SunRed/Marlin-Artillery-M600
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Merge remote-tracking branch 'remotes/upstream/Development' into Development

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Conflicts:
	Marlin/Marlin_main.cpp
	Marlin/stepper.cpp
This commit is contained in:
domonoky 2015-03-10 10:46:37 +01:00
commit d813090d90
29 changed files with 3962 additions and 3287 deletions
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22
Documentation/GCodes.md
View file

@ -101,3 +101,25 @@
* M908 - Control digital trimpot directly. * M908 - Control digital trimpot directly.
* M928 - Start SD logging (M928 filename.g) - ended by M29 * M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error * M999 - Restart after being stopped by error
# Comments
Comments start at a `;` (semicolon) and end with the end of the line:
N3 T0*57 ; This is a comment
N4 G92 E0*67
; So is this
N5 G28*22
(example taken from the [RepRap wiki](http://reprap.org/wiki/Gcode#Comments))
If you need to use a literal `;` somewhere (for example within `M117`), you can escape semicolons with a `\`
(backslash):
M117 Hello \;)
`\` can also be used to escape `\` itself, if you need a literal `\` in front of a `;`:
M117 backslash: \\;and a comment
Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.

80
Marlin/Configuration.h
View file

@ -8,7 +8,7 @@
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -295,9 +295,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings ========================= //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -382,40 +385,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -426,11 +427,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers // X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -467,29 +468,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif #endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING

26
Marlin/Marlin.h
View file

@ -23,41 +23,41 @@
#include "pins.h" #include "pins.h"
#ifndef AT90USB #ifndef AT90USB
#define HardwareSerial_h // trick to disable the standard HWserial #define HardwareSerial_h // trick to disable the standard HWserial
#endif #endif
#if (ARDUINO >= 100) #if (ARDUINO >= 100)
# include "Arduino.h" #include "Arduino.h"
#else #else
# include "WProgram.h" #include "WProgram.h"
#endif #endif
// Arduino < 1.0.0 does not define this, so we need to do it ourselves // Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin #ifndef analogInputToDigitalPin
# define analogInputToDigitalPin(p) ((p) + 0xA0) #define analogInputToDigitalPin(p) ((p) + 0xA0)
#endif #endif
#ifdef AT90USB #ifdef AT90USB
#include "HardwareSerial.h" #include "HardwareSerial.h"
#endif #endif
#include "MarlinSerial.h" #include "MarlinSerial.h"
#ifndef cbi #ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif #endif
#ifndef sbi #ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif #endif
#include "WString.h" #include "WString.h"
#ifdef AT90USB #ifdef AT90USB
#ifdef BTENABLED #ifdef BTENABLED
#define MYSERIAL bt #define MYSERIAL bt
#else #else
#define MYSERIAL Serial #define MYSERIAL Serial
#endif // BTENABLED #endif // BTENABLED
#else #else
#define MYSERIAL MSerial #define MYSERIAL MSerial
#endif #endif
@ -86,7 +86,7 @@ extern const char echomagic[] PROGMEM;
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value))) #define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
#define SERIAL_EOL SERIAL_ECHOLN("") #define SERIAL_EOL MYSERIAL.write('\n')
void serial_echopair_P(const char *s_P, float v); void serial_echopair_P(const char *s_P, float v);
void serial_echopair_P(const char *s_P, double v); void serial_echopair_P(const char *s_P, double v);

6042
Marlin/Marlin_main.cpp
View file

@ -30,12 +30,17 @@
#include "Marlin.h" #include "Marlin.h"
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h" #if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop to enable Auto Bed Leveling feature. Z_MIN_PIN must point to a valid hardware pin."
#endif
#include "vector_3.h"
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h" #include "qr_solve.h"
#endif #endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
#define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
#include "ultralcd.h" #include "ultralcd.h"
#include "planner.h" #include "planner.h"
#include "stepper.h" #include "stepper.h"
@ -124,6 +129,8 @@
// M115 - Capabilities string // M115 - Capabilities string
// M117 - display message // M117 - display message
// M119 - Output Endstop status to serial port // M119 - Output Endstop status to serial port
// M120 - Enable endstop detection
// M121 - Disable endstop detection
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil) // M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil) // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
@ -154,6 +161,8 @@
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. // M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C) // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D // M304 - Set bed PID parameters P I and D
// M380 - Activate solenoid on active extruder
// M381 - Disable all solenoids
// M400 - Finish all moves // M400 - Finish all moves
// M401 - Lower z-probe if present // M401 - Lower z-probe if present
// M402 - Raise z-probe if present // M402 - Raise z-probe if present
@ -201,9 +210,9 @@ int extruder_multiply[EXTRUDERS] = { 100
, 100 , 100
#if EXTRUDERS > 2 #if EXTRUDERS > 2
, 100 , 100
#if EXTRUDERS > 3 #if EXTRUDERS > 3
, 100 , 100
#endif #endif
#endif #endif
#endif #endif
}; };
@ -285,8 +294,8 @@ int fanSpeed = 0;
#if EXTRUDERS > 2 #if EXTRUDERS > 2
, false , false
#if EXTRUDERS > 3 #if EXTRUDERS > 3
, false , false
#endif #endif
#endif #endif
#endif #endif
}; };
@ -296,8 +305,8 @@ int fanSpeed = 0;
#if EXTRUDERS > 2 #if EXTRUDERS > 2
, false , false
#if EXTRUDERS > 3 #if EXTRUDERS > 3
, false , false
#endif #endif
#endif #endif
#endif #endif
}; };
@ -317,7 +326,7 @@ int fanSpeed = 0;
#ifdef PS_DEFAULT_OFF #ifdef PS_DEFAULT_OFF
false false
#else #else
true true
#endif #endif
; ;
#endif #endif
@ -329,9 +338,9 @@ int fanSpeed = 0;
// these are the default values, can be overriden with M665 // these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS; float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * delta_radius; // front left tower float delta_tower1_x = -SIN_60 * delta_radius; // front left tower
float delta_tower1_y = -COS_60 * delta_radius; float delta_tower1_y = -COS_60 * delta_radius;
float delta_tower2_x = SIN_60 * delta_radius; // front right tower float delta_tower2_x = SIN_60 * delta_radius; // front right tower
float delta_tower2_y = -COS_60 * delta_radius; float delta_tower2_y = -COS_60 * delta_radius;
float delta_tower3_x = 0; // back middle tower float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = delta_radius; float delta_tower3_y = delta_radius;
float delta_diagonal_rod = DELTA_DIAGONAL_ROD; float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
@ -341,7 +350,7 @@ int fanSpeed = 0;
#ifdef SCARA #ifdef SCARA
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif #endif
bool cancel_heatup = false; bool cancel_heatup = false;
@ -529,32 +538,28 @@ void setup_homepin(void)
void setup_photpin() void setup_photpin()
{ {
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1 #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT(PHOTOGRAPH_PIN); OUT_WRITE(PHOTOGRAPH_PIN, LOW);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif #endif
} }
void setup_powerhold() void setup_powerhold()
{ {
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN); OUT_WRITE(SUICIDE_PIN, HIGH);
WRITE(SUICIDE_PIN, HIGH);
#endif #endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1 #if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN); #if defined(PS_DEFAULT_OFF)
#if defined(PS_DEFAULT_OFF) OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else #else
WRITE(PS_ON_PIN, PS_ON_AWAKE); OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif #endif
#endif #endif
} }
void suicide() void suicide()
{ {
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN); OUT_WRITE(SUICIDE_PIN, LOW);
WRITE(SUICIDE_PIN, LOW);
#endif #endif
} }
@ -586,9 +591,9 @@ void servo_init()
} }
#endif #endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach(); servos[servo_endstops[Z_AXIS]].detach();
#endif #endif
} }
@ -645,7 +650,7 @@ void setup()
lcd_init(); lcd_init();
_delay_ms(1000); // wait 1sec to display the splash screen _delay_ms(1000); // wait 1sec to display the splash screen
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1 #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
@ -727,103 +732,113 @@ void get_command()
serial_char = MYSERIAL.read(); serial_char = MYSERIAL.read();
if(serial_char == '\n' || if(serial_char == '\n' ||
serial_char == '\r' || serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1) ) serial_count >= (MAX_CMD_SIZE - 1) )
{ {
if(!serial_count) { //if empty line // end of line == end of comment
comment_mode = false; //for new command comment_mode = false;
if(!serial_count) {
// short cut for empty lines
return; return;
} }
cmdbuffer[bufindw][serial_count] = 0; //terminate string cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
comment_mode = false; //for new command fromsd[bufindw] = false;
fromsd[bufindw] = false; if(strchr(cmdbuffer[bufindw], 'N') != NULL)
if(strchr(cmdbuffer[bufindw], 'N') != NULL) {
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(strchr_pointer + 1, NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strchr(cmdbuffer[bufindw], '*') != NULL)
{ {
strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); byte checksum = 0;
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); byte count = 0;
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) { while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
SERIAL_ERROR_START; strchr_pointer = strchr(cmdbuffer[bufindw], '*');
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strchr(cmdbuffer[bufindw], '*') != NULL) if(strtol(strchr_pointer + 1, NULL, 10) != checksum) {
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM); SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN); SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend(); FlushSerialRequestResend();
serial_count = 0; serial_count = 0;
return; return;
} }
gcode_LastN = gcode_N;
//if no errors, continue parsing //if no errors, continue parsing
} }
else // if we don't receive 'N' but still see '*' else
{ {
if((strchr(cmdbuffer[bufindw], '*') != NULL)) SERIAL_ERROR_START;
{ SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
SERIAL_ERROR_START; SERIAL_ERRORLN(gcode_LastN);
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM); FlushSerialRequestResend();
SERIAL_ERRORLN(gcode_LastN); serial_count = 0;
serial_count = 0; return;
return;
}
}
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
case 0:
case 1:
case 2:
case 3:
if (Stopped == true) {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
break;
default:
break;
}
} }
//If command was e-stop process now gcode_LastN = gcode_N;
if(strcmp(cmdbuffer[bufindw], "M112") == 0) //if no errors, continue parsing
kill();
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
} }
else // if we don't receive 'N' but still see '*'
{
if((strchr(cmdbuffer[bufindw], '*') != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
}
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch(strtol(strchr_pointer + 1, NULL, 10)){
case 0:
case 1:
case 2:
case 3:
if (Stopped == true) {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
break;
default:
break;
}
}
//If command was e-stop process now
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
kill();
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
serial_count = 0; //clear buffer serial_count = 0; //clear buffer
} }
else else if(serial_char == '\\') { //Handle escapes
{
if(serial_char == ';') comment_mode = true; if(MYSERIAL.available() > 0 && buflen < BUFSIZE) {
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; // if we have one more character, copy it over
serial_char = MYSERIAL.read();
cmdbuffer[bufindw][serial_count++] = serial_char;
}
//otherwise do nothing
}
else { // its not a newline, carriage return or escape char
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
} }
} }
#ifdef SDSUPPORT #ifdef SDSUPPORT
@ -894,12 +909,12 @@ void get_command()
float code_value() float code_value()
{ {
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); return (strtod(strchr_pointer + 1, NULL));
} }
long code_value_long() long code_value_long()
{ {
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); return (strtol(strchr_pointer + 1, NULL, 10));
} }
bool code_seen(char code) bool code_seen(char code)
@ -997,7 +1012,7 @@ static void axis_is_at_home(int axis) {
{ {
homeposition[i] = base_home_pos(i); homeposition[i] = base_home_pos(i);
} }
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]); // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics, // Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics // and calculates homing offset using forward kinematics
@ -1012,7 +1027,7 @@ static void axis_is_at_home(int axis) {
} }
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]); // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]); // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]); // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
@ -1169,66 +1184,70 @@ static void clean_up_after_endstop_move() {
} }
static void engage_z_probe() { static void engage_z_probe() {
// Engage Z Servo endstop if enabled // Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) { if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0); servos[servo_endstops[Z_AXIS]].attach(0);
#endif #endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]); servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach(); servos[servo_endstops[Z_AXIS]].detach();
#endif #endif
} }
#endif #endif
} }
static void retract_z_probe() { static void retract_z_probe() {
// Retract Z Servo endstop if enabled // Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) { if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0); servos[servo_endstops[Z_AXIS]].attach(0);
#endif #endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]); servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY); delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach(); servos[servo_endstops[Z_AXIS]].detach();
#endif #endif
} }
#endif #endif
} }
enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
/// Probe bed height at position (x,y), returns the measured z value /// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, int retract_action=0) { static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, int verbose_level=1) {
// move to right place // move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
if ((retract_action==0) || (retract_action==1)) if (retract_action & ProbeEngage) engage_z_probe();
engage_z_probe(); // Engage Z Servo endstop if available #endif
#endif // Z_PROBE_SLED
run_z_probe(); run_z_probe();
float measured_z = current_position[Z_AXIS]; float measured_z = current_position[Z_AXIS];
#ifndef Z_PROBE_SLED
if ((retract_action==0) || (retract_action==3))
retract_z_probe();
#endif // Z_PROBE_SLED
SERIAL_PROTOCOLPGM(MSG_BED); #ifndef Z_PROBE_SLED
SERIAL_PROTOCOLPGM(" x: "); if (retract_action & ProbeRetract) retract_z_probe();
SERIAL_PROTOCOL(x); #endif
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y); if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOL(measured_z); SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOLPGM("\n"); SERIAL_PROTOCOL(x + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(y + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(measured_z + 0.0001);
SERIAL_EOL;
}
return measured_z; return measured_z;
} }
#endif // #ifdef ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) { static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \ #define HOMEAXIS_DO(LETTER) \
@ -1251,11 +1270,11 @@ static void homeaxis(int axis) {
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled // Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
if (axis==Z_AXIS) { if (axis==Z_AXIS) {
engage_z_probe(); engage_z_probe();
} }
else else
#endif #endif
if (servo_endstops[axis] > -1) { if (servo_endstops[axis] > -1) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
@ -1302,7 +1321,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]); servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
} }
#endif #endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
#ifndef Z_PROBE_SLED #ifndef Z_PROBE_SLED
if (axis==Z_AXIS) retract_z_probe(); if (axis==Z_AXIS) retract_z_probe();
#endif #endif
@ -1376,6 +1395,11 @@ void refresh_cmd_timeout(void)
#endif //FWRETRACT #endif //FWRETRACT
#ifdef Z_PROBE_SLED #ifdef Z_PROBE_SLED
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
// //
// Method to dock/undock a sled designed by Charles Bell. // Method to dock/undock a sled designed by Charles Bell.
// //
@ -1411,157 +1435,159 @@ static void dock_sled(bool dock, int offset=0) {
} }
#endif #endif
void process_commands() /**
{ *
unsigned long codenum; //throw away variable * G-Code Handler functions
char *starpos = NULL; *
#ifdef ENABLE_AUTO_BED_LEVELING */
float x_tmp, y_tmp, z_tmp, real_z;
#endif /**
if(code_seen('G')) * G0, G1: Coordinated movement of X Y Z E axes
{ */
switch((int)code_value()) inline void gcode_G0_G1() {
{ if (!Stopped) {
case 0: // G0 -> G1 get_coordinates(); // For X Y Z E F
case 1: // G1 #ifdef FWRETRACT
if(Stopped == false) { if (autoretract_enabled)
get_coordinates(); // For X Y Z E F if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
#ifdef FWRETRACT float echange = destination[E_AXIS] - current_position[E_AXIS];
if(autoretract_enabled) // Is this move an attempt to retract or recover?
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
float echange=destination[E_AXIS]-current_position[E_AXIS]; current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover plan_set_e_position(current_position[E_AXIS]); // AND from the planner
current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations retract(!retracted[active_extruder]);
plan_set_e_position(current_position[E_AXIS]); //AND from the planner return;
retract(!retracted); }
return;
}
}
#endif //FWRETRACT
prepare_move();
//ClearToSend();
} }
break; #endif //FWRETRACT
#ifndef SCARA //disable arc support prepare_move();
case 2: // G2 - CW ARC //ClearToSend();
if(Stopped == false) { }
get_arc_coordinates(); }
prepare_arc_move(true);
/**
* G2: Clockwise Arc
* G3: Counterclockwise Arc
*/
inline void gcode_G2_G3(bool clockwise) {
if (!Stopped) {
get_arc_coordinates();
prepare_arc_move(clockwise);
}
}
/**
* G4: Dwell S<seconds> or P<milliseconds>
*/
inline void gcode_G4() {
unsigned long codenum;
LCD_MESSAGEPGM(MSG_DWELL);
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
st_synchronize();
previous_millis_cmd = millis();
codenum += previous_millis_cmd; // keep track of when we started waiting
while(millis() < codenum) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
#ifdef FWRETRACT
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11(bool doRetract=false) {
#if EXTRUDERS > 1
if (doRetract) {
retracted_swap[active_extruder] = (code_seen('S') && code_value_long() == 1); // checks for swap retract argument
} }
break; #endif
case 3: // G3 - CCW ARC retract(doRetract
if(Stopped == false) { #if EXTRUDERS > 1
get_arc_coordinates(); , retracted_swap[active_extruder]
prepare_arc_move(false); #endif
} );
break; }
#endif
case 4: // G4 dwell
LCD_MESSAGEPGM(MSG_DWELL);
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize(); #endif //FWRETRACT
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum) {
manage_heater();
manage_inactivity();
lcd_update();
}
break;
#ifdef FWRETRACT
case 10: // G10 retract
#if EXTRUDERS > 1
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
retract(true,retracted_swap[active_extruder]);
#else
retract(true);
#endif
break;
case 11: // G11 retract_recover
#if EXTRUDERS > 1
retract(false,retracted_swap[active_extruder]);
#else
retract(false);
#endif
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
saved_feedrate = feedrate; /**
saved_feedmultiply = feedmultiply; * G28: Home all axes, one at a time
feedmultiply = 100; */
previous_millis_cmd = millis(); inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif
enable_endstops(true); saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
for(int8_t i=0; i < NUM_AXIS; i++) { enable_endstops(true);
destination[i] = current_position[i];
}
feedrate = 0.0;
#ifdef DELTA for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = current_position[i];
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
// Move all carriages up together until the first endstop is hit. feedrate = 0.0;
current_position[X_AXIS] = 0;
current_position[Y_AXIS] = 0;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 3 * Z_MAX_LENGTH; #ifdef DELTA
destination[Y_AXIS] = 3 * Z_MAX_LENGTH; // A delta can only safely home all axis at the same time
destination[Z_AXIS] = 3 * Z_MAX_LENGTH; // all axis have to home at the same time
feedrate = 1.732 * homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS]; // Move all carriages up together until the first endstop is hit.
current_position[Y_AXIS] = destination[Y_AXIS]; for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
current_position[Z_AXIS] = destination[Z_AXIS]; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// take care of back off and rehome now we are all at the top for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
HOMEAXIS(X); feedrate = 1.732 * homing_feedrate[X_AXIS];
HOMEAXIS(Y); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
HOMEAXIS(Z); st_synchronize();
endstops_hit_on_purpose();
calculate_delta(current_position); // Destination reached
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
#else // NOT DELTA // take care of back off and rehome now we are all at the top
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))); calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#if Z_HOME_DIR > 0 // If homing away from BED do Z first #else // NOT DELTA
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
HOMEAXIS(Z); HOMEAXIS(Z);
} }
#endif #endif
#ifdef QUICK_HOME #ifdef QUICK_HOME
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) { //first diagonal move
{ current_position[X_AXIS] = current_position[Y_AXIS] = 0;
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
#ifndef DUAL_X_CARRIAGE #ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir(X_AXIS); int x_axis_home_dir = home_dir(X_AXIS);
#else #else
int x_axis_home_dir = x_home_dir(active_extruder); int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false; extruder_duplication_enabled = false;
#endif #endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS]; feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate) if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
feedrate = homing_feedrate[Y_AXIS];
if (max_length(X_AXIS) > max_length(Y_AXIS)) { if (max_length(X_AXIS) > max_length(Y_AXIS)) {
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1); feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
} else { } else {
@ -1582,14 +1608,13 @@ void process_commands()
current_position[X_AXIS] = destination[X_AXIS]; current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS];
#ifndef SCARA #ifndef SCARA
current_position[Z_AXIS] = destination[Z_AXIS]; current_position[Z_AXIS] = destination[Z_AXIS];
#endif #endif
} }
#endif #endif //QUICK_HOME
if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
{
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder; int tmp_extruder = active_extruder;
extruder_duplication_enabled = false; extruder_duplication_enabled = false;
@ -1605,2410 +1630,3168 @@ void process_commands()
#else #else
HOMEAXIS(X); HOMEAXIS(X);
#endif #endif
} }
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) { if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y);
HOMEAXIS(Y);
}
if(code_seen(axis_codes[X_AXIS])) if (code_seen(axis_codes[X_AXIS])) {
{ if (code_value_long() != 0) {
if(code_value_long() != 0) { current_position[X_AXIS] = code_value()
#ifdef SCARA #ifndef SCARA
current_position[X_AXIS]=code_value(); + add_homing[X_AXIS]
#else
current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
#endif
}
}
if(code_seen(axis_codes[Y_AXIS])) {
if(code_value_long() != 0) {
#ifdef SCARA
current_position[Y_AXIS]=code_value();
#else
current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
#endif
}
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
#endif #endif
HOMEAXIS(Z); ;
} }
#else // Z Safe mode activated. }
if(home_all_axis) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED/60;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
current_position[Y_AXIS] = code_value()
#ifndef SCARA
+ add_homing[Y_AXIS]
#endif
;
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize(); st_synchronize();
current_position[X_AXIS] = destination[X_AXIS]; #endif
current_position[Y_AXIS] = destination[Y_AXIS]; HOMEAXIS(Z);
}
HOMEAXIS(Z); #else // Z_SAFE_HOMING
}
// Let's see if X and Y are homed and probe is inside bed area.
if(code_seen(axis_codes[Z_AXIS])) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
if (home_all_axis) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED / 60;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
HOMEAXIS(Z);
}
// Let's see if X and Y are homed and probe is inside bed area.
if (code_seen(axis_codes[Z_AXIS])) {
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize(); st_synchronize();
HOMEAXIS(Z); HOMEAXIS(Z);
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) { }
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); else {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
} else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT); LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
} }
} }
#endif else {
#endif LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
}
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
} }
}
#ifdef ENABLE_AUTO_BED_LEVELING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
}
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif // else DELTA
#ifdef SCARA #endif // Z_SAFE_HOMING
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif // SCARA
#ifdef ENDSTOPS_ONLY_FOR_HOMING #endif // Z_HOME_DIR < 0
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply; if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
previous_millis_cmd = millis(); current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
endstops_hit_on_purpose();
break; #ifdef ENABLE_AUTO_BED_LEVELING
if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif // else DELTA
#ifdef SCARA
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
}
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
// Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values // Define the possible boundaries for probing based on set limits
{ #define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#if Z_MIN_PIN == -1 #define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin." #define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#ifdef AUTO_BED_LEVELING_GRID
#define MIN_PROBE_EDGE 20 // The probe square sides can be no smaller than this
// Make sure probing points are reachable
#if LEFT_PROBE_BED_POSITION < MIN_PROBE_X
#error The given LEFT_PROBE_BED_POSITION can't be reached by the probe.
#elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
#error The given RIGHT_PROBE_BED_POSITION can't be reached by the probe.
#elif FRONT_PROBE_BED_POSITION < MIN_PROBE_Y
#error The given FRONT_PROBE_BED_POSITION can't be reached by the probe.
#elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
#error The given BACK_PROBE_BED_POSITION can't be reached by the probe.
// Check if Probe_Offset * Grid Points is greater than Probing Range
#elif abs(X_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#elif abs(Y_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else // !AUTO_BED_LEVELING_GRID
#if ABL_PROBE_PT_1_X < MIN_PROBE_X || ABL_PROBE_PT_1_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_1_X can't be reached by the probe.
#elif ABL_PROBE_PT_2_X < MIN_PROBE_X || ABL_PROBE_PT_2_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_2_X can't be reached by the probe.
#elif ABL_PROBE_PT_3_X < MIN_PROBE_X || ABL_PROBE_PT_3_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_3_X can't be reached by the probe.
#elif ABL_PROBE_PT_1_Y < MIN_PROBE_Y || ABL_PROBE_PT_1_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_1_Y can't be reached by the probe.
#elif ABL_PROBE_PT_2_Y < MIN_PROBE_Y || ABL_PROBE_PT_2_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_2_Y can't be reached by the probe.
#elif ABL_PROBE_PT_3_Y < MIN_PROBE_Y || ABL_PROBE_PT_3_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_3_Y can't be reached by the probe.
#endif
#endif // !AUTO_BED_LEVELING_GRID
/**
* G29: Detailed Z-Probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID:
*
* P Set the size of the grid that will be probed (P x P points).
* Example: "G29 P4"
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Global Parameters:
*
* E/e By default G29 engages / disengages the probe for each point.
* Include "E" to engage and disengage the probe just once.
* There's no extra effect if you have a fixed probe.
* Usage: "G29 E" or "G29 e"
*
*/
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
inline void gcode_G29() {
// Prevent user from running a G29 without first homing in X and Y
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
return;
}
int verbose_level = 1;
float x_tmp, y_tmp, z_tmp, real_z;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value_long();
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n");
return;
}
}
bool enhanced_g29 = code_seen('E') || code_seen('e');
#ifdef AUTO_BED_LEVELING_GRID
bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t');
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS;
if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) {
SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
return;
}
int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION,
right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION,
front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION,
back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
right_out_r = right_probe_bed_position > MAX_PROBE_X,
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < MIN_PROBE_Y,
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
back_out_b = back_probe_bed_position > MAX_PROBE_Y,
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
if (left_out || right_out || front_out || back_out) {
if (left_out) {
SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n");
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE;
}
if (right_out) {
SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n");
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n");
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE;
}
if (back_out) {
SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n");
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
#endif // AUTO_BED_LEVELING_GRID
#ifdef Z_PROBE_SLED
dock_sled(false); // engage (un-dock) the probe
#endif
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int probePointCounter = 0;
bool zig = true;
for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
int xProbe, xInc;
if (zig)
xProbe = left_probe_bed_position, xInc = xGridSpacing;
else
xProbe = right_probe_bed_position, xInc = -xGridSpacing;
// If topo_flag is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if (!topo_flag) zig = !zig;
for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
// raise extruder
float measured_z,
z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
// Enhanced G29 - Do not retract servo between probes
ProbeAction act;
if (enhanced_g29) {
if (yProbe == front_probe_bed_position && xCount == 0)
act = ProbeEngage;
else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
act = ProbeRetract;
else
act = ProbeStay;
}
else
act = ProbeEngageRetract;
measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
mean += measured_z;
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
probePointCounter++;
xProbe += xInc;
} //xProbe
} //yProbe
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
mean /= abl2;
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
}
}
if (topo_flag) {
int xx, yy;
SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
#if TOPO_ORIGIN == OriginFrontLeft
for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
#else
for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
#endif
{
#if TOPO_ORIGIN == OriginBackRight
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#else
for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
#endif #endif
// Prevent user from running a G29 without first homing in X and Y
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
{
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
break; // abort G29, since we don't know where we are
}
#ifdef Z_PROBE_SLED
dock_sled(false);
#endif // Z_PROBE_SLED
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
int back_probe_bed_position=BACK_PROBE_BED_POSITION;
int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
if (code_seen('L')) left_probe_bed_position=(int)code_value();
if (code_seen('R')) right_probe_bed_position=(int)code_value();
if (code_seen('B')) back_probe_bed_position=(int)code_value();
if (code_seen('F')) front_probe_bed_position=(int)code_value();
if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
// 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
// "A" matrix of the linear system of equations
double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
// "B" vector of Z points
double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{ {
xProbe = left_probe_bed_position; int ind =
//xEnd = right_probe_bed_position; #if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
xInc = xGridSpacing; yy * auto_bed_leveling_grid_points + xx
zig = false; #elif TOPO_ORIGIN == OriginBackLeft
} else // zag xx * auto_bed_leveling_grid_points + yy
{ #elif TOPO_ORIGIN == OriginFrontRight
xProbe = right_probe_bed_position; abl2 - xx * auto_bed_leveling_grid_points - yy - 1
//xEnd = left_probe_bed_position; #endif
xInc = -xGridSpacing; ;
zig = true; float diff = eqnBVector[ind] - mean;
} if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
SERIAL_EOL;
for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++) } //topo_flag
{
float z_before;
if (probePointCounter == 0)
{
// raise before probing
z_before = Z_RAISE_BEFORE_PROBING;
} else
{
// raise extruder
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
}
float measured_z;
//Enhanced G29 - Do not retract servo between probes
if (code_seen('E') || code_seen('e') )
{
if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
{
measured_z = probe_pt(xProbe, yProbe, z_before,1);
} else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
{
measured_z = probe_pt(xProbe, yProbe, z_before,3);
} else {
measured_z = probe_pt(xProbe, yProbe, z_before,2);
}
} else {
measured_z = probe_pt(xProbe, yProbe, z_before);
}
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe;
eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe;
eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1;
probePointCounter++;
xProbe += xInc;
}
}
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
set_bed_level_equation_lsq(plane_equation_coefficients); set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
free(plane_equation_coefficients); #else // !AUTO_BED_LEVELING_GRID
#else // AUTO_BED_LEVELING_GRID not defined // Probe at 3 arbitrary points
float z_at_pt_1, z_at_pt_2, z_at_pt_3;
// Probe at 3 arbitrary points if (enhanced_g29) {
// Enhanced G29 // Basic Enhanced G29
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage, verbose_level);
float z_at_pt_1, z_at_pt_2, z_at_pt_3; z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay, verbose_level);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
if (code_seen('E') || code_seen('e')) { }
// probe 1 else {
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1); z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, verbose_level);
// probe 2 z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2); z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
// probe 3 }
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3); clean_up_after_endstop_move();
} set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
else {
// probe 1
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// probe 2
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// probe 3
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
}
clean_up_after_endstop_move();
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
#endif // !AUTO_BED_LEVELING_GRID
#endif // AUTO_BED_LEVELING_GRID st_synchronize();
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position. if (verbose_level > 0)
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset // Correct the Z height difference from z-probe position and hotend tip position.
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); // When the bed is uneven, this height must be corrected.
#ifdef Z_PROBE_SLED real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel. x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
#endif // Z_PROBE_SLED y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
} z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef Z_PROBE_SLED
dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
#endif
}
#ifndef Z_PROBE_SLED
inline void gcode_G30() {
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
SERIAL_EOL;
clean_up_after_endstop_move();
retract_z_probe(); // Retract Z Servo endstop if available
}
#endif //!Z_PROBE_SLED
#endif //ENABLE_AUTO_BED_LEVELING
/**
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
if (!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for (int i=0;i<NUM_AXIS;i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
current_position[i] = code_value() +
#ifdef SCARA
((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0)
#else
add_homing[i]
#endif
;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
}
#ifdef ULTIPANEL
/**
* M0: // M0 - Unconditional stop - Wait for user button press on LCD
* M1: // M1 - Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1() {
char *src = strchr_pointer + 2;
unsigned long codenum = 0;
bool hasP = false, hasS = false;
if (code_seen('P')) {
codenum = code_value(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
char* starpos = strchr(src, '*');
if (starpos != NULL) *(starpos) = '\0';
while (*src == ' ') ++src;
if (!hasP && !hasS && *src != '\0')
lcd_setstatus(src);
else
LCD_MESSAGEPGM(MSG_USERWAIT);
lcd_ignore_click();
st_synchronize();
previous_millis_cmd = millis();
if (codenum > 0) {
codenum += previous_millis_cmd; // keep track of when we started waiting
while(millis() < codenum && !lcd_clicked()) {
manage_heater();
manage_inactivity();
lcd_update();
}
lcd_ignore_click(false);
}
else {
if (!lcd_detected()) return;
while (!lcd_clicked()) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
if (IS_SD_PRINTING)
LCD_MESSAGEPGM(MSG_RESUMING);
else
LCD_MESSAGEPGM(WELCOME_MSG);
}
#endif // ULTIPANEL
/**
* M17: Enable power on all stepper motors
*/
inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
#ifdef SDSUPPORT
/**
* M20: List SD card to serial output
*/
inline void gcode_M20() {
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
}
/**
* M21: Init SD Card
*/
inline void gcode_M21() {
card.initsd();
}
/**
* M22: Release SD Card
*/
inline void gcode_M22() {
card.release();
}
/**
* M23: Select a file
*/
inline void gcode_M23() {
char* codepos = strchr_pointer + 4;
char* starpos = strchr(codepos, '*');
if (starpos) *starpos = '\0';
card.openFile(codepos, true);
}
/**
* M24: Start SD Print
*/
inline void gcode_M24() {
card.startFileprint();
starttime = millis();
}
/**
* M25: Pause SD Print
*/
inline void gcode_M25() {
card.pauseSDPrint();
}
/**
* M26: Set SD Card file index
*/
inline void gcode_M26() {
if (card.cardOK && code_seen('S'))
card.setIndex(code_value_long());
}
/**
* M27: Get SD Card status
*/
inline void gcode_M27() {
card.getStatus();
}
/**
* M28: Start SD Write
*/
inline void gcode_M28() {
char* codepos = strchr_pointer + 4;
char* starpos = strchr(strchr_pointer + 4, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.openFile(strchr_pointer + 4, false);
}
/**
* M29: Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29() {
// card.saving = false;
}
/**
* M30 <filename>: Delete SD Card file
*/
inline void gcode_M30() {
if (card.cardOK) {
card.closefile();
char* starpos = strchr(strchr_pointer + 4, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.removeFile(strchr_pointer + 4);
}
}
#endif
/**
* M31: Get the time since the start of SD Print (or last M109)
*/
inline void gcode_M31() {
stoptime = millis();
unsigned long t = (stoptime - starttime) / 1000;
int min = t / 60, sec = t % 60;
char time[30];
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
autotempShutdown();
}
#ifdef SDSUPPORT
/**
* M32: Select file and start SD Print
*/
inline void gcode_M32() {
if (card.sdprinting)
st_synchronize();
char* codepos = strchr_pointer + 4;
char* namestartpos = strchr(codepos, '!'); //find ! to indicate filename string start.
if (! namestartpos)
namestartpos = codepos; //default name position, 4 letters after the M
else
namestartpos++; //to skip the '!'
char* starpos = strchr(codepos, '*');
if (starpos) *(starpos) = '\0';
bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos);
if (card.cardOK) {
card.openFile(namestartpos, true, !call_procedure);
if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!)
card.setIndex(code_value_long());
card.startFileprint();
if (!call_procedure)
starttime = millis(); //procedure calls count as normal print time.
}
}
/**
* M928: Start SD Write
*/
inline void gcode_M928() {
char* starpos = strchr(strchr_pointer + 5, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.openLogFile(strchr_pointer + 5);
}
#endif // SDSUPPORT
/**
* M42: Change pin status via GCode
*/
inline void gcode_M42() {
if (code_seen('S')) {
int pin_status = code_value(),
pin_number = LED_PIN;
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
pin_number = code_value();
for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins) / sizeof(*sensitive_pins)); i++) {
if (sensitive_pins[i] == pin_number) {
pin_number = -1;
break; break;
#ifndef Z_PROBE_SLED }
case 30: // G30 Single Z Probe }
#if defined(FAN_PIN) && FAN_PIN > -1
if (pin_number == FAN_PIN) fanSpeed = pin_status;
#endif
if (pin_number > -1) {
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
} // code_seen('S')
}
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
/**
* M48: Z-Probe repeatability measurement function.
*
* Usage:
* M48 <n#> <X#> <Y#> <V#> <E> <L#>
* n = Number of samples (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage probe for each reading
* L = Number of legs of movement before probe
*
* This function assumes the bed has been homed. Specificaly, that a G28 command
* as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*
* The number of samples will default to 10 if not specified. You can use upper or lower case
* letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
* N for its communication protocol and will get horribly confused if you send it a capital N.
*/
inline void gcode_M48() {
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
if (verbose_level < 0 || verbose_level > 4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('n')) {
n_samples = code_value();
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausible (4-50).\n");
return;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e'))
engage_probe_for_each_reading++;
if (code_seen('X') || code_seen('x')) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
return;
}
}
if (code_seen('Y') || code_seen('y')) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
return;
}
}
if (code_seen('L') || code_seen('l')) {
n_legs = code_value();
if (n_legs == 1) n_legs = 2;
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausible (0-15).\n");
return;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line(X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS] / 60,
active_extruder);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe();
setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
if (engage_probe_for_each_reading) retract_z_probe();
for (n=0; n < n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if (n_legs) {
double radius=0.0, theta=0.0, x_sweep, y_sweep;
int l;
int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
float dir = rotational_direction ? 1 : -1;
for (l = 0; l < n_legs - 1; l++) {
theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians
radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
if (radius < 0.0) radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
// Make sure our X & Y are sane
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
if (engage_probe_for_each_reading) {
engage_z_probe();
delay(1000);
}
setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum = 0.0;
for (j=0; j<=n; j++) sum += sample_set[j];
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0;
for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean);
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0) SERIAL_EOL;
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
if (engage_probe_for_each_reading) {
retract_z_probe();
delay(1000);
}
}
retract_z_probe();
delay(1000);
clean_up_after_endstop_move();
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
}
#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
if (setTargetedHotend(104)) return;
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
setWatch();
}
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
if (setTargetedHotend(105)) return;
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
#endif //TEMP_BED_PIN
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
}
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#ifdef SHOW_TEMP_ADC_VALUES
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
}
#endif
SERIAL_PROTOCOLLN("");
}
#if defined(FAN_PIN) && FAN_PIN > -1
/**
* M106: Set Fan Speed
*/
inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M107: Fan Off
*/
inline void gcode_M107() { fanSpeed = 0; }
#endif //FAN_PIN
/**
* M109: Wait for extruder(s) to reach temperature
*/
inline void gcode_M109() {
if (setTargetedHotend(109)) return;
LCD_MESSAGEPGM(MSG_HEATING);
CooldownNoWait = code_seen('S');
if (CooldownNoWait || code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
}
#ifdef AUTOTEMP
autotemp_enabled = code_seen('F');
if (autotemp_enabled) autotemp_factor = code_value();
if (code_seen('S')) autotemp_min = code_value();
if (code_seen('B')) autotemp_max = code_value();
#endif
setWatch();
unsigned long timetemp = millis();
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
cancel_heatup = false;
#ifdef TEMP_RESIDENCY_TIME
long residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((!cancel_heatup)&&((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) )
#else
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) )
#endif //TEMP_RESIDENCY_TIME
{ // while loop
if (millis() > timetemp + 1000UL) { //Print temp & remaining time every 1s while waiting
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if (residencyStart > -1) {
timetemp = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( timetemp );
}
else {
SERIAL_PROTOCOLLN( "?" );
}
#else
SERIAL_PROTOCOLLN("");
#endif
timetemp = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
#ifdef TEMP_RESIDENCY_TIME
// start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
// or when current temp falls outside the hysteresis after target temp was reached
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{ {
engage_z_probe(); // Engage Z Servo endstop if available residencyStart = millis();
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("\n");
clean_up_after_endstop_move();
retract_z_probe(); // Retract Z Servo endstop if available
} }
#endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
starttime = previous_millis_cmd = millis();
}
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
LCD_MESSAGEPGM(MSG_BED_HEATING);
CooldownNoWait = code_seen('S');
if (CooldownNoWait || code_seen('R'))
setTargetBed(code_value());
unsigned long timetemp = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) {
unsigned long ms = millis();
if (ms > timetemp + 1000UL) { //Print Temp Reading every 1 second while heating up.
timetemp = ms;
float tt = degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLLN("");
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
previous_millis_cmd = millis();
}
#endif // TEMP_BED_PIN > -1
/**
* M112: Emergency Stop
*/
inline void gcode_M112() {
kill();
}
#ifdef BARICUDA
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
/**
* M126: Heater 1 valve open
*/
inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M127: Heater 1 valve close
*/
inline void gcode_M127() { ValvePressure = 0; }
#endif
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
/**
* M128: Heater 2 valve open
*/
inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M129: Heater 2 valve close
*/
inline void gcode_M129() { EtoPPressure = 0; }
#endif
#endif //BARICUDA
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
if (code_seen('S')) setTargetBed(code_value());
}
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
/**
* M80: Turn on Power Supply
*/
inline void gcode_M80() {
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
}
#endif // PS_ON_PIN
/**
* M81: Turn off Power Supply
*/
inline void gcode_M81() {
disable_heater();
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait 1 second before switching off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
lcd_update();
#endif
}
/**
* M82: Set E codes absolute (default)
*/
inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
/**
* M82: Set E codes relative while in Absolute Coordinates (G90) mode
*/
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
/**
* M18, M84: Disable all stepper motors
*/
inline void gcode_M18_M84() {
if (code_seen('S')) {
stepper_inactive_time = code_value() * 1000;
}
else {
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if (all_axis) {
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
finishAndDisableSteppers();
}
else {
st_synchronize();
if (code_seen('X')) disable_x();
if (code_seen('Y')) disable_y();
if (code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if (code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
#endif
}
}
}
/**
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M85() {
if (code_seen('S')) max_inactive_time = code_value() * 1000;
}
/**
* M92: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M92() {
for(int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
float value = code_value();
if (value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_e_jerk *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
}
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
}
/**
* M115: Capabilities string
*/
inline void gcode_M115() {
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
}
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
char* codepos = strchr_pointer + 5;
char* starpos = strchr(codepos, '*');
if (starpos) *starpos = '\0';
lcd_setstatus(codepos);
}
/**
* M119: Output endstop states to serial output
*/
inline void gcode_M119() {
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
}
/**
* M120: Enable endstops
*/
inline void gcode_M120() { enable_endstops(false); }
/**
* M121: Disable endstops
*/
inline void gcode_M121() { enable_endstops(true); }
#ifdef BLINKM
/**
* M150: Set Status LED Color - Use R-U-B for R-G-B
*/
inline void gcode_M150() {
SendColors(
code_seen('R') ? (byte)code_value() : 0,
code_seen('U') ? (byte)code_value() : 0,
code_seen('B') ? (byte)code_value() : 0
);
}
#endif // BLINKM
/**
* M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
* T<extruder>
* D<millimeters>
*/
inline void gcode_M200() {
tmp_extruder = active_extruder;
if (code_seen('T')) {
tmp_extruder = code_value();
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
return;
}
}
float area = .0;
if (code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[tmp_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
for (int i=0; i<EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
else {
//reserved for setting filament diameter via UFID or filament measuring device
return;
}
calculate_volumetric_multipliers();
}
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*/
inline void gcode_M201() {
for (int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_acceleration_units_per_sq_second[i] = code_value();
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates();
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
#endif
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
*/
inline void gcode_M203() {
for (int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_feedrate[i] = code_value();
}
}
}
/**
* M204: Set Default Acceleration and/or Default Filament Acceleration in mm/sec^2 (M204 S3000 T7000)
*
* S = normal moves
* T = filament only moves
*
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
*/
inline void gcode_M204() {
if (code_seen('S')) acceleration = code_value();
if (code_seen('T')) retract_acceleration = code_value();
}
/**
* M205: Set Advanced Settings
*
* S = Min Feed Rate (mm/s)
* T = Min Travel Feed Rate (mm/s)
* B = Min Segment Time (µs)
* X = Max XY Jerk (mm/s/s)
* Z = Max Z Jerk (mm/s/s)
* E = Max E Jerk (mm/s/s)
*/
inline void gcode_M205() {
if (code_seen('S')) minimumfeedrate = code_value();
if (code_seen('T')) mintravelfeedrate = code_value();
if (code_seen('B')) minsegmenttime = code_value();
if (code_seen('X')) max_xy_jerk = code_value();
if (code_seen('Z')) max_z_jerk = code_value();
if (code_seen('E')) max_e_jerk = code_value();
}
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
add_homing[i] = code_value();
}
}
#ifdef SCARA
if (code_seen('T')) add_homing[X_AXIS] = code_value(); // Theta
if (code_seen('P')) add_homing[Y_AXIS] = code_value(); // Psi
#endif
}
#ifdef DELTA
/**
* M665: Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
*/
inline void gcode_M665() {
if (code_seen('L')) delta_diagonal_rod = code_value();
if (code_seen('R')) delta_radius = code_value();
if (code_seen('S')) delta_segments_per_second = code_value();
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
for (int8_t i = 0; i < 3; i++) {
if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value();
}
}
}
#endif // DELTA
#ifdef FWRETRACT
/**
* M207: Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
*/
inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value();
if (code_seen('F')) retract_feedrate = code_value() / 60;
if (code_seen('Z')) retract_zlift = code_value();
}
/**
* M208: Set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
*/
inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value();
if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
}
/**
* M209: Enable automatic retract (M209 S1)
* detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
*/
inline void gcode_M209() {
if (code_seen('S')) {
int t = code_value();
switch(t) {
case 0:
autoretract_enabled = false;
break;
case 1:
autoretract_enabled = true;
break;
default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
return;
}
for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
}
}
#endif // FWRETRACT
#if EXTRUDERS > 1
/**
* M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
*/
inline void gcode_M218() {
if (setTargetedHotend(218)) return;
if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
#ifdef DUAL_X_CARRIAGE
if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
#ifdef DUAL_X_CARRIAGE
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
#endif
}
SERIAL_EOL;
}
#endif // EXTRUDERS > 1
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (code_seen('S')) feedmultiply = code_value();
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
if (code_seen('S')) {
int sval = code_value();
if (code_seen('T')) {
if (setTargetedHotend(221)) return;
extruder_multiply[tmp_extruder] = sval;
}
else {
extrudemultiply = sval;
}
}
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
*/
inline void gcode_M226() {
if (code_seen('P')) {
int pin_number = code_value();
int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
if (pin_state >= -1 && pin_state <= 1) {
for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) {
if (sensitive_pins[i] == pin_number) {
pin_number = -1;
break;
}
}
if (pin_number > -1) {
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target) {
manage_heater();
manage_inactivity();
lcd_update();
}
} // pin_number > -1
} // pin_state -1 0 1
} // code_seen('P')
}
#if NUM_SERVOS > 0
/**
* M280: Set servo position absolute. P: servo index, S: angle or microseconds
*/
inline void gcode_M280() {
int servo_index = code_seen('P') ? code_value() : -1;
int servo_position = 0;
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if SERVO_LEVELING
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
/**
* M300: Play beep sound S<frequency Hz> P<duration ms>
*/
inline void gcode_M300() {
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0) {
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz(beepP, beepS);
#endif
}
else {
delay(beepP);
}
}
#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
#ifdef PIDTEMP
/**
* M301: Set PID parameters P I D (and optionally C)
*/
inline void gcode_M301() {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = code_seen('E') ? code_value() : 0; // extruder being updated
if (e < EXTRUDERS) { // catch bad input value
if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE
if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
#ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
SERIAL_PROTOCOL(e);
#endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(PID_PARAM(Kp, e));
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc, e));
#endif
SERIAL_PROTOCOLLN("");
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
}
#endif // PIDTEMP
#ifdef PIDTEMPBED
inline void gcode_M304() {
if (code_seen('P')) bedKp = code_value();
if (code_seen('I')) bedKi = scalePID_i(code_value());
if (code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN("");
}
#endif // PIDTEMPBED
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
/**
* M240: Trigger a camera by emulating a Canon RC-1
* See http://www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240() {
#ifdef CHDK
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif // !CHDK && PHOTOGRAPH_PIN > -1
}
#endif // CHDK || PHOTOGRAPH_PIN
#ifdef DOGLCD
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
if (code_seen('C')) lcd_setcontrast(code_value_long() & 0x3F);
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN("");
}
#endif // DOGLCD
#ifdef PREVENT_DANGEROUS_EXTRUDE
/**
* M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
*/
inline void gcode_M302() {
set_extrude_min_temp(code_seen('S') ? code_value() : 0);
}
#endif // PREVENT_DANGEROUS_EXTRUDE
/**
* M303: PID relay autotune
* S<temperature> sets the target temperature. (default target temperature = 150C)
* E<extruder> (-1 for the bed)
* C<cycles>
*/
inline void gcode_M303() {
int e = code_seen('E') ? code_value_long() : 0;
int c = code_seen('C') ? code_value_long() : 5;
float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
PID_autotune(temp, e, c);
}
#ifdef SCARA
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0;
delta[Y_AXIS] = 120;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
inline void gcode_M365() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
axis_scaling[i] = code_value();
}
}
}
#endif // SCARA
#ifdef EXT_SOLENOID
void enable_solenoid(uint8_t num) {
switch(num) {
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break; break;
#else #if defined(SOL1_PIN) && SOL1_PIN > -1
case 31: // dock the sled case 1:
dock_sled(true); OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
#if defined(SOL2_PIN) && SOL2_PIN > -1
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
#if defined(SOL3_PIN) && SOL3_PIN > -1
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
default:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break; break;
case 32: // undock the sled }
dock_sled(false); }
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
OUT_WRITE(SOL1_PIN, LOW);
OUT_WRITE(SOL2_PIN, LOW);
OUT_WRITE(SOL3_PIN, LOW);
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
inline void gcode_M400() { st_synchronize(); }
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() { engage_z_probe(); }
/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() { retract_z_probe(); }
#endif
#ifdef FILAMENT_SENSOR
/**
* M404: Display or set the nominal filament width (3mm, 1.75mm ) N<3.0>
*/
inline void gcode_M404() {
#if FILWIDTH_PIN > -1
if (code_seen('N')) {
filament_width_nominal = code_value();
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
#endif
}
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
if (code_seen('D')) meas_delay_cm = code_value();
if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY;
if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup
int temp_ratio = widthFil_to_size_ratio();
for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1)
measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte
delay_index1 = delay_index2 = 0;
}
filament_sensor = true;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
/**
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() { filament_sensor = false; }
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
#endif // FILAMENT_SENSOR
/**
* M500: Store settings in EEPROM
*/
inline void gcode_M500() {
Config_StoreSettings();
}
/**
* M501: Read settings from EEPROM
*/
inline void gcode_M501() {
Config_RetrieveSettings();
}
/**
* M502: Revert to default settings
*/
inline void gcode_M502() {
Config_ResetDefault();
}
/**
* M503: print settings currently in memory
*/
inline void gcode_M503() {
Config_PrintSettings(code_seen('S') && code_value == 0);
}
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
/**
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
inline void gcode_SET_Z_PROBE_OFFSET() {
float value;
if (code_seen('Z')) {
value = code_value();
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_PROTOCOLLN("");
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN("");
}
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
SERIAL_ECHO(-zprobe_zoffset);
SERIAL_PROTOCOLLN("");
}
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
/**
* M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
*/
inline void gcode_M600() {
float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60;
for (int i=0; i<NUM_AXIS; i++)
target[i] = lastpos[i] = current_position[i];
#define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
#ifdef DELTA
#define RUNPLAN calculate_delta(target); BASICPLAN
#else
#define RUNPLAN BASICPLAN
#endif
//retract by E
if (code_seen('E')) target[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FIRSTRETRACT
else target[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
#endif
RUNPLAN;
//lift Z
if (code_seen('Z')) target[Z_AXIS] += code_value();
#ifdef FILAMENTCHANGE_ZADD
else target[Z_AXIS] += FILAMENTCHANGE_ZADD;
#endif
RUNPLAN;
//move xy
if (code_seen('X')) target[X_AXIS] = code_value();
#ifdef FILAMENTCHANGE_XPOS
else target[X_AXIS] = FILAMENTCHANGE_XPOS;
#endif
if (code_seen('Y')) target[Y_AXIS] = code_value();
#ifdef FILAMENTCHANGE_YPOS
else target[Y_AXIS] = FILAMENTCHANGE_YPOS;
#endif
RUNPLAN;
if (code_seen('L')) target[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
#endif
RUNPLAN;
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
disable_e3();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt = 0;
while (!lcd_clicked()) {
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if (cnt == 0) {
#if BEEPER > 0
OUT_WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6, 100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
} // while(!lcd_clicked)
//return to normal
if (code_seen('L')) target[E_AXIS] -= code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
#endif
current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
lcd_reset_alert_level();
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif
}
#endif // FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
* millimeters x-offset and an optional differential hotend temperature of
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
st_synchronize();
if (code_seen('S')) dual_x_carriage_mode = code_value();
switch(dual_x_carriage_mode) {
case DXC_DUPLICATION_MODE:
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_ECHO(" ");
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_ECHO(",");
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
break; break;
#endif // Z_PROBE_SLED case DXC_FULL_CONTROL_MODE:
#endif // ENABLE_AUTO_BED_LEVELING case DXC_AUTO_PARK_MODE:
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
#endif // DUAL_X_CARRIAGE
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
for (int i=0;i<NUM_AXIS;i++)
if (code_seen(axis_codes[i])) digipot_current(i, code_value());
if (code_seen('B')) digipot_current(4, code_value());
if (code_seen('S')) for (int i=0; i<=4; i++) digipot_current(i, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if (code_seen('X')) digipot_current(0, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_Z_PIN
if (code_seen('Z')) digipot_current(1, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_E_PIN
if (code_seen('E')) digipot_current(2, code_value());
#endif
#ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for (int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for (int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
#endif
}
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
*/
inline void gcode_M908() {
digitalPotWrite(
code_seen('P') ? code_value() : 0,
code_seen('S') ? code_value() : 0
);
}
#endif // DIGIPOTSS_PIN
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
#endif
}
/**
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S# determines MS1 or MS2, X# sets the pin high/low.
*/
inline void gcode_M351() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if (code_seen('S')) switch(code_value_long()) {
case 1:
for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
if (code_seen('B')) microstep_ms(4, code_value(), -1);
break;
case 2:
for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
if (code_seen('B')) microstep_ms(4, -1, code_value());
break;
}
microstep_readings();
#endif
}
/**
* M999: Restart after being stopped
*/
inline void gcode_M999() {
Stopped = false;
lcd_reset_alert_level();
gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
}
inline void gcode_T() {
tmp_extruder = code_value();
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("T");
SERIAL_ECHO(tmp_extruder);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
boolean make_move = false;
if (code_seen('F')) {
make_move = true;
next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home(X_AXIS);
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else {
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
#else
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
// Move to the old position if 'F' was in the parameters
if (make_move && !Stopped) prepare_move();
}
#ifdef EXT_SOLENOID
st_synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
#endif // EXTRUDERS > 1
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
}
}
/**
* Process Commands and dispatch them to handlers
*/
void process_commands() {
if (code_seen('G')) {
int gCode = code_value_long();
switch(gCode) {
// G0, G1
case 0:
case 1:
gcode_G0_G1();
break;
// G2, G3
#ifndef SCARA
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(gCode == 2);
break;
#endif
// G4 Dwell
case 4:
gcode_G4();
break;
#ifdef FWRETRACT
case 10: // G10: retract
case 11: // G11: retract_recover
gcode_G10_G11(gCode == 10);
break;
#endif //FWRETRACT
case 28: // G28: Home all axes, one at a time
gcode_G28();
break;
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29();
break;
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
gcode_G30();
break;
#else // Z_PROBE_SLED
case 31: // G31: dock the sled
case 32: // G32: undock the sled
dock_sled(gCode == 31);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
case 90: // G90 case 90: // G90
relative_mode = false; relative_mode = false;
break; break;
case 91: // G91 case 91: // G91
relative_mode = true; relative_mode = true;
break; break;
case 92: // G92 case 92: // G92
if(!code_seen(axis_codes[E_AXIS])) gcode_G92();
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
if(i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
#ifdef SCARA
if (i == X_AXIS || i == Y_AXIS) {
current_position[i] = code_value();
}
else {
current_position[i] = code_value()+add_homing[i];
}
#else
current_position[i] = code_value()+add_homing[i];
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
break; break;
} }
} }
else if(code_seen('M')) else if (code_seen('M')) {
{ switch( code_value_long() ) {
switch( (int)code_value() ) #ifdef ULTIPANEL
{ case 0: // M0 - Unconditional stop - Wait for user button press on LCD
#ifdef ULTIPANEL case 1: // M1 - Conditional stop - Wait for user button press on LCD
case 0: // M0 - Unconditional stop - Wait for user button press on LCD gcode_M0_M1();
case 1: // M1 - Conditional stop - Wait for user button press on LCD break;
{ #endif // ULTIPANEL
char *src = strchr_pointer + 2;
codenum = 0; case 17:
gcode_M17();
break;
bool hasP = false, hasS = false; #ifdef SDSUPPORT
if (code_seen('P')) {
codenum = code_value(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
starpos = strchr(src, '*');
if (starpos != NULL) *(starpos) = '\0';
while (*src == ' ') ++src;
if (!hasP && !hasS && *src != '\0') {
lcd_setstatus(src);
} else {
LCD_MESSAGEPGM(MSG_USERWAIT);
}
lcd_ignore_click(); case 20: // M20 - list SD card
st_synchronize(); gcode_M20(); break;
previous_millis_cmd = millis(); case 21: // M21 - init SD card
if (codenum > 0){ gcode_M21(); break;
codenum += millis(); // keep track of when we started waiting case 22: //M22 - release SD card
while(millis() < codenum && !lcd_clicked()){ gcode_M22(); break;
manage_heater(); case 23: //M23 - Select file
manage_inactivity(); gcode_M23(); break;
lcd_update(); case 24: //M24 - Start SD print
} gcode_M24(); break;
lcd_ignore_click(false); case 25: //M25 - Pause SD print
}else{ gcode_M25(); break;
if (!lcd_detected()) case 26: //M26 - Set SD index
break; gcode_M26(); break;
while(!lcd_clicked()){ case 27: //M27 - Get SD status
manage_heater(); gcode_M27(); break;
manage_inactivity(); case 28: //M28 - Start SD write
lcd_update(); gcode_M28(); break;
} case 29: //M29 - Stop SD write
} gcode_M29(); break;
if (IS_SD_PRINTING) case 30: //M30 <filename> Delete File
LCD_MESSAGEPGM(MSG_RESUMING); gcode_M30(); break;
else case 32: //M32 - Select file and start SD print
LCD_MESSAGEPGM(WELCOME_MSG); gcode_M32(); break;
} case 928: //M928 - Start SD write
break; gcode_M928(); break;
#endif
case 17:
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
break;
#ifdef SDSUPPORT #endif //SDSUPPORT
case 20: // M20 - list SD card
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
break;
case 21: // M21 - init SD card
card.initsd(); case 31: //M31 take time since the start of the SD print or an M109 command
gcode_M31();
break;
break; case 42: //M42 -Change pin status via gcode
case 22: //M22 - release SD card gcode_M42();
card.release(); break;
break; #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
case 23: //M23 - Select file case 48: // M48 Z-Probe repeatability
starpos = (strchr(strchr_pointer + 4,'*')); gcode_M48();
if(starpos!=NULL) break;
*(starpos)='\0'; #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
card.openFile(strchr_pointer + 4,true);
break;
case 24: //M24 - Start SD print
card.startFileprint();
starttime=millis();
break;
case 25: //M25 - Pause SD print
card.pauseSDPrint();
break;
case 26: //M26 - Set SD index
if(card.cardOK && code_seen('S')) {
card.setIndex(code_value_long());
}
break;
case 27: //M27 - Get SD status
card.getStatus();
break;
case 28: //M28 - Start SD write
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.openFile(strchr_pointer+4,false);
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//card,saving = false;
break;
case 30: //M30 <filename> Delete File
if (card.cardOK){
card.closefile();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.removeFile(strchr_pointer + 4);
}
break;
case 32: //M32 - Select file and start SD print
{
if(card.sdprinting) {
st_synchronize();
} case 104: // M104
starpos = (strchr(strchr_pointer + 4,'*')); gcode_M104();
break;
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start. case 112: // M112 Emergency Stop
if(namestartpos==NULL) gcode_M112();
{ break;
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
}
else
namestartpos++; //to skip the '!'
if(starpos!=NULL) case 140: // M140 Set bed temp
*(starpos)='\0'; gcode_M140();
break;
bool call_procedure=(code_seen('P')); case 105: // M105 Read current temperature
gcode_M105();
return;
break;
if(strchr_pointer>namestartpos) case 109: // M109 Wait for temperature
call_procedure=false; //false alert, 'P' found within filename gcode_M109();
break;
if( card.cardOK ) #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
{ case 190: // M190 - Wait for bed heater to reach target.
card.openFile(namestartpos,true,!call_procedure); gcode_M190();
if(code_seen('S')) break;
if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename #endif //TEMP_BED_PIN
card.setIndex(code_value_long());
card.startFileprint();
if(!call_procedure)
starttime=millis(); //procedure calls count as normal print time.
}
} break;
case 928: //M928 - Start SD write
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.openLogFile(strchr_pointer+5);
break;
#endif //SDSUPPORT
case 31: //M31 take time since the start of the SD print or an M109 command
{
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
autotempShutdown();
}
break;
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
int pin_number = LED_PIN;
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
pin_number = code_value();
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
#if defined(FAN_PIN) && FAN_PIN > -1 #if defined(FAN_PIN) && FAN_PIN > -1
if (pin_number == FAN_PIN) case 106: //M106 Fan On
fanSpeed = pin_status; gcode_M106();
#endif
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
break;
// M48 Z-Probe repeatability measurement function.
//
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
//
// This function assumes the bed has been homed. Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified. You can use upper or lower case
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
// N for its communication protocol and will get horribly confused if you send it a capital N.
//
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST
case 48: // M48 Z-Probe repeatability
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
double sum=0.0;
double mean=0.0;
double sigma=0.0;
double sample_set[50];
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
if (verbose_level<0 || verbose_level>4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
goto Sigma_Exit;
}
}
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
}
if (code_seen('n')) {
n_samples = code_value();
if (n_samples<4 || n_samples>50 ) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
goto Sigma_Exit;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e') )
engage_probe_for_each_reading++;
if (code_seen('X') || code_seen('x') ) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('Y') || code_seen('y') ) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('L') || code_seen('l') ) {
n_legs = code_value();
if ( n_legs==1 )
n_legs = 2;
if ( n_legs<0 || n_legs>15 ) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
goto Sigma_Exit;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60,
active_extruder);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe();
setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
if (engage_probe_for_each_reading)
retract_z_probe();
for( n=0; n<n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if ( n_legs) {
double radius=0.0, theta=0.0, x_sweep, y_sweep;
int rotational_direction, l;
rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
for( l=0; l<n_legs-1; l++) {
if (rotational_direction==1)
theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
else
theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
if ( radius<0.0 )
radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
X_current = X_MIN_POS;
if ( X_current>X_MAX_POS)
X_current = X_MAX_POS;
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
Y_current = Y_MIN_POS;
if ( Y_current>Y_MAX_POS)
Y_current = Y_MAX_POS;
if (verbose_level>3 ) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
if (engage_probe_for_each_reading) {
engage_z_probe();
delay(1000);
}
setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + sample_set[j];
}
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
}
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
if (engage_probe_for_each_reading) {
retract_z_probe();
delay(1000);
}
}
retract_z_probe();
delay(1000);
clean_up_after_endstop_move();
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM("\n");
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");
Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
#endif // ENABLE_AUTO_BED_LEVELING
case 104: // M104
if(setTargetedHotend(104)){
break;
}
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
setWatch();
break;
case 112: // M112 -Emergency Stop
kill();
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());
break;
case 105 : // M105
if(setTargetedHotend(105)){
break;
}
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
#endif //TEMP_BED_PIN
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
}
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#ifdef SHOW_TEMP_ADC_VALUES
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
}
#endif
SERIAL_PROTOCOLLN("");
return;
break;
case 109:
{// M109 - Wait for extruder heater to reach target.
if(setTargetedHotend(109)){
break;
}
LCD_MESSAGEPGM(MSG_HEATING);
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
if (code_seen('S')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
CooldownNoWait = false;
}
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
if (code_seen('F'))
{
autotemp_factor=code_value();
autotemp_enabled=true;
}
#endif
setWatch();
codenum = millis();
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
cancel_heatup = false;
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((!cancel_heatup)&&((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
#else
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
#endif //TEMP_RESIDENCY_TIME
if( (millis() - codenum) > 1000UL )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( codenum );
}
else
{
SERIAL_PROTOCOLLN( "?" );
}
#else
SERIAL_PROTOCOLLN("");
#endif
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{
residencyStart = millis();
}
#endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
starttime=millis();
previous_millis_cmd = millis();
}
break;
case 190: // M190 - Wait for bed heater to reach target.
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S')) {
setTargetBed(code_value());
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
{
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
previous_millis_cmd = millis();
#endif
break;
#if defined(FAN_PIN) && FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S')){
fanSpeed=constrain(code_value(),0,255);
}
else {
fanSpeed=255;
}
break;
case 107: //M107 Fan Off
fanSpeed = 0;
break;
#endif //FAN_PIN
#ifdef BARICUDA
// PWM for HEATER_1_PIN
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
case 126: //M126 valve open
if (code_seen('S')){
ValvePressure=constrain(code_value(),0,255);
}
else {
ValvePressure=255;
}
break; break;
case 127: //M127 valve closed case 107: //M107 Fan Off
ValvePressure = 0; gcode_M107();
break; break;
#endif //HEATER_1_PIN #endif //FAN_PIN
// PWM for HEATER_2_PIN #ifdef BARICUDA
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 // PWM for HEATER_1_PIN
case 128: //M128 valve open #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
if (code_seen('S')){ case 126: // M126 valve open
EtoPPressure=constrain(code_value(),0,255); gcode_M126();
} break;
else { case 127: // M127 valve closed
EtoPPressure=255; gcode_M127();
} break;
#endif //HEATER_1_PIN
// PWM for HEATER_2_PIN
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
case 128: // M128 valve open
gcode_M128();
break;
case 129: // M129 valve closed
gcode_M129();
break;
#endif //HEATER_2_PIN
#endif //BARICUDA
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply
gcode_M80();
break; break;
case 129: //M129 valve closed
EtoPPressure = 0;
break;
#endif //HEATER_2_PIN
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1 #endif // PS_ON_PIN
case 80: // M80 - Turn on Power Supply
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
break;
#endif
case 81: // M81 - Turn off Power Supply case 81: // M81 - Turn off Power Supply
disable_heater(); gcode_M81();
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait a little before to switch off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
lcd_update();
#endif
break;
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 18: //compatibility
case 84: // M84
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else
{
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if(all_axis)
{
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
}
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
}
#endif
}
}
break;
case 85: // M85
if(code_seen('S')) {
max_inactive_time = code_value() * 1000;
}
break;
case 92: // M92
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
if(i == 3) { // E
float value = code_value();
if(value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_e_jerk *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
break;
case 115: // M115
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
break;
case 117: // M117 display message
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos!=NULL)
*(starpos)='\0';
lcd_setstatus(strchr_pointer + 5);
break;
case 114: // M114
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
break;
case 120: // M120
enable_endstops(false) ;
break;
case 121: // M121
enable_endstops(true) ;
break;
case 119: // M119
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
break;
//TODO: update for all axis, use for loop
#ifdef BLINKM
case 150: // M150
{
byte red;
byte grn;
byte blu;
if(code_seen('R')) red = code_value();
if(code_seen('U')) grn = code_value();
if(code_seen('B')) blu = code_value();
SendColors(red,grn,blu);
}
break;
#endif //BLINKM
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
{
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
break;
}
}
float area = .0;
if(code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[tmp_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
for (int i=0; i<EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
} else {
//reserved for setting filament diameter via UFID or filament measuring device
break;
}
calculate_volumetric_multipliers();
}
break;
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
max_acceleration_units_per_sq_second[i] = code_value();
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
case 203: // M203 max feedrate mm/sec
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
}
break;
case 204: // M204 acclereration S normal moves T filmanent only moves
{
if(code_seen('S')) acceleration = code_value() ;
if(code_seen('T')) retract_acceleration = code_value() ;
}
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
{
if(code_seen('S')) minimumfeedrate = code_value();
if(code_seen('T')) mintravelfeedrate = code_value();
if(code_seen('B')) minsegmenttime = code_value() ;
if(code_seen('X')) max_xy_jerk = code_value() ;
if(code_seen('Z')) max_z_jerk = code_value() ;
if(code_seen('E')) max_e_jerk = code_value() ;
}
break;
case 206: // M206 additional homing offset
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) add_homing[i] = code_value();
}
#ifdef SCARA
if(code_seen('T')) // Theta
{
add_homing[X_AXIS] = code_value() ;
}
if(code_seen('P')) // Psi
{
add_homing[Y_AXIS] = code_value() ;
}
#endif
break;
#ifdef DELTA
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
if(code_seen('L')) {
delta_diagonal_rod= code_value();
}
if(code_seen('R')) {
delta_radius= code_value();
}
if(code_seen('S')) {
delta_segments_per_second= code_value();
}
recalc_delta_settings(delta_radius, delta_diagonal_rod);
break;
case 666: // M666 set delta endstop adjustemnt
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
}
break;
#endif
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
{
if(code_seen('S'))
{
retract_length = code_value() ;
}
if(code_seen('F'))
{
retract_feedrate = code_value()/60 ;
}
if(code_seen('Z'))
{
retract_zlift = code_value() ;
}
}break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
{
if(code_seen('S'))
{
retract_recover_length = code_value() ;
}
if(code_seen('F'))
{
retract_recover_feedrate = code_value()/60 ;
}
}break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if(code_seen('S'))
{
int t= code_value() ;
switch(t)
{
case 0:
case 1:
{
autoretract_enabled = (t == 1);
for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
}break;
default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
}
}
}break;
#endif // FWRETRACT
#if EXTRUDERS > 1
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
{
if(setTargetedHotend(218)){
break; break;
}
if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
if(code_seen('Y'))
{
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
}
#ifdef DUAL_X_CARRIAGE
if(code_seen('Z'))
{
extruder_offset[Z_AXIS][tmp_extruder] = code_value();
}
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
#ifdef DUAL_X_CARRIAGE
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
#endif
}
SERIAL_ECHOLN("");
}break;
#endif
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
{
feedmultiply = code_value() ;
}
}
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
{
if(code_seen('S'))
{
int tmp_code = code_value();
if (code_seen('T'))
{
if(setTargetedHotend(221)){
break;
}
extruder_multiply[tmp_extruder] = tmp_code;
}
else
{
extrudemultiply = tmp_code ;
}
}
}
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required case 82:
{ gcode_M82();
if(code_seen('P')){ break;
int pin_number = code_value(); // pin number case 83:
int pin_state = -1; // required pin state - default is inverted gcode_M83();
break;
case 18: //compatibility
case 84: // M84
gcode_M18_M84();
break;
case 85: // M85
gcode_M85();
break;
case 92: // M92
gcode_M92();
break;
case 115: // M115
gcode_M115();
break;
case 117: // M117 display message
gcode_M117();
break;
case 114: // M114
gcode_M114();
break;
case 120: // M120
gcode_M120();
break;
case 121: // M121
gcode_M121();
break;
case 119: // M119
gcode_M119();
break;
//TODO: update for all axis, use for loop
if(code_seen('S')) pin_state = code_value(); // required pin state #ifdef BLINKM
if(pin_state >= -1 && pin_state <= 1){ case 150: // M150
gcode_M150();
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target){
manage_heater();
manage_inactivity();
lcd_update();
}
}
}
}
}
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = -1;
int servo_position = 0;
if (code_seen('P'))
servo_index = code_value();
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
break;
#endif // NUM_SERVOS > 0
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
case 300: // M300
{
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0)
{
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz(beepP, beepS);
#endif
}
else
{
delay(beepP);
}
}
break;
#endif // M300
#ifdef PIDTEMP
case 301: // M301
{
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = 0; // extruder being updated
if (code_seen('E'))
{
e = (int)code_value();
}
if (e < EXTRUDERS) // catch bad input value
{
if (code_seen('P')) PID_PARAM(Kp,e) = code_value();
if (code_seen('I')) PID_PARAM(Ki,e) = scalePID_i(code_value());
if (code_seen('D')) PID_PARAM(Kd,e) = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE
if (code_seen('C')) PID_PARAM(Kc,e) = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
#ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
SERIAL_PROTOCOL(e);
#endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(PID_PARAM(Kp,e));
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki,e)));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd,e)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc,e));
#endif
SERIAL_PROTOCOLLN("");
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
}
break;
#endif //PIDTEMP
#ifdef PIDTEMPBED
case 304: // M304
{
if(code_seen('P')) bedKp = code_value();
if(code_seen('I')) bedKi = scalePID_i(code_value());
if(code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
{
#ifdef CHDK
SET_OUTPUT(CHDK);
WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#else
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES=16;
const float PULSE_LENGTH=0.01524;
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif
#endif //chdk end if
}
break;
#ifdef DOGLCD
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
{
if (code_seen('C')) {
lcd_setcontrast( ((int)code_value())&63 );
}
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN("");
}
break;
#endif
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
{
float temp = .0;
if (code_seen('S')) temp=code_value();
set_extrude_min_temp(temp);
}
break;
#endif
case 303: // M303 PID autotune
{
float temp = 150.0;
int e=0;
int c=5;
if (code_seen('E')) e=code_value();
if (e<0)
temp=70;
if (code_seen('S')) temp=code_value();
if (code_seen('C')) c=code_value();
PID_autotune(temp, e, c);
}
break;
#ifdef SCARA
case 360: // M360 SCARA Theta pos1
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0;
delta[Y_AXIS] = 120;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 361: // SCARA Theta pos2
SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 362: // SCARA Psi pos1
SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 363: // SCARA Psi pos2
SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 364: // SCARA Psi pos3 (90 deg to Theta)
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 365: // M364 Set SCARA scaling for X Y Z
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i]))
{
axis_scaling[i] = code_value();
}
}
break;
#endif
case 400: // M400 finish all moves
{
st_synchronize();
}
break;
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
{
engage_z_probe(); // Engage Z Servo endstop if available
}
break;
case 402:
{
retract_z_probe(); // Retract Z Servo endstop if enabled
}
break;
#endif
#ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
{
#if (FILWIDTH_PIN > -1)
if(code_seen('N')) filament_width_nominal=code_value();
else{
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
#endif
}
break;
case 405: //M405 Turn on filament sensor for control
{
if(code_seen('D')) meas_delay_cm=code_value();
if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
meas_delay_cm = MAX_MEASUREMENT_DELAY;
if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
{
int temp_ratio = widthFil_to_size_ratio();
for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
}
delay_index1=0;
delay_index2=0;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
break;
case 406: //M406 Turn off filament sensor for control
{
filament_sensor = false ;
}
break;
case 407: //M407 Display measured filament diameter
{
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
break;
#endif
case 500: // M500 Store settings in EEPROM
{
Config_StoreSettings();
}
break;
case 501: // M501 Read settings from EEPROM
{
Config_RetrieveSettings();
}
break;
case 502: // M502 Revert to default settings
{
Config_ResetDefault();
}
break;
case 503: // M503 print settings currently in memory
{
Config_PrintSettings(code_seen('S') && code_value == 0);
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
}
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
{
float value;
if (code_seen('Z'))
{
value = code_value();
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
{
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_PROTOCOLLN("");
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN("");
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
SERIAL_ECHO(-zprobe_zoffset);
SERIAL_PROTOCOLLN("");
}
break;
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate/60;
for (int i=0; i<NUM_AXIS; i++)
target[i] = lastpos[i] = current_position[i];
#define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
#ifdef DELTA
#define RUNPLAN calculate_delta(target); BASICPLAN
#else
#define RUNPLAN BASICPLAN
#endif
//retract by E
if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
#endif
}
RUNPLAN;
//lift Z
if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
#endif
}
RUNPLAN;
//move xy
if(code_seen('X'))
{
target[X_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
#endif
}
if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
#endif
}
RUNPLAN;
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
RUNPLAN;
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt=0;
while(!lcd_clicked()){
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if(cnt==0)
{
#if BEEPER > 0
SET_OUTPUT(BEEPER);
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6,100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
}
//return to normal
if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
#endif
}
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
//reset LCD alert message
lcd_reset_alert_level();
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif
}
break;
#endif //FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
case 605: // Set dual x-carriage movement mode:
// M605 S0: Full control mode. The slicer has full control over x-carriage movement
// M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
// M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
// millimeters x-offset and an optional differential hotend temperature of
// mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
// the first with a spacing of 100mm in the x direction and 2 degrees hotter.
//
// Note: the X axis should be homed after changing dual x-carriage mode.
{
st_synchronize();
if (code_seen('S'))
dual_x_carriage_mode = code_value();
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
{
if (code_seen('X'))
duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));
if (code_seen('R'))
duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_ECHO(" ");
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_ECHO(",");
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
}
else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
{
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
break;
#endif //DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
if(code_seen('B')) digipot_current(4,code_value());
if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if(code_seen('X')) digipot_current(0, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_Z_PIN
if(code_seen('Z')) digipot_current(1, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_E_PIN
if(code_seen('E')) digipot_current(2, code_value());
#endif
#ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
#endif
}
break;
case 908: // M908 Control digital trimpot directly.
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
uint8_t channel,current;
if(code_seen('P')) channel=code_value();
if(code_seen('S')) current=code_value();
digitalPotWrite(channel, current);
#endif
}
break;
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
#endif
}
break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) switch((int)code_value())
{
case 1:
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
if(code_seen('B')) microstep_ms(4,code_value(),-1);
break; break;
case 2:
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
if(code_seen('B')) microstep_ms(4,-1,code_value());
break;
}
microstep_readings();
#endif
}
break;
case 999: // M999: Restart after being stopped
Stopped = false;
lcd_reset_alert_level();
gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
break;
}
}
else if(code_seen('T')) #endif //BLINKM
{
tmp_extruder = code_value(); case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
if(tmp_extruder >= EXTRUDERS) { gcode_M200();
SERIAL_ECHO_START; break;
SERIAL_ECHO("T"); case 201: // M201
SERIAL_ECHO(tmp_extruder); gcode_M201();
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); break;
} #if 0 // Not used for Sprinter/grbl gen6
else { case 202: // M202
boolean make_move = false; gcode_M202();
if(code_seen('F')) { break;
make_move = true; #endif
next_feedrate = code_value(); case 203: // M203 max feedrate mm/sec
if(next_feedrate > 0.0) { gcode_M203();
feedrate = next_feedrate; break;
} case 204: // M204 acclereration S normal moves T filmanent only moves
} gcode_M204();
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
gcode_M205();
break;
case 206: // M206 additional homing offset
gcode_M206();
break;
#ifdef DELTA
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
gcode_M665();
break;
case 666: // M666 set delta endstop adjustment
gcode_M666();
break;
#endif // DELTA
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
gcode_M207();
break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
gcode_M208();
break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
gcode_M209();
break;
#endif // FWRETRACT
#if EXTRUDERS > 1 #if EXTRUDERS > 1
if(tmp_extruder != active_extruder) { case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// Save current position to return to after applying extruder offset gcode_M218();
memcpy(destination, current_position, sizeof(destination)); break;
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
{
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home(X_AXIS);
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
{
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
{
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else
{
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif //else DUAL_X_CARRIAGE
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
#else
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
// Move to the old position if 'F' was in the parameters
if(make_move && Stopped == false) {
prepare_move();
}
}
#endif #endif
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); case 220: // M220 S<factor in percent>- set speed factor override percentage
SERIAL_PROTOCOLLN((int)active_extruder); gcode_M220();
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
gcode_M221();
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
gcode_M226();
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
gcode_M280();
break;
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
case 300: // M300 - Play beep tone
gcode_M300();
break;
#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
#ifdef PIDTEMP
case 301: // M301
gcode_M301();
break;
#endif // PIDTEMP
#ifdef PIDTEMPBED
case 304: // M304
gcode_M304();
break;
#endif // PIDTEMPBED
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240();
break;
#endif // CHDK || PHOTOGRAPH_PIN
#ifdef DOGLCD
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
gcode_M250();
break;
#endif // DOGLCD
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
gcode_M302();
break;
#endif // PREVENT_DANGEROUS_EXTRUDE
case 303: // M303 PID autotune
gcode_M303();
break;
#ifdef SCARA
case 360: // M360 SCARA Theta pos1
if (gcode_M360()) return;
break;
case 361: // M361 SCARA Theta pos2
if (gcode_M361()) return;
break;
case 362: // M362 SCARA Psi pos1
if (gcode_M362()) return;
break;
case 363: // M363 SCARA Psi pos2
if (gcode_M363()) return;
break;
case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return;
break;
case 365: // M365 Set SCARA scaling for X Y Z
gcode_M365();
break;
#endif // SCARA
case 400: // M400 finish all moves
gcode_M400();
break;
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
gcode_M401();
break;
case 402:
gcode_M402();
break;
#endif
#ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404();
break;
case 405: //M405 Turn on filament sensor for control
gcode_M405();
break;
case 406: //M406 Turn off filament sensor for control
gcode_M406();
break;
case 407: //M407 Display measured filament diameter
gcode_M407();
break;
#endif // FILAMENT_SENSOR
case 500: // M500 Store settings in EEPROM
gcode_M500();
break;
case 501: // M501 Read settings from EEPROM
gcode_M501();
break;
case 502: // M502 Revert to default settings
gcode_M502();
break;
case 503: // M503 print settings currently in memory
gcode_M503();
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
gcode_M540();
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
gcode_SET_Z_PROBE_OFFSET();
break;
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
gcode_M600();
break;
#endif // FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
case 605:
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
gcode_M907();
break;
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
case 908: // M908 Control digital trimpot directly.
gcode_M908();
break;
#endif // DIGIPOTSS_PIN
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351();
break;
case 999: // M999: Restart after being Stopped
gcode_M999();
break;
} }
} }
else else if (code_seen('T')) {
{ gcode_T();
}
else {
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]); SERIAL_ECHO(cmdbuffer[bufindr]);
@ -4104,13 +4887,13 @@ void clamp_to_software_endstops(float target[3])
#ifdef DELTA #ifdef DELTA
void recalc_delta_settings(float radius, float diagonal_rod) void recalc_delta_settings(float radius, float diagonal_rod)
{ {
delta_tower1_x= -SIN_60*radius; // front left tower delta_tower1_x= -SIN_60*radius; // front left tower
delta_tower1_y= -COS_60*radius; delta_tower1_y= -COS_60*radius;
delta_tower2_x= SIN_60*radius; // front right tower delta_tower2_x= SIN_60*radius; // front right tower
delta_tower2_y= -COS_60*radius; delta_tower2_y= -COS_60*radius;
delta_tower3_x= 0.0; // back middle tower delta_tower3_x= 0.0; // back middle tower
delta_tower3_y= radius; delta_tower3_y= radius;
delta_diagonal_rod_2= sq(diagonal_rod); delta_diagonal_rod_2= sq(diagonal_rod);
} }
void calculate_delta(float cartesian[3]) void calculate_delta(float cartesian[3])
@ -4148,12 +4931,12 @@ void prepare_move()
float difference[NUM_AXIS]; float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) { for (int8_t i=0; i < NUM_AXIS; i++) {
difference[i] = destination[i] - current_position[i]; difference[i] = destination[i] - current_position[i];
} }
float cartesian_mm = sqrt( sq(difference[X_AXIS]) + float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) + sq(difference[Y_AXIS]) +
sq(difference[Z_AXIS])); sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; } if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
@ -4162,13 +4945,13 @@ int steps = max(1, int(scara_segments_per_second * seconds));
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) { for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps); float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction; destination[i] = current_position[i] + difference[i] * fraction;
} }
calculate_delta(destination); calculate_delta(destination);
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]); //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
@ -4176,9 +4959,9 @@ for (int s = 1; s <= steps; s++) {
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]); //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0, destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder); active_extruder);
} }
#endif // SCARA #endif // SCARA
@ -4297,18 +5080,18 @@ void controllerFan()
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{ {
lastMotorCheck = millis(); lastMotorCheck = millis();
if(!X_ENABLE_READ || !Y_ENABLE_READ || !Z_ENABLE_READ || (soft_pwm_bed > 0) if((X_ENABLE_READ) == (X_ENABLE_ON)) || (Y_ENABLE_READ) == (Y_ENABLE_ON)) || (Z_ENABLE_READ) == (Z_ENABLE_ON)) || (soft_pwm_bed > 0)
#if EXTRUDERS > 2 #if EXTRUDERS > 2
|| !E2_ENABLE_READ || (E2_ENABLE_READ) == (E_ENABLE_ON))
#endif #endif
#if EXTRUDER > 1 #if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1 #if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !X2_ENABLE_READ || (X2_ENABLE_READ) == (X_ENABLE_ON))
#endif #endif
|| !E1_ENABLE_READ) || (E1_ENABLE_READ) == (E_ENABLE_ON))
#endif #endif
|| !E0_ENABLE_READ) //If any of the drivers are enabled... || (E0_ENABLE_READ) == (E_ENABLE_ON))) //If any of the drivers are enabled...
{ {
lastMotor = millis(); //... set time to NOW so the fan will turn on lastMotor = millis(); //... set time to NOW so the fan will turn on
} }
@ -4351,7 +5134,7 @@ void calculate_SCARA_forward_Transform(float f_scara[3])
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
} }
@ -4441,9 +5224,9 @@ void handle_status_leds(void) {
void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h
{ {
#if defined(KILL_PIN) && KILL_PIN > -1 #if defined(KILL_PIN) && KILL_PIN > -1
static int killCount = 0; // make the inactivity button a bit less responsive static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 10000; const int KILL_DELAY = 10000;
#endif #endif
@ -4452,7 +5235,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
const int HOME_DEBOUNCE_DELAY = 10000; const int HOME_DEBOUNCE_DELAY = 10000;
#endif #endif
if(buflen < (BUFSIZE-1)) if(buflen < (BUFSIZE-1))
get_command(); get_command();
@ -4469,6 +5252,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
disable_e0(); disable_e0();
disable_e1(); disable_e1();
disable_e2(); disable_e2();
disable_e3();
} }
} }
} }
@ -4574,6 +5358,7 @@ void kill()
disable_e0(); disable_e0();
disable_e1(); disable_e1();
disable_e2(); disable_e2();
disable_e3();
#if defined(PS_ON_PIN) && PS_ON_PIN > -1 #if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode(PS_ON_PIN,INPUT); pinMode(PS_ON_PIN,INPUT);
@ -4586,7 +5371,7 @@ void kill()
sei(); // enable interrupts sei(); // enable interrupts
for ( int i=5; i--; lcd_update()) for ( int i=5; i--; lcd_update())
{ {
delay(200); delay(200);
} }
cli(); // disable interrupts cli(); // disable interrupts
suicide(); suicide();
@ -4707,7 +5492,6 @@ bool setTargetedHotend(int code){
return false; return false;
} }
float calculate_volumetric_multiplier(float diameter) { float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0; if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5; float d2 = diameter * 0.5;

3
Marlin/cardreader.cpp
View file

@ -22,8 +22,7 @@ CardReader::CardReader() {
autostart_index = 0; autostart_index = 0;
//power to SD reader //power to SD reader
#if SDPOWER > -1 #if SDPOWER > -1
SET_OUTPUT(SDPOWER); OUT_WRITE(SDPOWER, HIGH);
WRITE(SDPOWER, HIGH);
#endif //SDPOWER #endif //SDPOWER
autostart_atmillis = millis() + 5000; autostart_atmillis = millis() + 5000;

18
Marlin/dogm_lcd_implementation.h
View file

@ -21,17 +21,13 @@
**/ **/
#ifdef ULTIPANEL #ifdef ULTIPANEL
#define BLEN_A 0 #define BLEN_A 0
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_C 2 #define BLEN_C 2
#define EN_A (1<<BLEN_A) #define EN_A (1<<BLEN_A)
#define EN_B (1<<BLEN_B) #define EN_B (1<<BLEN_B)
#define EN_C (1<<BLEN_C) #define EN_C (1<<BLEN_C)
#define encrot0 0 #define LCD_CLICKED (buttons&EN_C)
#define encrot1 2
#define encrot2 3
#define encrot3 1
#define LCD_CLICKED (buttons&EN_C)
#endif #endif
#include <U8glib.h> #include <U8glib.h>

108
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -82,7 +82,7 @@ Here are some standard links for getting your machine calibrated:
// #define PS_DEFAULT_OFF // #define PS_DEFAULT_OFF
//=========================================================================== //===========================================================================
//============================= Thermal Settings ============================ //============================= Thermal Settings ============================
//=========================================================================== //===========================================================================
// //
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table //--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
@ -118,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1 #define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -297,9 +301,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings ========================= //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -332,11 +339,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0
@ -389,40 +391,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -433,11 +433,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers // X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -474,29 +474,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif #endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
@ -536,9 +513,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//=========================================================================== //=============================================================================
//============================= Additional Features ========================= //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -569,7 +546,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -583,7 +565,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store. //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
#define ULTIPANEL //the UltiPanel as on Thingiverse //#define ULTIPANEL //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click //#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
@ -750,7 +732,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -759,7 +741,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16

111
Marlin/example_configurations/K8200/Configuration.h
View file

@ -3,13 +3,12 @@
#include "boards.h" #include "boards.h"
//=========================================================================== //===========================================================================
//============================= Getting Started ============================= //============================= Getting Started =============================
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -39,7 +38,7 @@ Here are some standard links for getting your machine calibrated:
// User-specified version info of this build to display in [Pronterface, etc] terminal window during // User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware. // build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "v1.0.2" #define STRING_VERSION "1.0.2"
#define STRING_URL "reprap.org" #define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time #define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(K8200, CONSULitAS)" // Who made the changes. #define STRING_CONFIG_H_AUTHOR "(K8200, CONSULitAS)" // Who made the changes.
@ -82,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF // #define PS_DEFAULT_OFF
//=========================================================================== //===========================================================================
//============================= Thermal Settings ============================ //============================= Thermal Settings ============================
//=========================================================================== //===========================================================================
@ -120,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 5 #define TEMP_SENSOR_0 5
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -260,7 +262,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170 #define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -305,9 +306,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings ========================= //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -340,11 +344,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DISABLE_MAX_ENDSTOPS #define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0
@ -397,40 +396,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -441,11 +438,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers // X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -482,29 +479,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif #endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
@ -544,9 +518,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//=========================================================================== //=============================================================================
//============================= Additional Features ========================= //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -577,9 +551,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 60 #define ABS_PREHEAT_HPB_TEMP 60
#define ABS_PREHEAT_FAN_SPEED 0 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 0 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// VM8201 (LCD Option for K8200) uses "DISPLAY_CHARSET_HD44870_JAPAN" and "ULTIMAKERCONTROLLER" // Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -760,7 +737,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -769,7 +746,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16

167
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -3,13 +3,12 @@
#include "boards.h" #include "boards.h"
//=========================================================================== //===========================================================================
//============================= Getting Started ============================= //============================= Getting Started =============================
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
* http://www.thingiverse.com/thing:298812 * http://www.thingiverse.com/thing:298812
*/ */
// This configuration file contains the basic settings. // This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h // Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
@ -52,7 +50,7 @@ Here are some standard links for getting your machine calibrated:
#define L2_2 sq(Linkage_2) // do not change #define L2_2 sq(Linkage_2) // do not change
//=========================================================================== //===========================================================================
//========================= SCARA Settings end ================================== //========================= SCARA Settings end ==============================
//=========================================================================== //===========================================================================
// User-specified version info of this build to display in [Pronterface, etc] terminal window during // User-specified version info of this build to display in [Pronterface, etc] terminal window during
@ -70,7 +68,6 @@ Here are some standard links for getting your machine calibrated:
// Serial port 0 is still used by the Arduino bootloader regardless of this setting. // Serial port 0 is still used by the Arduino bootloader regardless of this setting.
#define SERIAL_PORT 0 #define SERIAL_PORT 0
// This determines the communication speed of the printer
// This determines the communication speed of the printer // This determines the communication speed of the printer
#define BAUDRATE 250000 #define BAUDRATE 250000
@ -125,6 +122,7 @@ Here are some standard links for getting your machine calibrated:
// 10 is 100k RS thermistor 198-961 (4.7k pullup) // 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup) // 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed) // 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x // 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950 // 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
// //
@ -138,6 +136,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1 #define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -189,31 +191,24 @@ Here are some standard links for getting your machine calibrated:
// Comment the following line to disable PID and enable bang-bang. // Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP #define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP #ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port. //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature #define PID_FUNCTIONAL_RANGE 20 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker // Ultimaker
// #define DEFAULT_Kp 22.2 // #define DEFAULT_Kp 22.2
// #define DEFAULT_Ki 1.08 // #define DEFAULT_Ki 1.08
// #define DEFAULT_Kd 114 // #define DEFAULT_Kd 114
// Jhead MK5: From Autotune
// #define DEFAULT_Kp 20.92
// #define DEFAULT_Ki 1.51
// #define DEFAULT_Kd 72.34
//Merlin Hotend: From Autotune
#define DEFAULT_Kp 24.5
#define DEFAULT_Ki 1.72
#define DEFAULT_Kd 87.73
// MakerGear // MakerGear
// #define DEFAULT_Kp 7.0 // #define DEFAULT_Kp 7.0
@ -221,9 +216,20 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 12 // #define DEFAULT_Kd 12
// Mendel Parts V9 on 12V // Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0 // #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25 // #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440 // #define DEFAULT_Kd 440
// Jhead MK5: From Autotune
// #define DEFAULT_Kp 20.92
// #define DEFAULT_Ki 1.51
// #define DEFAULT_Kd 72.34
// Merlin Hotend: From Autotune
#define DEFAULT_Kp 24.5
#define DEFAULT_Ki 1.72
#define DEFAULT_Kd 87.73
#endif // PIDTEMP #endif // PIDTEMP
//=========================================================================== //===========================================================================
@ -251,9 +257,9 @@ Here are some standard links for getting your machine calibrated:
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) //from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
// #define DEFAULT_bedKp 10.00 // #define DEFAULT_bedKp 10.00
// #define DEFAULT_bedKi .023 // #define DEFAULT_bedKi .023
// #define DEFAULT_bedKd 305.4 // #define DEFAULT_bedKd 305.4
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) //120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune //from pidautotune
@ -271,7 +277,6 @@ Here are some standard links for getting your machine calibrated:
#endif // PIDTEMPBED #endif // PIDTEMPBED
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit //this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by //can be software-disabled for whatever purposes by
//#define PREVENT_DANGEROUS_EXTRUDE //#define PREVENT_DANGEROUS_EXTRUDE
@ -281,7 +286,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 150 #define EXTRUDE_MINTEMP 150
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -323,12 +327,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//=========================================================================== //===========================================================================
//============================ Mechanical Settings ========================== //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
//#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors //#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -361,11 +368,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0
@ -388,7 +390,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false #define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// ENDSTOP SETTINGS: // ENDSTOP SETTINGS:
// Sets direction of endstop s when homing; 1=MAX, -1=MIN // Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR 1 #define X_HOME_DIR 1
#define Y_HOME_DIR 1 #define Y_HOME_DIR 1
#define Z_HOME_DIR -1 #define Z_HOME_DIR -1
@ -414,43 +416,42 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//=========================================================================== //===========================================================================
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line) //#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -461,10 +462,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // X and Y offsets must be integers
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
//#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. //#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -474,6 +476,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point. #define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points #define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk //If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
//The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it. //The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
@ -528,7 +532,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_RETRACT_ACCELERATION 2000 // X, Y, Z and E max acceleration in mm/s^2 for retracts #define DEFAULT_RETRACT_ACCELERATION 2000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for extruder 0 hotend (default extruder). // The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend. // For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis // #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis // #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
@ -539,9 +543,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 3 // (mm/sec) #define DEFAULT_EJERK 3 // (mm/sec)
//=========================================================================== //=============================================================================
//============================= Additional Features ========================= //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
//#define CUSTOM_M_CODES //#define CUSTOM_M_CODES
@ -572,7 +576,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -738,11 +747,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Shift register panels // Shift register panels
// --------------------- // ---------------------
// 2 wire Non-latching LCD SR from: // 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD //#define SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register #ifdef SAV_3DLCD
//#define NEWPANEL #define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif #endif
@ -751,7 +762,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -760,7 +771,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16
@ -844,13 +855,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Uncomment below to enable // Uncomment below to enable
//#define FILAMENT_SENSOR //#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2) #define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel #define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation #define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm #define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm #define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM) #define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code //defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially

115
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -3,13 +3,12 @@
#include "boards.h" #include "boards.h"
//=========================================================================== //===========================================================================
//============================= Getting Started ============================= //============================= Getting Started =============================
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
* http://www.thingiverse.com/thing:298812 * http://www.thingiverse.com/thing:298812
*/ */
// This configuration file contains the basic settings. // This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h // Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
@ -83,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF // #define PS_DEFAULT_OFF
//=========================================================================== //===========================================================================
//============================= Thermal Settings ============================ //============================= Thermal Settings ============================
//=========================================================================== //===========================================================================
@ -121,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1 #define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -164,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R //#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R //#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//=========================================================================== //===========================================================================
//============================= PID Settings ================================ //============================= PID Settings ================================
//=========================================================================== //===========================================================================
@ -184,7 +184,7 @@ Here are some standard links for getting your machine calibrated:
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it // If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker // Ultimaker
@ -256,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170 #define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -301,9 +300,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings ========================= //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -336,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0
@ -393,40 +390,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -437,11 +432,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers // X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -478,29 +473,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif #endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
@ -540,9 +512,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//=========================================================================== //=============================================================================
//============================ Additional Features ========================== //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -573,7 +545,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -587,7 +564,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder //#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store. //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
#define ULTIPANEL //the UltiPanel as on Thingiverse //#define ULTIPANEL //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click //#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
@ -754,7 +731,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -763,7 +740,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16

79
Marlin/example_configurations/delta/Configuration.h
View file

@ -1,15 +1,14 @@
#ifndef CONFIGURATION_H #ifndef CONFIGURATION_H
#define CONFIGURATION_H #define CONFIGURATION_H
#include "boards.h" #include "boards.h"
//=========================================================================== //===========================================================================
//============================= Getting Started ============================= //============================= Getting Started =============================
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -22,7 +21,6 @@ Here are some standard links for getting your machine calibrated:
// Advanced settings can be found in Configuration_adv.h // Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//=========================================================================== //===========================================================================
//============================= DELTA Printer =============================== //============================= DELTA Printer ===============================
//=========================================================================== //===========================================================================
@ -30,6 +28,13 @@ Here are some standard links for getting your machine calibrated:
// example_configurations/delta directory. // example_configurations/delta directory.
// //
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/SCARA directory.
//
// User-specified version info of this build to display in [Pronterface, etc] terminal window during // User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this // startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware. // build by the user have been successfully uploaded into firmware.
@ -143,6 +148,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 -1 #define TEMP_SENSOR_0 -1
#define TEMP_SENSOR_1 -1 #define TEMP_SENSOR_1 -1
@ -186,7 +195,6 @@ Here are some standard links for getting your machine calibrated:
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R //#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R //#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//=========================================================================== //===========================================================================
//============================= PID Settings ================================ //============================= PID Settings ================================
//=========================================================================== //===========================================================================
@ -195,13 +203,16 @@ Here are some standard links for getting your machine calibrated:
// Comment the following line to disable PID and enable bang-bang. // Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP #define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP #ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port. //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
@ -222,7 +233,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440 // #define DEFAULT_Kd 440
#endif // PIDTEMP #endif // PIDTEMP
//=========================================================================== //===========================================================================
//============================= PID > Bed Temperature Control =============== //============================= PID > Bed Temperature Control ===============
//=========================================================================== //===========================================================================
@ -271,7 +281,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170 #define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -316,6 +325,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings ========================= //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -348,10 +363,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
// Deltas never have min endstops // Deltas never have min endstops
#define DISABLE_MIN_ENDSTOPS #define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
@ -397,6 +408,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS) #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS) #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//=========================================================================== //===========================================================================
//============================= Bed Auto Leveling =========================== //============================= Bed Auto Leveling ===========================
//=========================================================================== //===========================================================================
@ -407,12 +419,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// The position of the homing switches // The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used #define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0) //#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
//Manual homing switch locations: //Manual homing switch locations:
#define MANUAL_HOME_POSITIONS // MANUAL_*_HOME_POS below will be used
// For deltabots this means top and center of the Cartesian print volume. // For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0 #define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0 #define MANUAL_Y_HOME_POS 0
@ -444,9 +454,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_ZJERK 20.0 // (mm/sec) Must be same as XY for delta #define DEFAULT_ZJERK 20.0 // (mm/sec) Must be same as XY for delta
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================= Additional Features ========================= //=============================================================================
//=========================================================================== //============================= Additional Features ===========================
//=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -477,7 +488,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -650,11 +666,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Shift register panels // Shift register panels
// --------------------- // ---------------------
// 2 wire Non-latching LCD SR from: // 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD //#define SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register #ifdef SAV_3DLCD
//#define NEWPANEL #define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif #endif
@ -663,7 +681,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -672,7 +690,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16
@ -756,13 +774,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Uncomment below to enable // Uncomment below to enable
//#define FILAMENT_SENSOR //#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2) #define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel #define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation #define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm #define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm #define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM) #define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code //defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
@ -775,7 +793,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#include "Configuration_adv.h" #include "Configuration_adv.h"
#include "thermistortables.h" #include "thermistortables.h"

113
Marlin/example_configurations/makibox/Configuration.h
View file

@ -3,13 +3,12 @@
#include "boards.h" #include "boards.h"
//=========================================================================== //===========================================================================
//============================= Getting Started ============================= //============================= Getting Started =============================
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -18,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
* http://www.thingiverse.com/thing:298812 * http://www.thingiverse.com/thing:298812
*/ */
// This configuration file contains the basic settings. // This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h // Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//=========================================================================== //===========================================================================
//============================= DELTA Printer =============================== //============================= DELTA Printer ===============================
//=========================================================================== //===========================================================================
@ -31,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
// example_configurations/delta directory. // example_configurations/delta directory.
// //
//=========================================================================== //===========================================================================
//============================= SCARA Printer =============================== //============================= SCARA Printer ===============================
//=========================================================================== //===========================================================================
@ -85,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF // #define PS_DEFAULT_OFF
//=========================================================================== //===========================================================================
//============================= Thermal Settings ============================ //============================= Thermal Settings ============================
//=========================================================================== //===========================================================================
@ -123,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1 #define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -166,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R //#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R //#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//=========================================================================== //===========================================================================
//============================= PID Settings ================================ //============================= PID Settings ================================
//=========================================================================== //===========================================================================
@ -175,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
// Comment the following line to disable PID and enable bang-bang. // Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP #define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP #ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port. //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
@ -202,7 +203,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440 // #define DEFAULT_Kd 440
#endif // PIDTEMP #endif // PIDTEMP
//=========================================================================== //===========================================================================
//============================= PID > Bed Temperature Control =============== //============================= PID > Bed Temperature Control ===============
//=========================================================================== //===========================================================================
@ -254,7 +254,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170 #define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -296,12 +295,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//=========================================================================== //===========================================================================
//============================ Mechanical Settings ========================== //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -334,11 +336,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0 #define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #define Y_ENABLE_ON 0
@ -391,40 +388,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -435,10 +430,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // X and Y offsets must be integers
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -514,9 +510,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//=========================================================================== //=============================================================================
//============================ Additional Features ========================== //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -547,7 +543,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -713,11 +714,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Shift register panels // Shift register panels
// --------------------- // ---------------------
// 2 wire Non-latching LCD SR from: // 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD //#define SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register #ifdef SAV_3DLCD
//#define NEWPANEL #define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif #endif
@ -726,7 +729,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -735,7 +738,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16

130
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -8,7 +8,7 @@
//=========================================================================== //===========================================================================
/* /*
Here are some standard links for getting your machine calibrated: Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration * http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk * http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz * http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide * http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
@ -17,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
* http://www.thingiverse.com/thing:298812 * http://www.thingiverse.com/thing:298812
*/ */
// This configuration file contains the basic settings. // This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h // Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//=========================================================================== //===========================================================================
//============================= DELTA Printer =============================== //============================= DELTA Printer ===============================
//=========================================================================== //===========================================================================
@ -30,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
// example_configurations/delta directory. // example_configurations/delta directory.
// //
//=========================================================================== //===========================================================================
//============================= SCARA Printer =============================== //============================= SCARA Printer ===============================
//=========================================================================== //===========================================================================
@ -84,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it. // Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF // #define PS_DEFAULT_OFF
//=========================================================================== //===========================================================================
//============================= Thermal Settings ============================ //============================= Thermal Settings ============================
//=========================================================================== //===========================================================================
@ -122,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 1010 is Pt1000 with 1k pullup (non standard) // 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup // 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard) // 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 5 #define TEMP_SENSOR_0 5
#define TEMP_SENSOR_1 0 #define TEMP_SENSOR_1 0
@ -156,8 +156,6 @@ Here are some standard links for getting your machine calibrated:
#define HEATER_3_MAXTEMP 275 #define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150 #define BED_MAXTEMP 150
#define CONFIG_STEPPERS_TOSHIBA 1
// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the // If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of // average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals. // HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
@ -167,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R //#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R //#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//=========================================================================== //===========================================================================
//============================= PID Settings ================================ //============================= PID Settings ================================
//=========================================================================== //===========================================================================
@ -176,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
// Comment the following line to disable PID and enable bang-bang. // Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP #define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current #define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current #define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP #ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port. //#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term #define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID #define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine #define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
@ -208,7 +208,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440 // #define DEFAULT_Kd 440
#endif // PIDTEMP #endif // PIDTEMP
//=========================================================================== //===========================================================================
//============================= PID > Bed Temperature Control =============== //============================= PID > Bed Temperature Control ===============
//=========================================================================== //===========================================================================
@ -257,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170 #define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//=========================================================================== //===========================================================================
//============================= Thermal Runaway Protection ================== //============================= Thermal Runaway Protection ==================
//=========================================================================== //===========================================================================
@ -299,12 +297,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//=========================================================================== //===========================================================================
//============================ Mechanical Settings ========================== //============================= Mechanical Settings =========================
//=========================================================================== //===========================================================================
// Uncomment the following line to enable CoreXY kinematics // Uncomment this option to enable CoreXY kinematics
// #define COREXY // #define COREXY
// Enable this option for Toshiba steppers
#define CONFIG_STEPPERS_TOSHIBA
// coarse Endstop Settings // coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -337,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 1 #define X_ENABLE_ON 1
#define Y_ENABLE_ON 1 #define Y_ENABLE_ON 1
@ -394,40 +390,38 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe: // There are 2 different ways to specify probing locations
//
// - "grid" mode // - "grid" mode
// Probe every point in a rectangular grid // Probe several points in a rectangular grid.
// You must specify the rectangle, and the density of sample points // You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements. // This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive //
// - "3-point" mode
// - "3-point" mode // Probe 3 arbitrary points on the bed (that aren't colinear)
// Probe 3 arbitrary points on the bed (that aren't colinear) // You specify the XY coordinates of all 3 points.
// You must specify the X & Y coordinates of all 3 points
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID #define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID #ifdef AUTO_BED_LEVELING_GRID
// set the rectangle in which to probe // The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15 #define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170 #define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20 #define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// set the number of grid points per dimension // Set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed) // You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2 #define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID #else // !AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15 #define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180 #define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15 #define ABL_PROBE_PT_2_X 15
@ -438,10 +432,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID #endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // Offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // X and Y offsets must be integers
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case // Be sure you have this distance over your Z_MAX_POS in case
@ -498,21 +493,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// default settings // default settings
//#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for Ultimaker //#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR
//#define //DEFAULT_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT {81.26, 80.01, 2561, 599.14} // Michel TVRR old //#define DEFAULT_AXIS_STEPS_PER_UNIT {81.26, 80.01, 2561, 599.14} // Michel TVRR old
//#define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 739.65} // Michel TVRR //#define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 739.65} // Michel TVRR
#define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 600} // David TVRR #define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 600} // David TVRR
//#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec) default
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) David TVRR #define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) David TVRR
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot. #define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
/* MICHEL: This has an impact on the "ripples" in print walls */ /* MICHEL: This has an impact on the "ripples" in print walls */
#define DEFAULT_ACCELERATION 500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_ACCELERATION 500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
//#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts #define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@ -527,9 +516,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec) #define DEFAULT_EJERK 5.0 // (mm/sec)
//=========================================================================== //=============================================================================
//============================ Additional Features ========================== //============================= Additional Features ===========================
//=========================================================================== //=============================================================================
// Custom M code points // Custom M code points
#define CUSTOM_M_CODES #define CUSTOM_M_CODES
@ -560,7 +549,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100 #define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support //==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets. // Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°" #define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
@ -726,11 +720,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Shift register panels // Shift register panels
// --------------------- // ---------------------
// 2 wire Non-latching LCD SR from: // 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection // https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD //#define SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register #ifdef SAV_3DLCD
//#define NEWPANEL #define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif #endif
@ -739,7 +735,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT #define SDSUPPORT
#define ULTRA_LCD #define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display #ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 20 #define LCD_WIDTH 20
@ -748,7 +744,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD #else //no panel but just LCD
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20 #define LCD_WIDTH 22
#define LCD_HEIGHT 5 #define LCD_HEIGHT 5
#else #else
#define LCD_WIDTH 16 #define LCD_WIDTH 16
@ -832,13 +828,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Uncomment below to enable // Uncomment below to enable
//#define FILAMENT_SENSOR //#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2) #define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel #define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation #define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm #define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm #define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM) #define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code //defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially

3
Marlin/fastio.h
View file

@ -83,6 +83,9 @@
/// check if pin is an timer wrapper /// check if pin is an timer wrapper
#define GET_TIMER(IO) _GET_TIMER(IO) #define GET_TIMER(IO) _GET_TIMER(IO)
// Shorthand
#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
/* /*
ports and functions ports and functions

10
Marlin/language.h
View file

@ -121,6 +121,7 @@
#define MSG_UNKNOWN_COMMAND "Unknown command: \"" #define MSG_UNKNOWN_COMMAND "Unknown command: \""
#define MSG_ACTIVE_EXTRUDER "Active Extruder: " #define MSG_ACTIVE_EXTRUDER "Active Extruder: "
#define MSG_INVALID_EXTRUDER "Invalid extruder" #define MSG_INVALID_EXTRUDER "Invalid extruder"
#define MSG_INVALID_SOLENOID "Invalid solenoid"
#define MSG_X_MIN "x_min: " #define MSG_X_MIN "x_min: "
#define MSG_X_MAX "x_max: " #define MSG_X_MAX "x_max: "
#define MSG_Y_MIN "y_min: " #define MSG_Y_MIN "y_min: "
@ -168,8 +169,8 @@
#define MSG_PID_TIMEOUT MSG_PID_AUTOTUNE_FAILED " timeout" #define MSG_PID_TIMEOUT MSG_PID_AUTOTUNE_FAILED " timeout"
#define MSG_BIAS " bias: " #define MSG_BIAS " bias: "
#define MSG_D " d: " #define MSG_D " d: "
#define MSG_MIN " min: " #define MSG_T_MIN " min: "
#define MSG_MAX " max: " #define MSG_T_MAX " max: "
#define MSG_KU " Ku: " #define MSG_KU " Ku: "
#define MSG_TU " Tu: " #define MSG_TU " Tu: "
#define MSG_CLASSIC_PID " Classic PID " #define MSG_CLASSIC_PID " Classic PID "
@ -225,8 +226,7 @@
#define STR_h3 "3" #define STR_h3 "3"
#define STR_Deg "\271" #define STR_Deg "\271"
#define STR_THERMOMETER "\002" #define STR_THERMOMETER "\002"
#endif #elif defined(DISPLAY_CHARSET_HD44780_WESTERN) // HD44780 ROM Code: A02 (Western)
#ifdef DISPLAY_CHARSET_HD44780_WESTERN // HD44780 ROM Code: A02 (Western)
#define STR_Ae "\216" #define STR_Ae "\216"
#define STR_ae "\204" #define STR_ae "\204"
#define STR_Oe "\211" #define STR_Oe "\211"
@ -238,6 +238,8 @@
#define STR_h3 "\263" #define STR_h3 "\263"
#define STR_Deg "\337" #define STR_Deg "\337"
#define STR_THERMOMETER "\002" #define STR_THERMOMETER "\002"
#elif defined(ULTRA_LCD)
#error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN for your LCD controller.
#endif #endif
#endif #endif
/* /*

6
Marlin/pins_CHEAPTRONIC.h
View file

@ -87,9 +87,3 @@
// Cheaptronic v1.0 does not use this port // Cheaptronic v1.0 does not use this port
#define SDCARDDETECT -1 #define SDCARDDETECT -1
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_ELEFU_3.h
View file

@ -74,12 +74,6 @@
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_A 0 #define BLEN_A 0
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif // RA_CONTROL_PANEL #endif // RA_CONTROL_PANEL
#ifdef RA_DISCO #ifdef RA_DISCO

6
Marlin/pins_MEGATRONICS.h
View file

@ -83,10 +83,4 @@
#define SDCARDDETECT -1 // Ramps does not use this port #define SDCARDDETECT -1 // Ramps does not use this port
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif // ULTRA_LCD && NEWPANEL #endif // ULTRA_LCD && NEWPANEL

6
Marlin/pins_MEGATRONICS_1.h
View file

@ -80,9 +80,3 @@
#define BLEN_A 0 #define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port #define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_MEGATRONICS_2.h
View file

@ -95,9 +95,3 @@
#define BLEN_A 0 #define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port #define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_MEGATRONICS_3.h
View file

@ -95,9 +95,3 @@
#define BLEN_A 0 #define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port #define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

11
Marlin/pins_RAMBO.h
View file

@ -116,11 +116,6 @@
#define SDCARDDETECT 81 // Ramps does not use this port #define SDCARDDETECT 81 // Ramps does not use this port
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#else //!NEWPANEL - old style panel with shift register #else //!NEWPANEL - old style panel with shift register
//arduino pin witch triggers an piezzo beeper //arduino pin witch triggers an piezzo beeper
#define BEEPER 33 No Beeper added #define BEEPER 33 No Beeper added
@ -138,12 +133,6 @@
#define LCD_PINS_D6 27 #define LCD_PINS_D6 27
#define LCD_PINS_D7 29 #define LCD_PINS_D7 29
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
//bits in the shift register that carry the buttons for: //bits in the shift register that carry the buttons for:
// left up center down right red // left up center down right red
#define BL_LE 7 #define BL_LE 7

47
Marlin/stepper.cpp
View file

@ -187,7 +187,7 @@ void checkHitEndstops()
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]); SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z"); LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
} }
SERIAL_ECHOLN(""); SERIAL_EOL;
endstop_x_hit=false; endstop_x_hit=false;
endstop_y_hit=false; endstop_y_hit=false;
endstop_z_hit=false; endstop_z_hit=false;
@ -554,54 +554,48 @@ ISR(TIMER1_COMPA_vect)
#endif //ADVANCE #endif //ADVANCE
counter_x += current_block->steps_x; counter_x += current_block->steps_x;
#ifdef CONFIG_STEPPERS_TOSHIBA #ifdef CONFIG_STEPPERS_TOSHIBA
/* The toshiba stepper controller require much longer pulses /* The Toshiba stepper controller require much longer pulses.
* tjerfore we 'stage' decompose the pulses between high, and * So we 'stage' decompose the pulses between high and low
* low instead of doing each in turn. The extra tests add enough * instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs */ * lag to allow it work with without needing NOPs
if (counter_x > 0) { */
X_STEP_WRITE(HIGH); if (counter_x > 0) X_STEP_WRITE(HIGH);
}
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) Y_STEP_WRITE(HIGH);
Y_STEP_WRITE( HIGH);
}
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) Z_STEP_WRITE(HIGH);
Z_STEP_WRITE( HIGH);
}
#ifndef ADVANCE #ifndef ADVANCE
counter_e += current_block->steps_e; counter_e += current_block->steps_e;
if (counter_e > 0) { if (counter_e > 0) WRITE_E_STEP(HIGH);
WRITE_E_STEP(HIGH);
}
#endif //!ADVANCE #endif //!ADVANCE
if (counter_x > 0) { if (counter_x > 0) {
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS] += count_direction[X_AXIS];
X_STEP_WRITE(LOW); X_STEP_WRITE(LOW);
} }
if (counter_y > 0) { if (counter_y > 0) {
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE( LOW); Y_STEP_WRITE( LOW);
} }
if (counter_z > 0) { if (counter_z > 0) {
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE(LOW); Z_STEP_WRITE(LOW);
} }
#ifndef ADVANCE #ifndef ADVANCE
if (counter_e > 0) { if (counter_e > 0) {
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
count_position[E_AXIS]+=count_direction[E_AXIS]; count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(LOW); WRITE_E_STEP(LOW);
} }
#endif //!ADVANCE #endif //!ADVANCE
@ -622,7 +616,7 @@ ISR(TIMER1_COMPA_vect)
X_STEP_WRITE(!INVERT_X_STEP_PIN); X_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif #endif
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS] += count_direction[X_AXIS];
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){ if (extruder_duplication_enabled){
X_STEP_WRITE(INVERT_X_STEP_PIN); X_STEP_WRITE(INVERT_X_STEP_PIN);
@ -648,7 +642,7 @@ ISR(TIMER1_COMPA_vect)
#endif #endif
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE(INVERT_Y_STEP_PIN); Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS #ifdef Y_DUAL_STEPPER_DRIVERS
@ -659,15 +653,14 @@ ISR(TIMER1_COMPA_vect)
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) {
Z_STEP_WRITE( !INVERT_Z_STEP_PIN); Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE(!INVERT_Z_STEP_PIN); Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
#endif #endif
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE( INVERT_Z_STEP_PIN); Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS #ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE(INVERT_Z_STEP_PIN); Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif #endif
@ -678,7 +671,7 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) { if (counter_e > 0) {
WRITE_E_STEP(!INVERT_E_STEP_PIN); WRITE_E_STEP(!INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
count_position[E_AXIS]+=count_direction[E_AXIS]; count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN); WRITE_E_STEP(INVERT_E_STEP_PIN);
} }
#endif //!ADVANCE #endif //!ADVANCE

18
Marlin/temperature.cpp
View file

@ -296,8 +296,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias); SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d); SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(MSG_MIN); SERIAL_PROTOCOL(min); SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_MAX); SERIAL_PROTOCOLLN(max); SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
if (cycles > 2) { if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0); Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0); Tu = ((float)(t_low + t_high) / 1000.0);
@ -901,21 +901,15 @@ void tp_init()
#ifdef HEATER_0_USES_MAX6675 #ifdef HEATER_0_USES_MAX6675
#ifndef SDSUPPORT #ifndef SDSUPPORT
SET_OUTPUT(SCK_PIN); OUT_WRITE(SCK_PIN, LOW);
WRITE(SCK_PIN,0); OUT_WRITE(MOSI_PIN, HIGH);
OUT_WRITE(MISO_PIN, HIGH);
SET_OUTPUT(MOSI_PIN);
WRITE(MOSI_PIN,1);
SET_INPUT(MISO_PIN);
WRITE(MISO_PIN,1);
#else #else
pinMode(SS_PIN, OUTPUT); pinMode(SS_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH); digitalWrite(SS_PIN, HIGH);
#endif #endif
SET_OUTPUT(MAX6675_SS); OUT_WRITE(MAX6675_SS,HIGH);
WRITE(MAX6675_SS,1);
#endif //HEATER_0_USES_MAX6675 #endif //HEATER_0_USES_MAX6675

11
Marlin/ultralcd.cpp
View file

@ -1394,6 +1394,17 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
#ifdef ULTIPANEL #ifdef ULTIPANEL
////////////////////////
// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
// These values are independent of which pins are used for EN_A and EN_B indications
// The rotary encoder part is also independent to the chipset used for the LCD
#if defined(EN_A) && defined(EN_B)
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif
/* Warning: This function is called from interrupt context */ /* Warning: This function is called from interrupt context */
void lcd_buttons_update() { void lcd_buttons_update() {
#ifdef NEWPANEL #ifdef NEWPANEL

55
Marlin/ultralcd_implementation_hitachi_HD44780.h
View file

@ -123,17 +123,6 @@
#define LCD_CLICKED (buttons&(B_MI|B_ST)) #define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif #endif
////////////////////////
// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
// These values are independent of which pins are used for EN_A and EN_B indications
// The rotary encoder part is also independent to the chipset used for the LCD
#if defined(EN_A) && defined(EN_B)
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif
#endif //ULTIPANEL #endif //ULTIPANEL
//////////////////////////////////// ////////////////////////////////////
@ -832,32 +821,28 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
static void lcd_implementation_quick_feedback() static void lcd_implementation_quick_feedback()
{ {
#ifdef LCD_USE_I2C_BUZZER #ifdef LCD_USE_I2C_BUZZER
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) #if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ)
lcd_buzz(1000/6,100); lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#elif defined(BEEPER) && BEEPER > -1
SET_OUTPUT(BEEPER);
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
for(int8_t i=0;i<10;i++)
{
WRITE(BEEPER,HIGH);
delayMicroseconds(100);
WRITE(BEEPER,LOW);
delayMicroseconds(100);
}
#else #else
for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++) lcd_buzz(1000/6, 100);
{
WRITE(BEEPER,HIGH);
delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
WRITE(BEEPER,LOW);
delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
}
#endif #endif
#endif #elif defined(BEEPER) && BEEPER > -1
SET_OUTPUT(BEEPER);
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
const unsigned int delay = 100;
uint8_t i = 10;
#else
const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
#endif
while (i--) {
WRITE(BEEPER,HIGH);
delayMicroseconds(delay);
WRITE(BEEPER,LOW);
delayMicroseconds(delay);
}
#endif
} }
#ifdef LCD_HAS_STATUS_INDICATORS #ifdef LCD_HAS_STATUS_INDICATORS

9
Marlin/ultralcd_st7920_u8glib_rrd.h
View file

@ -47,12 +47,9 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
{ {
case U8G_DEV_MSG_INIT: case U8G_DEV_MSG_INIT:
{ {
SET_OUTPUT(ST7920_CS_PIN); OUT_WRITE(ST7920_CS_PIN,LOW);
WRITE(ST7920_CS_PIN,0); OUT_WRITE(ST7920_DAT_PIN,LOW);
SET_OUTPUT(ST7920_DAT_PIN); OUT_WRITE(ST7920_CLK_PIN,HIGH);
WRITE(ST7920_DAT_PIN,0);
SET_OUTPUT(ST7920_CLK_PIN);
WRITE(ST7920_CLK_PIN,1);
ST7920_CS(); ST7920_CS();
u8g_Delay(120); //initial delay for boot up u8g_Delay(120); //initial delay for boot up

29
Marlin/vector_3.cpp
View file

@ -84,7 +84,7 @@ void vector_3::debug(char* title)
SERIAL_PROTOCOL(y); SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z); SERIAL_PROTOCOL(z);
SERIAL_PROTOCOLPGM("\n"); SERIAL_EOL;
} }
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z) void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
@ -145,22 +145,17 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
return new_matrix; return new_matrix;
} }
void matrix_3x3::debug(char* title) void matrix_3x3::debug(char* title) {
{ SERIAL_PROTOCOLLN(title);
SERIAL_PROTOCOL(title); int count = 0;
SERIAL_PROTOCOL("\n"); for(int i=0; i<3; i++) {
int count = 0; for(int j=0; j<3; j++) {
for(int i=0; i<3; i++) SERIAL_PROTOCOL(matrix[count] + 0.0001);
{ SERIAL_PROTOCOLPGM(" ");
for(int j=0; j<3; j++) count++;
{ }
SERIAL_PROTOCOL(matrix[count]); SERIAL_EOL;
SERIAL_PROTOCOLPGM(" "); }
count++;
}
SERIAL_PROTOCOLPGM("\n");
}
} }
#endif // #ifdef ENABLE_AUTO_BED_LEVELING #endif // #ifdef ENABLE_AUTO_BED_LEVELING

6
README.md
View file

@ -41,7 +41,7 @@ The current Marlin dev team consists of:
- Erik van der Zalm ([@ErikZalm](https://github.com/ErikZalm)) - Erik van der Zalm ([@ErikZalm](https://github.com/ErikZalm))
- [@daid](https://github.com/daid) - [@daid](https://github.com/daid)
Sprinters lead developers are Kliment and caru. Sprinters lead developers are Kliment and caru.
Grbls lead developer is Simen Svale Skogsrud. Grbls lead developer is Simen Svale Skogsrud.
Sonney Jeon (Chamnit) improved some parts of grbl Sonney Jeon (Chamnit) improved some parts of grbl
@ -52,9 +52,9 @@ More features have been added by:
- Bradley Feldman, - Bradley Feldman,
- and others... - and others...
## Licence ## License
Marlin is published unde the [GPL license](/Documentation/COPYING.md) because I believe in open development. Marlin is published under the [GPL license](/Documentation/COPYING.md) because I believe in open development.
Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent. Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
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