0, true + #endif + ); + } + } + #endif + + #if TEMP_RESIDENCY_TIME > 0 + + const float temp_diff = FABS(target_temp - temp); + + if (!residency_start_ms) { + // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time. + if (temp_diff < TEMP_WINDOW) residency_start_ms = now; + } + else if (temp_diff > TEMP_HYSTERESIS) { + // Restart the timer whenever the temperature falls outside the hysteresis. + residency_start_ms = now; + } + + #endif + + // Prevent a wait-forever situation if R is misused i.e. M109 R0 + if (wants_to_cool) { + // break after MIN_COOLING_SLOPE_TIME seconds + // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG + if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { + if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break; + next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME; + old_temp = temp; + } + } + + } while (wait_for_heatup && TEMP_CONDITIONS); + + if (wait_for_heatup) { + LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); + #if ENABLED(PRINTER_EVENT_LEDS) + #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED) + set_led_color(0, 0, 0, 255); // Turn on the WHITE LED + #else + set_led_color(255, 255, 255); // Set LEDs All On + #endif + #endif + } + + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(IN_HANDLER); + #endif +} diff --git a/Marlin/src/gcode/temperature/M140.h b/Marlin/src/gcode/temperature/M140.h new file mode 100644 index 000000000..3cf7d42bc --- /dev/null +++ b/Marlin/src/gcode/temperature/M140.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M140: Set bed temperature + */ +void gcode_M140() { + if (DEBUGGING(DRYRUN)) return; + if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius()); +} diff --git a/Marlin/src/gcode/temperature/M155.h b/Marlin/src/gcode/temperature/M155.h new file mode 100644 index 000000000..b5d4248db --- /dev/null +++ b/Marlin/src/gcode/temperature/M155.h @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M155: Set temperature auto-report interval. M155 S + */ +void gcode_M155() { + if (parser.seenval('S')) { + auto_report_temp_interval = parser.value_byte(); + NOMORE(auto_report_temp_interval, 60); + next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval; + } +} diff --git a/Marlin/src/gcode/temperature/M190.h b/Marlin/src/gcode/temperature/M190.h new file mode 100644 index 000000000..7eab1031f --- /dev/null +++ b/Marlin/src/gcode/temperature/M190.h @@ -0,0 +1,149 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#ifndef MIN_COOLING_SLOPE_DEG_BED + #define MIN_COOLING_SLOPE_DEG_BED 1.50 +#endif +#ifndef MIN_COOLING_SLOPE_TIME_BED + #define MIN_COOLING_SLOPE_TIME_BED 60 +#endif + +/** + * 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 + */ +void gcode_M190() { + if (DEBUGGING(DRYRUN)) return; + + LCD_MESSAGEPGM(MSG_BED_HEATING); + const bool no_wait_for_cooling = parser.seenval('S'); + if (no_wait_for_cooling || parser.seenval('R')) { + thermalManager.setTargetBed(parser.value_celsius()); + #if ENABLED(PRINTJOB_TIMER_AUTOSTART) + if (parser.value_celsius() > BED_MINTEMP) + print_job_timer.start(); + #endif + } + else return; + + #if TEMP_BED_RESIDENCY_TIME > 0 + millis_t residency_start_ms = 0; + // Loop until the temperature has stabilized + #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL)) + #else + // Loop until the temperature is very close target + #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed()) + #endif + + float target_temp = -1.0, old_temp = 9999.0; + bool wants_to_cool = false; + wait_for_heatup = true; + millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; + + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + target_extruder = active_extruder; // for print_heaterstates + + #if ENABLED(PRINTER_EVENT_LEDS) + const float start_temp = thermalManager.degBed(); + uint8_t old_red = 255; + #endif + + do { + // Target temperature might be changed during the loop + if (target_temp != thermalManager.degTargetBed()) { + wants_to_cool = thermalManager.isCoolingBed(); + target_temp = thermalManager.degTargetBed(); + + // Exit if S, continue if S, R, or R + if (no_wait_for_cooling && wants_to_cool) break; + } + + now = millis(); + if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up. + next_temp_ms = now + 1000UL; + print_heaterstates(); + #if TEMP_BED_RESIDENCY_TIME > 0 + SERIAL_PROTOCOLPGM(" W:"); + if (residency_start_ms) + SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL)); + else + SERIAL_PROTOCOLCHAR('?'); + #endif + SERIAL_EOL(); + } + + idle(); + refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out + + const float temp = thermalManager.degBed(); + + #if ENABLED(PRINTER_EVENT_LEDS) + // Gradually change LED strip from blue to violet as bed heats up + if (!wants_to_cool) { + const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255); + if (red != old_red) { + old_red = red; + set_led_color(red, 0, 255 + #if ENABLED(NEOPIXEL_RGBW_LED) + , 0, true + #endif + ); + } + } + #endif + + #if TEMP_BED_RESIDENCY_TIME > 0 + + const float temp_diff = FABS(target_temp - temp); + + if (!residency_start_ms) { + // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time. + if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now; + } + else if (temp_diff > TEMP_BED_HYSTERESIS) { + // Restart the timer whenever the temperature falls outside the hysteresis. + residency_start_ms = now; + } + + #endif // TEMP_BED_RESIDENCY_TIME > 0 + + // Prevent a wait-forever situation if R is misused i.e. M190 R0 + if (wants_to_cool) { + // Break after MIN_COOLING_SLOPE_TIME_BED seconds + // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED + if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { + if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break; + next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED; + old_temp = temp; + } + } + + } while (wait_for_heatup && TEMP_BED_CONDITIONS); + + if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE); + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(IN_HANDLER); + #endif +} diff --git a/Marlin/src/gcode/temperature/M303.h b/Marlin/src/gcode/temperature/M303.h new file mode 100644 index 000000000..6dec8dc17 --- /dev/null +++ b/Marlin/src/gcode/temperature/M303.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M303: PID relay autotune + * + * S sets the target temperature. (default 150C) + * E (-1 for the bed) (default 0) + * C + * U with a non-zero value will apply the result to current settings + */ +void gcode_M303() { + #if HAS_PID_HEATING + const int e = parser.intval('E'), c = parser.intval('C', 5); + const bool u = parser.boolval('U'); + + int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150); + + if (WITHIN(e, 0, HOTENDS - 1)) + target_extruder = e; + + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + thermalManager.PID_autotune(temp, e, c, u); + + #if DISABLED(BUSY_WHILE_HEATING) + KEEPALIVE_STATE(IN_HANDLER); + #endif + #else + SERIAL_ERROR_START(); + SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED); + #endif +} diff --git a/Marlin/src/gcode/units/G20_G21.h b/Marlin/src/gcode/units/G20_G21.h new file mode 100644 index 000000000..6f57f04d2 --- /dev/null +++ b/Marlin/src/gcode/units/G20_G21.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * G20: Set input mode to inches + */ +void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); } + +/** + * G21: Set input mode to millimeters + */ +void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); } diff --git a/Marlin/src/gcode/units/M149.h b/Marlin/src/gcode/units/M149.h new file mode 100644 index 000000000..7de58cb8e --- /dev/null +++ b/Marlin/src/gcode/units/M149.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M149: Set temperature units + */ +void gcode_M149() { + if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C); + else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K); + else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F); +} diff --git a/Marlin/src/gcode/units/M82_M83.h b/Marlin/src/gcode/units/M82_M83.h new file mode 100644 index 000000000..63e0436e5 --- /dev/null +++ b/Marlin/src/gcode/units/M82_M83.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +/** + * M82: Set E codes absolute (default) + */ +void gcode_M82() { axis_relative_modes[E_AXIS] = false; } + +/** + * M83: Set E codes relative while in Absolute Coordinates (G90) mode + */ +void gcode_M83() { axis_relative_modes[E_AXIS] = true; } diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp new file mode 100644 index 000000000..17a986e10 --- /dev/null +++ b/Marlin/src/module/tool_change.cpp @@ -0,0 +1,550 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#include "tool_change.h" + +#include "motion.h" +#include "planner.h" +#include "stepper.h" + +#include "../Marlin.h" + +#include "../inc/MarlinConfig.h" + +#if ENABLED(SWITCHING_EXTRUDER) + + #if EXTRUDERS > 3 + #define REQ_ANGLES 4 + #define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR) + #else + #define REQ_ANGLES 2 + #define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR + #endif + + void move_extruder_servo(const uint8_t e) { + constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES; + static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles."); + stepper.synchronize(); + #if EXTRUDERS & 1 + if (e < EXTRUDERS - 1) + #endif + { + MOVE_SERVO(_SERVO_NR, angles[e]); + safe_delay(500); + } + } + +#endif // SWITCHING_EXTRUDER + +#if ENABLED(SWITCHING_NOZZLE) + + void move_nozzle_servo(const uint8_t e) { + const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES; + stepper.synchronize(); + MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]); + safe_delay(500); + } + +#endif // SWITCHING_NOZZLE + +#if ENABLED(PARKING_EXTRUDER) + + void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) { + switch (extruder_num) { + case 1: OUT_WRITE(SOL1_PIN, state); break; + default: OUT_WRITE(SOL0_PIN, state); break; + } + #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0 + dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY); + #endif + } + +#endif // PARKING_EXTRUDER + +#if HAS_FANMUX + + void fanmux_switch(const uint8_t e) { + WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW); + #if PIN_EXISTS(FANMUX1) + WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW); + #if PIN_EXISTS(FANMUX2) + WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW); + #endif + #endif + } + + FORCE_INLINE void fanmux_init(void){ + SET_OUTPUT(FANMUX0_PIN); + #if PIN_EXISTS(FANMUX1) + SET_OUTPUT(FANMUX1_PIN); + #if PIN_EXISTS(FANMUX2) + SET_OUTPUT(FANMUX2_PIN); + #endif + #endif + fanmux_switch(0); + } + +#endif // HAS_FANMUX + +inline void invalid_extruder_error(const uint8_t e) { + SERIAL_ECHO_START(); + SERIAL_CHAR('T'); + SERIAL_ECHO_F(e, DEC); + SERIAL_CHAR(' '); + SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); +} + +/** + * Perform a tool-change, which may result in moving the + * previous tool out of the way and the new tool into place. + */ +void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) { + #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1 + + if (tmp_extruder >= MIXING_VIRTUAL_TOOLS) + return invalid_extruder_error(tmp_extruder); + + // T0-Tnnn: Switch virtual tool by changing the mix + for (uint8_t j = 0; j < MIXING_STEPPERS; j++) + mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j]; + + #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1 + + if (tmp_extruder >= EXTRUDERS) + return invalid_extruder_error(tmp_extruder); + + #if HOTENDS > 1 + + const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s; + + feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; + + if (tmp_extruder != active_extruder) { + if (!no_move && axis_unhomed_error()) { + no_move = true; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange"); + #endif + } + + // Save current position to destination, for use later + set_destination_to_current(); + + #if ENABLED(DUAL_X_CARRIAGE) + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPGM("Dual X Carriage Mode "); + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break; + case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break; + case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break; + } + } + #endif + + const float xhome = x_home_pos(active_extruder); + if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE + && IsRunning() + && (delayed_move_time || current_position[X_AXIS] != xhome) + ) { + float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT; + #if ENABLED(MAX_SOFTWARE_ENDSTOPS) + NOMORE(raised_z, soft_endstop_max[Z_AXIS]); + #endif + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPAIR("Raise to ", raised_z); + SERIAL_ECHOLNPAIR("MoveX to ", xhome); + SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]); + } + #endif + // Park old head: 1) raise 2) move to park position 3) lower + for (uint8_t i = 0; i < 3; i++) + planner.buffer_line( + i == 0 ? current_position[X_AXIS] : xhome, + current_position[Y_AXIS], + i == 2 ? current_position[Z_AXIS] : raised_z, + current_position[E_AXIS], + planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS], + active_extruder + ); + stepper.synchronize(); + } + + // Apply Y & Z extruder offset (X offset is used as home pos with Dual X) + current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder]; + current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; + + // Activate the new extruder ahead of calling set_axis_is_at_home! + active_extruder = tmp_extruder; + + // This function resets the max/min values - the current position may be overwritten below. + set_axis_is_at_home(X_AXIS); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position); + #endif + + // Only when auto-parking are carriages safe to move + if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true; + + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: + // New current position is the position of the activated extruder + current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); + // Save the inactive extruder's position (from the old current_position) + inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]); + break; + case DXC_AUTO_PARK_MODE: + // record raised toolhead position for use by unpark + COPY(raised_parked_position, current_position); + raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; + #if ENABLED(MAX_SOFTWARE_ENDSTOPS) + NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]); + #endif + active_extruder_parked = true; + delayed_move_time = 0; + break; + case DXC_DUPLICATION_MODE: + // If the new extruder is the left one, set it "parked" + // This triggers the second extruder to move into the duplication position + active_extruder_parked = (active_extruder == 0); + + if (active_extruder_parked) + current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos); + else + current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; + inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]); + extruder_duplication_enabled = false; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos); + SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled"); + } + #endif + break; + } + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no"); + DEBUG_POS("New extruder (parked)", current_position); + } + #endif + + // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together? + + #else // !DUAL_X_CARRIAGE + + #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder + const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder]; + float z_raise = 0; + if (!no_move) { + + const float parkingposx[] = PARKING_EXTRUDER_PARKING_X, + midpos = ((parkingposx[1] - parkingposx[0])/2) + parkingposx[0] + hotend_offset[X_AXIS][active_extruder], + grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder] + + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE); + /** + * Steps: + * 1. raise Z-Axis to have enough clearance + * 2. move to park poition of old extruder + * 3. disengage magnetc field, wait for delay + * 4. move near new extruder + * 5. engage magnetic field for new extruder + * 6. move to parking incl. offset of new extruder + * 7. lower Z-Axis + */ + + // STEP 1 + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("Starting Autopark"); + if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position); + #endif + z_raise = PARKING_EXTRUDER_SECURITY_RAISE; + current_position[Z_AXIS] += z_raise; + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("(1) Raise Z-Axis "); + if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position); + #endif + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); + stepper.synchronize(); + + // STEP 2 + current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder]; + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder); + if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position); + #endif + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); + stepper.synchronize(); + + // STEP 3 + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("(3) Disengage magnet "); + #endif + pe_deactivate_magnet(active_extruder); + + // STEP 4 + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("(4) Move to position near new extruder"); + #endif + current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position); + #endif + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); + stepper.synchronize(); + + // STEP 5 + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("(5) Engage magnetic field"); + #endif + + #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) + pe_activate_magnet(active_extruder); //just save power for inverted magnets + #endif + pe_activate_magnet(tmp_extruder); + + // STEP 6 + current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10)); + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); + current_position[X_AXIS] = grabpos; + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder); + if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position); + #endif + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder); + stepper.synchronize(); + + // Step 7 + current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder]; + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("(7) Move midway between hotends"); + if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position); + #endif + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder); + stepper.synchronize(); + #if ENABLED(DEBUG_LEVELING_FEATURE) + SERIAL_ECHOLNPGM("Autopark done."); + #endif + } + else { // nomove == true + // Only engage magnetic field for new extruder + pe_activate_magnet(tmp_extruder); + #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) + pe_activate_magnet(active_extruder); // Just save power for inverted magnets + #endif + } + current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position); + #endif + + #endif // dualParking extruder + + #if ENABLED(SWITCHING_NOZZLE) + #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR) + // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower. + const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder], + z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0); + + // Always raise by some amount (destination copied from current_position earlier) + current_position[Z_AXIS] += z_raise; + planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder); + move_nozzle_servo(tmp_extruder); + #endif + + /** + * Set current_position to the position of the new nozzle. + * Offsets are based on linear distance, so we need to get + * the resulting position in coordinate space. + * + * - With grid or 3-point leveling, offset XYZ by a tilted vector + * - With mesh leveling, update Z for the new position + * - Otherwise, just use the raw linear distance + * + * Software endstops are altered here too. Consider a case where: + * E0 at X=0 ... E1 at X=10 + * When we switch to E1 now X=10, but E1 can't move left. + * To express this we apply the change in XY to the software endstops. + * E1 can move farther right than E0, so the right limit is extended. + * + * Note that we don't adjust the Z software endstops. Why not? + * Consider a case where Z=0 (here) and switching to E1 makes Z=1 + * because the bed is 1mm lower at the new position. As long as + * the first nozzle is out of the way, the carriage should be + * allowed to move 1mm lower. This technically "breaks" the + * Z software endstop. But this is technically correct (and + * there is no viable alternative). + */ + #if ABL_PLANAR + // Offset extruder, make sure to apply the bed level rotation matrix + vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder], + hotend_offset[Y_AXIS][tmp_extruder], + 0), + act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder], + hotend_offset[Y_AXIS][active_extruder], + 0), + offset_vec = tmp_offset_vec - act_offset_vec; + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + tmp_offset_vec.debug(PSTR("tmp_offset_vec")); + act_offset_vec.debug(PSTR("act_offset_vec")); + offset_vec.debug(PSTR("offset_vec (BEFORE)")); + } + #endif + + offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix)); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)")); + #endif + + // Adjustments to the current position + const float xydiff[2] = { offset_vec.x, offset_vec.y }; + current_position[Z_AXIS] += offset_vec.z; + + #else // !ABL_PLANAR + + const float xydiff[2] = { + hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder], + hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder] + }; + + #if ENABLED(MESH_BED_LEVELING) + + if (leveling_is_active()) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]); + #endif + float x2 = current_position[X_AXIS] + xydiff[X_AXIS], + y2 = current_position[Y_AXIS] + xydiff[Y_AXIS], + z1 = current_position[Z_AXIS], z2 = z1; + planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1); + planner.apply_leveling(x2, y2, z2); + current_position[Z_AXIS] += z2 - z1; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) + SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]); + #endif + } + + #endif // MESH_BED_LEVELING + + #endif // !HAS_ABL + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]); + SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]); + SERIAL_ECHOLNPGM(" }"); + } + #endif + + // The newly-selected extruder XY is actually at... + current_position[X_AXIS] += xydiff[X_AXIS]; + current_position[Y_AXIS] += xydiff[Y_AXIS]; + #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(PARKING_EXTRUDER) + for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) { + #if HAS_POSITION_SHIFT + position_shift[i] += xydiff[i]; + #endif + update_software_endstops((AxisEnum)i); + } + #endif + + // Set the new active extruder + active_extruder = tmp_extruder; + + #endif // !DUAL_X_CARRIAGE + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position); + #endif + + // Tell the planner the new "current position" + SYNC_PLAN_POSITION_KINEMATIC(); + + // Move to the "old position" (move the extruder into place) + if (!no_move && IsRunning()) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination); + #endif + prepare_move_to_destination(); + } + + #if ENABLED(SWITCHING_NOZZLE) + // Move back down, if needed. (Including when the new tool is higher.) + if (z_raise != z_diff) { + destination[Z_AXIS] += z_diff; + feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS]; + prepare_move_to_destination(); + } + #endif + + } // (tmp_extruder != active_extruder) + + stepper.synchronize(); + + #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER) + disable_all_solenoids(); + enable_solenoid_on_active_extruder(); + #endif // EXT_SOLENOID + + feedrate_mm_s = old_feedrate_mm_s; + + #else // HOTENDS <= 1 + + UNUSED(fr_mm_s); + UNUSED(no_move); + + #if ENABLED(MK2_MULTIPLEXER) + if (tmp_extruder >= E_STEPPERS) + return invalid_extruder_error(tmp_extruder); + + select_multiplexed_stepper(tmp_extruder); + #endif + + // Set the new active extruder + active_extruder = tmp_extruder; + + #endif // HOTENDS <= 1 + + #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH + stepper.synchronize(); + move_extruder_servo(active_extruder); + #endif + + #if HAS_FANMUX + fanmux_switch(active_extruder); + #endif + + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder); + + #endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1 +} diff --git a/Marlin/src/module/tool_change.h b/Marlin/src/module/tool_change.h new file mode 100644 index 000000000..cfd1c1605 --- /dev/null +++ b/Marlin/src/module/tool_change.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * 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 . + * + */ + +#ifndef TOOL_CHANGE_H +#define TOOL_CHANGE_H + +#include "../inc/MarlinConfig.h" + +#if ENABLED(SWITCHING_EXTRUDER) + void move_extruder_servo(const uint8_t e); +#endif + +#if ENABLED(SWITCHING_NOZZLE) + void move_nozzle_servo(const uint8_t e); +#endif + +#if ENABLED(PARKING_EXTRUDER) + + #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) + #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE + #else + #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE + #endif + + void pe_set_magnet(const uint8_t extruder_num, const uint8_t state); + + inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); } + inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); } + +#endif // PARKING_EXTRUDER + +/** + * Perform a tool-change, which may result in moving the + * previous tool out of the way and the new tool into place. + */ +void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false); + +#endif // TOOL_CHANGE_H