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@ -117,6 +117,7 @@
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* G30 - Single Z probe, probes bed at current XY location.
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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* G92 - Set current position to coordinates given
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@ -276,6 +277,11 @@
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TWIBus i2c;
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#endif
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#if ENABLED(G38_PROBE_TARGET)
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bool G38_move = false,
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G38_endstop_hit = false;
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#endif
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bool Running = true;
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uint8_t marlin_debug_flags = DEBUG_NONE;
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@ -1337,7 +1343,7 @@ static void set_home_offset(AxisEnum axis, float v) {
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* SCARA should wait until all XY homing is done before setting the XY
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* current_position to home, because neither X nor Y is at home until
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* both are at home. Z can however be homed individually.
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*
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*
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*/
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static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2325,6 +2331,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif // AUTO_BED_LEVELING_BILINEAR
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/**
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* Home an individual linear axis
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*/
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@ -4158,6 +4165,94 @@ inline void gcode_G28() {
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#endif // HAS_BED_PROBE
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#if ENABLED(G38_PROBE_TARGET)
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static bool G38_run_probe() {
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bool G38_pass_fail = false;
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// Get direction of move and retract
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float retract_mm[XYZ];
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LOOP_XYZ(i) {
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float dist = destination[i] - current_position[i];
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retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm(i) * (dist > 0 ? -1 : 1);
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}
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stepper.synchronize(); // wait until the machine is idle
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// Move until destination reached or target hit
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endstops.enable(true);
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G38_move = true;
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G38_endstop_hit = false;
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prepare_move_to_destination();
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stepper.synchronize();
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G38_move = false;
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endstops.hit_on_purpose();
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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// Only do remaining moves if target was hit
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if (G38_endstop_hit) {
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G38_pass_fail = true;
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// Move away by the retract distance
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set_destination_to_current();
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LOOP_XYZ(i) destination[i] += retract_mm[i];
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endstops.enable(false);
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prepare_move_to_destination();
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stepper.synchronize();
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feedrate_mm_s /= 4;
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// Bump the target more slowly
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LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
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endstops.enable(true);
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G38_move = true;
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prepare_move_to_destination();
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stepper.synchronize();
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G38_move = false;
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set_current_from_steppers_for_axis(ALL_AXES);
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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endstops.hit_on_purpose();
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endstops.not_homing();
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return G38_pass_fail;
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}
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/**
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* G38.2 - probe toward workpiece, stop on contact, signal error if failure
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* G38.3 - probe toward workpiece, stop on contact
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*
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* Like G28 except uses Z min endstop for all axes
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*/
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inline void gcode_G38(bool is_38_2) {
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// Get X Y Z E F
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gcode_get_destination();
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setup_for_endstop_or_probe_move();
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// If any axis has enough movement, do the move
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LOOP_XYZ(i)
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if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
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if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
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// If G38.2 fails throw an error
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if (!G38_run_probe() && is_38_2) {
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("Failed to reach target");
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}
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break;
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}
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clean_up_after_endstop_or_probe_move();
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}
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#endif // G38_PROBE_TARGET
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/**
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* G92: Set current position to given X Y Z E
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*/
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@ -7279,6 +7374,11 @@ void process_next_command() {
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// Skip spaces to get the numeric part
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while (*cmd_ptr == ' ') cmd_ptr++;
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// Allow for decimal point in command
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#if ENABLED(G38_PROBE_TARGET)
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uint8_t subcode = 0;
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#endif
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uint16_t codenum = 0; // define ahead of goto
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// Bail early if there's no code
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@ -7291,6 +7391,15 @@ void process_next_command() {
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cmd_ptr++;
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} while (NUMERIC(*cmd_ptr));
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// Allow for decimal point in command
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#if ENABLED(G38_PROBE_TARGET)
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if (*cmd_ptr == '.') {
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cmd_ptr++;
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while (NUMERIC(*cmd_ptr))
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subcode = (subcode * 10) + (*cmd_ptr++ - '0');
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}
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#endif
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// Skip all spaces to get to the first argument, or nul
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while (*cmd_ptr == ' ') cmd_ptr++;
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@ -7391,6 +7500,13 @@ void process_next_command() {
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#endif // Z_PROBE_SLED
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#endif // HAS_BED_PROBE
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#if ENABLED(G38_PROBE_TARGET)
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case 38: // G38.2 & G38.3
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if (subcode == 2 || subcode == 3)
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gcode_G38(subcode == 2);
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break;
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#endif
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case 90: // G90
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relative_mode = false;
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break;
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@ -8899,7 +9015,7 @@ void prepare_move_to_destination() {
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* Morgan SCARA Inverse Kinematics. Results in delta[].
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*
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* See http://forums.reprap.org/read.php?185,283327
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*
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*
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* Maths and first version by QHARLEY.
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* Integrated into Marlin and slightly restructured by Joachim Cerny.
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*/
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