Flag to ignore Marlin's pin protection.
*
*/
inline void gcode_M43() {
// Enable or disable endstop monitoring
if (code_seen('E')) {
endstop_monitor_flag = code_value_bool();
SERIAL_PROTOCOLPGM("endstop monitor ");
SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
SERIAL_PROTOCOLLNPGM("abled");
return;
}
// Get the range of pins to test or watch
int first_pin = 0, last_pin = NUM_DIGITAL_PINS - 1;
if (code_seen('P')) {
first_pin = last_pin = code_value_byte();
if (first_pin > NUM_DIGITAL_PINS - 1) return;
}
bool ignore_protection = code_seen('I') ? code_value_bool() : false;
// Watch until click, M108, or reset
if (code_seen('W') && code_value_bool()) { // watch digital pins
byte pin_state[last_pin - first_pin + 1];
for (int8_t pin = first_pin; pin <= last_pin; pin++) {
if (pin_is_protected(pin) && !ignore_protection) continue;
pinMode(pin, INPUT_PULLUP);
// if (IS_ANALOG(pin))
// pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
// else
pin_state[pin - first_pin] = digitalRead(pin);
}
#if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
wait_for_user = true;
#endif
for(;;) {
for (int8_t pin = first_pin; pin <= last_pin; pin++) {
if (pin_is_protected(pin)) continue;
byte val;
// if (IS_ANALOG(pin))
// val = analogRead(pin - analogInputToDigitalPin(0)); // int16_t val
// else
val = digitalRead(pin);
if (val != pin_state[pin - first_pin]) {
report_pin_state(pin);
pin_state[pin - first_pin] = val;
}
}
#if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
if (!wait_for_user) break;
#endif
safe_delay(500);
}
return;
}
// Report current state of selected pin(s)
for (uint8_t pin = first_pin; pin <= last_pin; pin++)
report_pin_state_extended(pin, ignore_protection);
}
#endif // PINS_DEBUGGING
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
/**
* M48: Z probe repeatability measurement function.
*
* Usage:
* M48
* P = Number of sampled points (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage Z probe for each reading
* L = Number of legs of movement before probe
* S = Schizoid (Or Star if you prefer)
*
* This function assumes the bed has been homed. Specifically, that a G28 command
* as been issued prior to invoking the M48 Z probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*/
inline void gcode_M48() {
if (axis_unhomed_error(true, true, true)) return;
int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
return;
}
if (verbose_level > 0)
SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
return;
}
float X_current = current_position[X_AXIS],
Y_current = current_position[Y_AXIS];
bool stow_probe_after_each = code_seen('E');
float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
out_of_range_error(PSTR("X"));
return;
}
#endif
float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
#if DISABLED(DELTA)
if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
out_of_range_error(PSTR("Y"));
return;
}
#else
float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
if (!position_is_reachable(pos, true)) {
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
return;
}
#endif
bool seen_L = code_seen('L');
uint8_t n_legs = seen_L ? code_value_byte() : 0;
if (n_legs > 15) {
SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
return;
}
if (n_legs == 1) n_legs = 2;
bool schizoid_flag = code_seen('S');
if (schizoid_flag && !seen_L) n_legs = 7;
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// Disable bed level correction in M48 because we want the raw data when we probe
#if HAS_ABL
const bool abl_was_enabled = planner.abl_enabled;
set_bed_leveling_enabled(false);
#endif
setup_for_endstop_or_probe_move();
// Move to the first point, deploy, and probe
probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
randomSeed(millis());
double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
for (uint8_t n = 0; n < n_samples; n++) {
if (n_legs) {
int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
float angle = random(0.0, 360.0),
radius = random(
#if ENABLED(DELTA)
DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
#else
5, X_MAX_LENGTH / 8
#endif
);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Starting radius: ", radius);
SERIAL_ECHOPAIR(" angle: ", angle);
SERIAL_ECHOPGM(" Direction: ");
if (dir > 0) SERIAL_ECHOPGM("Counter-");
SERIAL_ECHOLNPGM("Clockwise");
}
for (uint8_t l = 0; l < n_legs - 1; l++) {
double delta_angle;
if (schizoid_flag)
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
angle += delta_angle;
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
#else
// If we have gone out too far, we can do a simple fix and scale the numbers
// back in closer to the origin.
while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
X_current /= 1.25;
Y_current /= 1.25;
if (verbose_level > 3) {
SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
SERIAL_ECHOLNPAIR(", ", Y_current);
}
}
#endif
if (verbose_level > 3) {
SERIAL_PROTOCOLPGM("Going to:");
SERIAL_ECHOPAIR(" X", X_current);
SERIAL_ECHOPAIR(" Y", Y_current);
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
}
do_blocking_move_to_xy(X_current, Y_current);
} // n_legs loop
} // n_legs
// Probe a single point
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
/**
* Get the current mean for the data points we have so far
*/
double sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
NOMORE(min, sample_set[n]);
NOLESS(max, sample_set[n]);
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++)
sum += sq(sample_set[j] - mean);
sigma = sqrt(sum / (n + 1));
if (verbose_level > 0) {
if (verbose_level > 1) {
SERIAL_PROTOCOL(n + 1);
SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL((int)n_samples);
SERIAL_PROTOCOLPGM(": z: ");
SERIAL_PROTOCOL_F(sample_set[n], 3);
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(" mean: ");
SERIAL_PROTOCOL_F(mean, 4);
SERIAL_PROTOCOLPGM(" sigma: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM(" min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" range: ");
SERIAL_PROTOCOL_F(max-min, 3);
}
SERIAL_EOL;
}
}
} // End of probe loop
if (STOW_PROBE()) return;
SERIAL_PROTOCOLPGM("Finished!");
SERIAL_EOL;
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM(" Min: ");
SERIAL_PROTOCOL_F(min, 3);
SERIAL_PROTOCOLPGM(" Max: ");
SERIAL_PROTOCOL_F(max, 3);
SERIAL_PROTOCOLPGM(" Range: ");
SERIAL_PROTOCOL_F(max-min, 3);
SERIAL_EOL;
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL;
SERIAL_EOL;
clean_up_after_endstop_or_probe_move();
// Re-enable bed level correction if it has been on
#if HAS_ABL
set_bed_leveling_enabled(abl_was_enabled);
#endif
report_current_position();
}
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
/**
* M75: Start print timer
*/
inline void gcode_M75() { print_job_timer.start(); }
/**
* M76: Pause print timer
*/
inline void gcode_M76() { print_job_timer.pause(); }
/**
* M77: Stop print timer
*/
inline void gcode_M77() { print_job_timer.stop(); }
#if ENABLED(PRINTCOUNTER)
/**
* M78: Show print statistics
*/
inline void gcode_M78() {
// "M78 S78" will reset the statistics
if (code_seen('S') && code_value_int() == 78)
print_job_timer.initStats();
else
print_job_timer.showStats();
}
#endif
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
if (get_target_extruder_from_command(104)) return;
if (DEBUGGING(DRYRUN)) return;
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
if (code_seen('S')) {
thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
#endif
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
* Stop the timer at the end of print, starting is managed by
* 'heat and wait' M109.
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
* stand by mode, for instance in a dual extruder setup, without affecting
* the running print timer.
*/
if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
#endif
if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
}
#if ENABLED(AUTOTEMP)
planner.autotemp_M104_M109();
#endif
}
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
void print_heaterstates() {
#if HAS_TEMP_HOTEND
SERIAL_PROTOCOLPGM(" T:");
SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
#if ENABLED(SHOW_TEMP_ADC_VALUES)
SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
SERIAL_CHAR(')');
#endif
#endif
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
#if ENABLED(SHOW_TEMP_ADC_VALUES)
SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
SERIAL_CHAR(')');
#endif
#endif
#if HOTENDS > 1
HOTEND_LOOP() {
SERIAL_PROTOCOLPAIR(" T", e);
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
#if ENABLED(SHOW_TEMP_ADC_VALUES)
SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
SERIAL_CHAR(')');
#endif
}
#endif
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B@:");
SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
#endif
#if HOTENDS > 1
HOTEND_LOOP() {
SERIAL_PROTOCOLPAIR(" @", e);
SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
}
#endif
}
#endif
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
if (get_target_extruder_from_command(105)) return;
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
SERIAL_PROTOCOLPGM(MSG_OK);
print_heaterstates();
#else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_EOL;
}
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
static uint8_t auto_report_temp_interval;
static millis_t next_temp_report_ms;
/**
* M155: Set temperature auto-report interval. M155 S
*/
inline void gcode_M155() {
if (code_seen('S')) {
auto_report_temp_interval = code_value_byte();
NOMORE(auto_report_temp_interval, 60);
next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
}
}
inline void auto_report_temperatures() {
if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
print_heaterstates();
SERIAL_EOL;
}
}
#endif // AUTO_REPORT_TEMPERATURES
#if FAN_COUNT > 0
/**
* M106: Set Fan Speed
*
* S Speed between 0-255
* P Fan index, if more than one fan
*/
inline void gcode_M106() {
uint16_t s = code_seen('S') ? code_value_ushort() : 255,
p = code_seen('P') ? code_value_ushort() : 0;
NOMORE(s, 255);
if (p < FAN_COUNT) fanSpeeds[p] = s;
}
/**
* M107: Fan Off
*/
inline void gcode_M107() {
uint16_t p = code_seen('P') ? code_value_ushort() : 0;
if (p < FAN_COUNT) fanSpeeds[p] = 0;
}
#endif // FAN_COUNT > 0
#if DISABLED(EMERGENCY_PARSER)
/**
* M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
*/
inline void gcode_M108() { wait_for_heatup = false; }
/**
* M112: Emergency Stop
*/
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
/**
* M410: Quickstop - Abort all planned moves
*
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() { quickstop_stepper(); }
#endif
#ifndef MIN_COOLING_SLOPE_DEG
#define MIN_COOLING_SLOPE_DEG 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME
#define MIN_COOLING_SLOPE_TIME 60
#endif
/**
* M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
* Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
*/
inline void gcode_M109() {
if (get_target_extruder_from_command(109)) return;
if (DEBUGGING(DRYRUN)) return;
#if ENABLED(SINGLENOZZLE)
if (target_extruder != active_extruder) return;
#endif
bool no_wait_for_cooling = code_seen('S');
if (no_wait_for_cooling || code_seen('R')) {
thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
#if ENABLED(DUAL_X_CARRIAGE)
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
#endif
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
/**
* We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
* stand by mode, for instance in a dual extruder setup, without affecting
* the running print timer.
*/
if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
print_job_timer.stop();
LCD_MESSAGEPGM(WELCOME_MSG);
}
/**
* We do not check if the timer is already running because this check will
* be done for us inside the Stopwatch::start() method thus a running timer
* will not restart.
*/
else print_job_timer.start();
#endif
if (thermalManager.isHeatingHotend(target_extruder)) status_printf(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
}
#if ENABLED(AUTOTEMP)
planner.autotemp_M104_M109();
#endif
#if TEMP_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
#endif //TEMP_RESIDENCY_TIME > 0
float theTarget = -1.0, old_temp = 9999.0;
bool wants_to_cool = false;
wait_for_heatup = true;
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
KEEPALIVE_STATE(NOT_BUSY);
do {
// Target temperature might be changed during the loop
if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
theTarget = thermalManager.degTargetHotend(target_extruder);
// Exit if S, continue if S, R, or R
if (no_wait_for_cooling && wants_to_cool) break;
}
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
next_temp_ms = now + 1000UL;
print_heaterstates();
#if TEMP_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms) {
long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
SERIAL_PROTOCOLLN(rem);
}
else {
SERIAL_PROTOCOLLNPGM("?");
}
#else
SERIAL_EOL;
#endif
}
idle();
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
float temp = thermalManager.degHotend(target_extruder);
#if TEMP_RESIDENCY_TIME > 0
float temp_diff = fabs(theTarget - temp);
if (!residency_start_ms) {
// Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
}
else if (temp_diff > TEMP_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = now;
}
#endif //TEMP_RESIDENCY_TIME > 0
// Prevent a wait-forever situation if R is misused i.e. M109 R0
if (wants_to_cool) {
// break after MIN_COOLING_SLOPE_TIME seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
old_temp = temp;
}
}
} while (wait_for_heatup && TEMP_CONDITIONS);
if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
KEEPALIVE_STATE(IN_HANDLER);
}
#if HAS_TEMP_BED
#ifndef MIN_COOLING_SLOPE_DEG_BED
#define MIN_COOLING_SLOPE_DEG_BED 1.50
#endif
#ifndef MIN_COOLING_SLOPE_TIME_BED
#define MIN_COOLING_SLOPE_TIME_BED 60
#endif
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
if (DEBUGGING(DRYRUN)) return;
LCD_MESSAGEPGM(MSG_BED_HEATING);
bool no_wait_for_cooling = code_seen('S');
if (no_wait_for_cooling || code_seen('R')) {
thermalManager.setTargetBed(code_value_temp_abs());
#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
if (code_value_temp_abs() > BED_MINTEMP) {
/**
* We start the timer when 'heating and waiting' command arrives, LCD
* functions never wait. Cooling down managed by extruders.
*
* We do not check if the timer is already running because this check will
* be done for us inside the Stopwatch::start() method thus a running timer
* will not restart.
*/
print_job_timer.start();
}
#endif
}
#if TEMP_BED_RESIDENCY_TIME > 0
millis_t residency_start_ms = 0;
// Loop until the temperature has stabilized
#define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
#else
// Loop until the temperature is very close target
#define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
#endif //TEMP_BED_RESIDENCY_TIME > 0
float theTarget = -1.0, old_temp = 9999.0;
bool wants_to_cool = false;
wait_for_heatup = true;
millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
KEEPALIVE_STATE(NOT_BUSY);
target_extruder = active_extruder; // for print_heaterstates
do {
// Target temperature might be changed during the loop
if (theTarget != thermalManager.degTargetBed()) {
wants_to_cool = thermalManager.isCoolingBed();
theTarget = thermalManager.degTargetBed();
// Exit if S, continue if S, R, or R
if (no_wait_for_cooling && wants_to_cool) break;
}
now = millis();
if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
next_temp_ms = now + 1000UL;
print_heaterstates();
#if TEMP_BED_RESIDENCY_TIME > 0
SERIAL_PROTOCOLPGM(" W:");
if (residency_start_ms) {
long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
SERIAL_PROTOCOLLN(rem);
}
else {
SERIAL_PROTOCOLLNPGM("?");
}
#else
SERIAL_EOL;
#endif
}
idle();
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
float temp = thermalManager.degBed();
#if TEMP_BED_RESIDENCY_TIME > 0
float temp_diff = fabs(theTarget - temp);
if (!residency_start_ms) {
// Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
}
else if (temp_diff > TEMP_BED_HYSTERESIS) {
// Restart the timer whenever the temperature falls outside the hysteresis.
residency_start_ms = now;
}
#endif //TEMP_BED_RESIDENCY_TIME > 0
// Prevent a wait-forever situation if R is misused i.e. M190 R0
if (wants_to_cool) {
// break after MIN_COOLING_SLOPE_TIME_BED seconds
// if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
old_temp = temp;
}
}
} while (wait_for_heatup && TEMP_BED_CONDITIONS);
if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
KEEPALIVE_STATE(IN_HANDLER);
}
#endif // HAS_TEMP_BED
/**
* M110: Set Current Line Number
*/
inline void gcode_M110() {
if (code_seen('N')) gcode_LastN = code_value_long();
}
/**
* M111: Set the debug level
*/
inline void gcode_M111() {
marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
#if ENABLED(DEBUG_LEVELING_FEATURE)
const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
#endif
const static char* const debug_strings[] PROGMEM = {
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
#if ENABLED(DEBUG_LEVELING_FEATURE)
str_debug_32
#endif
};
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
if (marlin_debug_flags) {
uint8_t comma = 0;
for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
if (TEST(marlin_debug_flags, i)) {
if (comma++) SERIAL_CHAR(',');
serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
}
}
}
else {
SERIAL_ECHOPGM(MSG_DEBUG_OFF);
}
SERIAL_EOL;
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* M113: Get or set Host Keepalive interval (0 to disable)
*
* S Optional. Set the keepalive interval.
*/
inline void gcode_M113() {
if (code_seen('S')) {
host_keepalive_interval = code_value_byte();
NOMORE(host_keepalive_interval, 60);
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
}
}
#endif
#if ENABLED(BARICUDA)
#if HAS_HEATER_1
/**
* M126: Heater 1 valve open
*/
inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
/**
* M127: Heater 1 valve close
*/
inline void gcode_M127() { baricuda_valve_pressure = 0; }
#endif
#if HAS_HEATER_2
/**
* M128: Heater 2 valve open
*/
inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
/**
* M129: Heater 2 valve close
*/
inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
#endif
#endif //BARICUDA
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
if (DEBUGGING(DRYRUN)) return;
if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
}
#if ENABLED(ULTIPANEL)
/**
* M145: Set the heatup state for a material in the LCD menu
* S (0=PLA, 1=ABS)
* H
* B
* F
*/
inline void gcode_M145() {
uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
if (material >= COUNT(lcd_preheat_hotend_temp)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
}
else {
int v;
if (code_seen('H')) {
v = code_value_int();
lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
}
if (code_seen('F')) {
v = code_value_int();
lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
}
#if TEMP_SENSOR_BED != 0
if (code_seen('B')) {
v = code_value_int();
lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
}
#endif
}
}
#endif // ULTIPANEL
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
/**
* M149: Set temperature units
*/
inline void gcode_M149() {
if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
}
#endif
#if HAS_POWER_SWITCH
/**
* 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 HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if ENABLED(ULTIPANEL)
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
}
#endif // HAS_POWER_SWITCH
/**
* M81: Turn off Power, including Power Supply, if there is one.
*
* This code should ALWAYS be available for EMERGENCY SHUTDOWN!
*/
inline void gcode_M81() {
thermalManager.disable_all_heaters();
stepper.finish_and_disable();
#if FAN_COUNT > 0
#if FAN_COUNT > 1
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
#else
fanSpeeds[0] = 0;
#endif
#endif
delay(1000); // Wait 1 second before switching off
#if HAS_SUICIDE
stepper.synchronize();
suicide();
#elif HAS_POWER_SWITCH
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#if ENABLED(ULTIPANEL)
#if HAS_POWER_SWITCH
powersupply = false;
#endif
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; }
/**
* M83: 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_millis_from_seconds();
}
else {
bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
if (all_axis) {
stepper.finish_and_disable();
}
else {
stepper.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. To disable set zero (default)
*/
inline void gcode_M85() {
if (code_seen('S')) max_inactive_time = code_value_millis_from_seconds();
}
/**
* Multi-stepper support for M92, M201, M203
*/
#if ENABLED(DISTINCT_E_FACTORS)
#define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
#define TARGET_EXTRUDER target_extruder
#else
#define GET_TARGET_EXTRUDER(CMD) NOOP
#define TARGET_EXTRUDER 0
#endif
/**
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
* (Follows the same syntax as G92)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M92() {
GET_TARGET_EXTRUDER(92);
LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
float value = code_value_per_axis_unit(E_AXIS + TARGET_EXTRUDER);
if (value < 20.0) {
float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
planner.max_jerk[E_AXIS] *= factor;
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
}
planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
}
else {
planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
}
}
}
planner.refresh_positioning();
}
/**
* Output the current position to serial
*/
static void report_current_position() {
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]);
stepper.report_positions();
#if IS_SCARA
SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
SERIAL_EOL;
#endif
}
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() { report_current_position(); }
/**
* M115: Capabilities string
*/
inline void gcode_M115() {
SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
#if ENABLED(EXTENDED_CAPABILITIES_REPORT)
// EEPROM (M500, M501)
#if ENABLED(EEPROM_SETTINGS)
SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
#endif
// AUTOREPORT_TEMP (M155)
#if ENABLED(AUTO_REPORT_TEMPERATURES)
SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
#endif
// PROGRESS (M530 S L, M531 , M532 X L)
SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
// AUTOLEVEL (G29)
#if HAS_ABL
SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
#endif
// Z_PROBE (G30)
#if HAS_BED_PROBE
SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
#endif
// SOFTWARE_POWER (G30)
#if HAS_POWER_SWITCH
SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
#endif
// TOGGLE_LIGHTS (M355)
#if HAS_CASE_LIGHT
SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
#endif
// EMERGENCY_PARSER (M108, M112, M410)
#if ENABLED(EMERGENCY_PARSER)
SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
#else
SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
#endif
#endif // EXTENDED_CAPABILITIES_REPORT
}
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
lcd_setstatus(current_command_args);
}
/**
* M119: Output endstop states to serial output
*/
inline void gcode_M119() { endstops.M119(); }
/**
* M120: Enable endstops and set non-homing endstop state to "enabled"
*/
inline void gcode_M120() { endstops.enable_globally(true); }
/**
* M121: Disable endstops and set non-homing endstop state to "disabled"
*/
inline void gcode_M121() { endstops.enable_globally(false); }
#if ENABLED(BLINKM) || ENABLED(RGB_LED)
void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
#if ENABLED(BLINKM)
// This variant uses i2c to send the RGB components to the device.
SendColors(r, g, b);
#else
// This variant uses 3 separate pins for the RGB components.
// If the pins can do PWM then their intensity will be set.
digitalWrite(RGB_LED_R_PIN, r ? HIGH : LOW);
digitalWrite(RGB_LED_G_PIN, g ? HIGH : LOW);
digitalWrite(RGB_LED_B_PIN, b ? HIGH : LOW);
analogWrite(RGB_LED_R_PIN, r);
analogWrite(RGB_LED_G_PIN, g);
analogWrite(RGB_LED_B_PIN, b);
#endif
}
/**
* M150: Set Status LED Color - Use R-U-B for R-G-B
*
* Always sets all 3 components. If a component is left out, set to 0.
*
* Examples:
*
* M150 R255 ; Turn LED red
* M150 R255 U127 ; Turn LED orange (PWM only)
* M150 ; Turn LED off
* M150 R U B ; Turn LED white
*
*/
inline void gcode_M150() {
set_led_color(
code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
);
}
#endif // BLINKM || RGB_LED
/**
* M200: Set filament diameter and set E axis units to cubic units
*
* T - Optional extruder number. Current extruder if omitted.
* D - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
*/
inline void gcode_M200() {
if (get_target_extruder_from_command(200)) return;
if (code_seen('D')) {
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (code_value_linear_units() != 0.0);
if (volumetric_enabled) {
filament_size[target_extruder] = code_value_linear_units();
// make sure all extruders have some sane value for the filament size
for (uint8_t i = 0; i < COUNT(filament_size); i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
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)
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M201() {
GET_TARGET_EXTRUDER(201);
LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_acceleration_mm_per_s2[a] = code_value_axis_units(a);
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
planner.reset_acceleration_rates();
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
}
}
#endif
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
*
* With multiple extruders use T to specify which one.
*/
inline void gcode_M203() {
GET_TARGET_EXTRUDER(203);
LOOP_XYZE(i)
if (code_seen(axis_codes[i])) {
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
planner.max_feedrate_mm_s[a] = code_value_axis_units(a);
}
}
/**
* M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
*
* P = Printing moves
* R = Retract only (no X, Y, Z) moves
* T = Travel (non printing) moves
*
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
*/
inline void gcode_M204() {
if (code_seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
planner.travel_acceleration = planner.acceleration = code_value_linear_units();
SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
}
if (code_seen('P')) {
planner.acceleration = code_value_linear_units();
SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
}
if (code_seen('R')) {
planner.retract_acceleration = code_value_linear_units();
SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
}
if (code_seen('T')) {
planner.travel_acceleration = code_value_linear_units();
SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
}
}
/**
* M205: Set Advanced Settings
*
* S = Min Feed Rate (units/s)
* T = Min Travel Feed Rate (units/s)
* B = Min Segment Time (µs)
* X = Max X Jerk (units/sec^2)
* Y = Max Y Jerk (units/sec^2)
* Z = Max Z Jerk (units/sec^2)
* E = Max E Jerk (units/sec^2)
*/
inline void gcode_M205() {
if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
if (code_seen('B')) planner.min_segment_time = code_value_millis();
if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
}
#if DISABLED(NO_WORKSPACE_OFFSETS)
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
LOOP_XYZ(i)
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value_axis_units(i));
#if ENABLED(MORGAN_SCARA)
if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
#endif
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
}
#endif // NO_WORKSPACE_OFFSETS
#if ENABLED(DELTA)
/**
* M665: Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
* A = Alpha (Tower 1) diagonal rod trim
* B = Beta (Tower 2) diagonal rod trim
* C = Gamma (Tower 3) diagonal rod trim
*/
inline void gcode_M665() {
if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
if (code_seen('R')) delta_radius = code_value_linear_units();
if (code_seen('S')) delta_segments_per_second = code_value_float();
if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units();
if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units();
if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units();
if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units();
if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units();
if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units();
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM(">>> gcode_M666");
}
#endif
LOOP_XYZ(i) {
if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value_axis_units(i);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
}
#endif
}
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< gcode_M666");
}
#endif
}
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
/**
* M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
*/
inline void gcode_M666() {
if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
}
#endif // !DELTA && Z_DUAL_ENDSTOPS
#if ENABLED(FWRETRACT)
/**
* M207: Set firmware retraction values
*
* S[+units] retract_length
* W[+units] retract_length_swap (multi-extruder)
* F[units/min] retract_feedrate_mm_s
* Z[units] retract_zlift
*/
inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
#if EXTRUDERS > 1
if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
#endif
}
/**
* M208: Set firmware un-retraction values
*
* S[+units] retract_recover_length (in addition to M207 S*)
* W[+units] retract_recover_length_swap (multi-extruder)
* F[units/min] retract_recover_feedrate_mm_s
*/
inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
#if EXTRUDERS > 1
if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
#endif
}
/**
* M209: Enable automatic retract (M209 S1)
* For slicers that don't support G10/11, reversed extrude-only
* moves will be classified as retraction.
*/
inline void gcode_M209() {
if (code_seen('S')) {
autoretract_enabled = code_value_bool();
for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
}
}
#endif // FWRETRACT
/**
* M211: Enable, Disable, and/or Report software endstops
*
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
inline void gcode_M211() {
SERIAL_ECHO_START;
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
if (code_seen('S')) soft_endstops_enabled = code_value_bool();
#endif
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
SERIAL_ECHOPGM(MSG_OFF);
#endif
SERIAL_ECHOPGM(MSG_SOFT_MIN);
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
SERIAL_ECHOPGM(MSG_SOFT_MAX);
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
}
#if HOTENDS > 1
/**
* M218 - set hotend offset (in linear units)
*
* T
* X
* Y
* Z - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
*/
inline void gcode_M218() {
if (get_target_extruder_from_command(218) || target_extruder == 0) return;
if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
HOTEND_LOOP() {
SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][e]);
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
#endif
}
SERIAL_EOL;
}
#endif // HOTENDS > 1
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (code_seen('S')) feedrate_percentage = code_value_int();
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
if (get_target_extruder_from_command(221)) return;
if (code_seen('S'))
flow_percentage[target_extruder] = code_value_int();
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P S)
*/
inline void gcode_M226() {
if (code_seen('P')) {
int pin_number = code_value_int(),
pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
int target = LOW;
stepper.synchronize();
pinMode(pin_number, INPUT);
switch (pin_state) {
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while (digitalRead(pin_number) != target) idle();
} // pin_state -1 0 1 && pin_number > -1
} // code_seen('P')
}
#if ENABLED(EXPERIMENTAL_I2CBUS)
/**
* M260: Send data to a I2C slave device
*
* This is a PoC, the formating and arguments for the GCODE will
* change to be more compatible, the current proposal is:
*
* M260 A ; Sets the I2C slave address the data will be sent to
*
* M260 B
* M260 B
* M260 B
*
* M260 S1 ; Send the buffered data and reset the buffer
* M260 R1 ; Reset the buffer without sending data
*
*/
inline void gcode_M260() {
// Set the target address
if (code_seen('A')) i2c.address(code_value_byte());
// Add a new byte to the buffer
if (code_seen('B')) i2c.addbyte(code_value_byte());
// Flush the buffer to the bus
if (code_seen('S')) i2c.send();
// Reset and rewind the buffer
else if (code_seen('R')) i2c.reset();
}
/**
* M261: Request X bytes from I2C slave device
*
* Usage: M261 A B
*/
inline void gcode_M261() {
if (code_seen('A')) i2c.address(code_value_byte());
uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
i2c.relay(bytes);
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLN("Bad i2c request");
}
}
#endif // EXPERIMENTAL_I2CBUS
#if HAS_SERVOS
/**
* M280: Get or set servo position. P [S]
*/
inline void gcode_M280() {
if (!code_seen('P')) return;
int servo_index = code_value_int();
if (servo_index >= 0 && servo_index < NUM_SERVOS) {
if (code_seen('S'))
MOVE_SERVO(servo_index, code_value_int());
else {
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" Servo ", servo_index);
SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
}
}
else {
SERIAL_ERROR_START;
SERIAL_ECHOPAIR("Servo ", servo_index);
SERIAL_ECHOLNPGM(" out of range");
}
}
#endif // HAS_SERVOS
#if HAS_BUZZER
/**
* M300: Play beep sound S P
*/
inline void gcode_M300() {
uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
// Limits the tone duration to 0-5 seconds.
NOMORE(duration, 5000);
BUZZ(duration, frequency);
}
#endif // HAS_BUZZER
#if ENABLED(PIDTEMP)
/**
* M301: Set PID parameters P I D (and optionally C, L)
*
* P[float] Kp term
* I[float] Ki term (unscaled)
* D[float] Kd term (unscaled)
*
* With PID_EXTRUSION_SCALING:
*
* C[float] Kc term
* L[float] LPQ length
*/
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_int() : 0; // extruder being updated
if (e < HOTENDS) { // catch bad input value
if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
#if ENABLED(PID_EXTRUSION_SCALING)
if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
if (code_seen('L')) lpq_len = code_value_float();
NOMORE(lpq_len, LPQ_MAX_LEN);
#endif
thermalManager.updatePID();
SERIAL_ECHO_START;
#if ENABLED(PID_PARAMS_PER_HOTEND)
SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
#endif // PID_PARAMS_PER_HOTEND
SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
#if ENABLED(PID_EXTRUSION_SCALING)
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
#endif
SERIAL_EOL;
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
}
}
#endif // PIDTEMP
#if ENABLED(PIDTEMPBED)
inline void gcode_M304() {
if (code_seen('P')) thermalManager.bedKp = code_value_float();
if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
thermalManager.updatePID();
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
}
#endif // PIDTEMPBED
#if defined(CHDK) || HAS_PHOTOGRAPH
/**
* 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 HAS_PHOTOGRAPH
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif // !CHDK && HAS_PHOTOGRAPH
}
#endif // CHDK || PHOTOGRAPH_PIN
#if HAS_LCD_CONTRAST
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
if (code_seen('C')) set_lcd_contrast(code_value_int());
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_EOL;
}
#endif // HAS_LCD_CONTRAST
#if ENABLED(PREVENT_COLD_EXTRUSION)
/**
* M302: Allow cold extrudes, or set the minimum extrude temperature
*
* S sets the minimum extrude temperature
* P enables (1) or disables (0) cold extrusion
*
* Examples:
*
* M302 ; report current cold extrusion state
* M302 P0 ; enable cold extrusion checking
* M302 P1 ; disables cold extrusion checking
* M302 S0 ; always allow extrusion (disables checking)
* M302 S170 ; only allow extrusion above 170
* M302 S170 P1 ; set min extrude temp to 170 but leave disabled
*/
inline void gcode_M302() {
bool seen_S = code_seen('S');
if (seen_S) {
thermalManager.extrude_min_temp = code_value_temp_abs();
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
}
if (code_seen('P'))
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
else if (!seen_S) {
// Report current state
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
SERIAL_ECHOLNPGM("C)");
}
}
#endif // PREVENT_COLD_EXTRUSION
/**
* M303: PID relay autotune
*
* S sets the target temperature. (default 150C)
* E (-1 for the bed) (default 0)
* C
* U with a non-zero value will apply the result to current settings
*/
inline void gcode_M303() {
#if HAS_PID_HEATING
int e = code_seen('E') ? code_value_int() : 0;
int c = code_seen('C') ? code_value_int() : 5;
bool u = code_seen('U') && code_value_bool();
float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
if (e >= 0 && e < HOTENDS)
target_extruder = e;
KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
thermalManager.PID_autotune(temp, e, c, u);
KEEPALIVE_STATE(IN_HANDLER);
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
#endif
}
#if ENABLED(MORGAN_SCARA)
bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
if (IsRunning()) {
forward_kinematics_SCARA(delta_a, delta_b);
destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination();
return true;
}
return false;
}
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLNPGM(" Cal: Theta 0");
return SCARA_move_to_cal(0, 120);
}
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLNPGM(" Cal: Theta 90");
return SCARA_move_to_cal(90, 130);
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
SERIAL_ECHOLNPGM(" Cal: Psi 0");
return SCARA_move_to_cal(60, 180);
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
SERIAL_ECHOLNPGM(" Cal: Psi 90");
return SCARA_move_to_cal(50, 90);
}
/**
* M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
return SCARA_move_to_cal(45, 135);
}
#endif // SCARA
#if ENABLED(EXT_SOLENOID)
void enable_solenoid(uint8_t num) {
switch (num) {
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break;
#if HAS_SOLENOID_1
case 1:
OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_2
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
#if HAS_SOLENOID_3
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
default:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break;
}
}
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
OUT_WRITE(SOL1_PIN, LOW);
OUT_WRITE(SOL2_PIN, LOW);
OUT_WRITE(SOL3_PIN, LOW);
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
inline void gcode_M400() { stepper.synchronize(); }
#if HAS_BED_PROBE
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() { DEPLOY_PROBE(); }
/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() { STOW_PROBE(); }
#endif // HAS_BED_PROBE
#if ENABLED(FILAMENT_WIDTH_SENSOR)
/**
* M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
*/
inline void gcode_M404() {
if (code_seen('W')) {
filament_width_nominal = code_value_linear_units();
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
}
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
// This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
// everything else, it uses code_value_int() instead of code_value_linear_units().
if (code_seen('D')) meas_delay_cm = code_value_int();
NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
int temp_ratio = thermalManager.widthFil_to_size_ratio();
for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
measurement_delay[i] = temp_ratio - 100; // Subtract 100 to scale within a signed byte
filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
}
filament_sensor = true;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(flow_percentage[active_extruder]);
}
/**
* 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_WIDTH_SENSOR
void quickstop_stepper() {
stepper.quick_stop();
stepper.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
#if PLANNER_LEVELING
/**
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
* S[bool] Turns leveling on or off
* Z[height] Sets the Z fade height (0 or none to disable)
* V[bool] Verbose - Print the levelng grid
*/
inline void gcode_M420() {
bool to_enable = false;
if (code_seen('S')) {
to_enable = code_value_bool();
set_bed_leveling_enabled(to_enable);
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
#endif
const bool new_status =
#if ENABLED(MESH_BED_LEVELING)
mbl.active()
#else
planner.abl_enabled
#endif
;
if (to_enable && !new_status) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
}
SERIAL_ECHO_START;
SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
// V to print the matrix or mesh
if (code_seen('V')) {
#if ABL_PLANAR
planner.bed_level_matrix.debug("Bed Level Correction Matrix:");
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (bilinear_grid_spacing[X_AXIS]) {
print_bilinear_leveling_grid();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_print();
#endif
}
#elif ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
mbl_mesh_report();
}
#endif
}
}
#endif
#if ENABLED(MESH_BED_LEVELING)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
* Use either 'M421 X Y Z' or 'M421 I J Z'
*/
inline void gcode_M421() {
int8_t px = 0, py = 0;
float z = 0;
bool hasX, hasY, hasZ, hasI, hasJ;
if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
if (hasX && hasY && hasZ) {
if (px >= 0 && py >= 0)
mbl.set_z(px, py, z);
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
}
else if (hasI && hasJ && hasZ) {
if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
mbl.set_z(px, py, z);
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
*
* M421 I J Z
*/
inline void gcode_M421() {
int8_t px = 0, py = 0;
float z = 0;
bool hasI, hasJ, hasZ;
if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
if (hasI && hasJ && hasZ) {
if (px >= 0 && px < ABL_GRID_MAX_POINTS_X && py >= 0 && py < ABL_GRID_MAX_POINTS_X) {
bed_level_grid[px][py] = z;
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
}
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS)
/**
* M428: Set home_offset based on the distance between the
* current_position and the nearest "reference point."
* If an axis is past center its endstop position
* is the reference-point. Otherwise it uses 0. This allows
* the Z offset to be set near the bed when using a max endstop.
*
* M428 can't be used more than 2cm away from 0 or an endstop.
*
* Use M206 to set these values directly.
*/
inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
}
else {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
LCD_ALERTMESSAGEPGM("Err: Too far!");
BUZZ(200, 40);
err = true;
break;
}
}
}
if (!err) {
SYNC_PLAN_POSITION_KINEMATIC();
report_current_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
BUZZ(200, 659);
BUZZ(200, 698);
}
}
#endif // NO_WORKSPACE_OFFSETS
/**
* 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_bool());
}
#if ENABLED(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')) stepper.abort_on_endstop_hit = code_value_bool();
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
#if HAS_BED_PROBE
inline void gcode_M851() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_CHAR(' ');
if (code_seen('Z')) {
float value = code_value_axis_units(Z_AXIS);
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
zprobe_zoffset = value;
SERIAL_ECHO(zprobe_zoffset);
}
else {
SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_CHAR(' ');
SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
}
}
else {
SERIAL_ECHOPAIR(": ", zprobe_zoffset);
}
SERIAL_EOL;
}
#endif // HAS_BED_PROBE
#if ENABLED(FILAMENT_CHANGE_FEATURE)
millis_t next_buzz = 0;
unsigned long int runout_beep = 0;
void filament_change_beep() {
const millis_t ms = millis();
if (ELAPSED(ms, next_buzz)) {
if (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS + 5) { // Only beep as long as we're supposed to
next_buzz = ms + (runout_beep <= FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS ? 2500 : 400);
BUZZ(300, 2000);
runout_beep++;
}
}
}
static bool busy_doing_M600 = false;
/**
* M600: Pause for filament change
*
* E[distance] - Retract the filament this far (negative value)
* Z[distance] - Move the Z axis by this distance
* X[position] - Move to this X position, with Y
* Y[position] - Move to this Y position, with X
* L[distance] - Retract distance for removal (manual reload)
*
* Default values are used for omitted arguments.
*
*/
inline void gcode_M600() {
if (!DEBUGGING(DRYRUN) && thermalManager.tooColdToExtrude(active_extruder)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
return;
}
busy_doing_M600 = true; // Stepper Motors can't timeout when this is set
// Pause the print job timer
bool job_running = print_job_timer.isRunning();
print_job_timer.pause();
// Show initial message and wait for synchronize steppers
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
stepper.synchronize();
float lastpos[NUM_AXIS];
// Save current position of all axes
LOOP_XYZE(i)
lastpos[i] = destination[i] = current_position[i];
// Define runplan for move axes
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
#else
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
#endif
// Initial retract before move to filament change position
destination[E_AXIS] += code_seen('E') ? code_value_axis_units(E_AXIS) : 0
#if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
- (FILAMENT_CHANGE_RETRACT_LENGTH)
#endif
;
RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
// Lift Z axis
float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
#if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
FILAMENT_CHANGE_Z_ADD
#else
0
#endif
;
if (z_lift > 0) {
destination[Z_AXIS] += z_lift;
NOMORE(destination[Z_AXIS], Z_MAX_POS);
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
}
// Move XY axes to filament exchange position
if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
#ifdef FILAMENT_CHANGE_X_POS
else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
#endif
if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
#ifdef FILAMENT_CHANGE_Y_POS
else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
#endif
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
stepper.synchronize();
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
idle();
// Unload filament
destination[E_AXIS] += code_seen('L') ? code_value_axis_units(E_AXIS) : 0
#if FILAMENT_CHANGE_UNLOAD_LENGTH > 0
- (FILAMENT_CHANGE_UNLOAD_LENGTH)
#endif
;
RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
// Synchronize steppers and then disable extruders steppers for manual filament changing
stepper.synchronize();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
delay(100);
millis_t nozzle_timeout = millis() + FILAMENT_CHANGE_NOZZLE_TIMEOUT * 1000L;
bool nozzle_timed_out = false;
float temps[4];
// Wait for filament insert by user and press button
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
idle();
wait_for_user = true; // LCD click or M108 will clear this
next_buzz = 0;
runout_beep = 0;
HOTEND_LOOP() temps[e] = thermalManager.target_temperature[e]; // Save nozzle temps
while (wait_for_user) {
millis_t current_ms = millis();
if (nozzle_timed_out)
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
#if HAS_BUZZER
filament_change_beep();
#endif
if (current_ms >= nozzle_timeout) {
if (!nozzle_timed_out) {
nozzle_timed_out = true; // on nozzle timeout remember the nozzles need to be reheated
HOTEND_LOOP() thermalManager.setTargetHotend(0, e); // Turn off all the nozzles
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
}
}
idle(true);
}
if (nozzle_timed_out) // Turn nozzles back on if they were turned off
HOTEND_LOOP() thermalManager.setTargetHotend(temps[e], e);
// Show "wait for heating"
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
wait_for_heatup = true;
while (wait_for_heatup) {
idle();
wait_for_heatup = false;
HOTEND_LOOP() {
if (abs(thermalManager.degHotend(e) - temps[e]) > 3) {
wait_for_heatup = true;
break;
}
}
}
// Show "insert filament"
if (nozzle_timed_out)
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
wait_for_user = true; // LCD click or M108 will clear this
next_buzz = 0;
runout_beep = 0;
while (wait_for_user && nozzle_timed_out) {
#if HAS_BUZZER
filament_change_beep();
#endif
idle(true);
}
// Show "load" message
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
// Load filament
destination[E_AXIS] += code_seen('L') ? -code_value_axis_units(E_AXIS) : 0
#if FILAMENT_CHANGE_LOAD_LENGTH > 0
+ FILAMENT_CHANGE_LOAD_LENGTH
#endif
;
RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
stepper.synchronize();
#if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
do {
// "Wait for filament extrude"
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
// Extrude filament to get into hotend
destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
stepper.synchronize();
// Show "Extrude More" / "Resume" menu and wait for reply
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = false;
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
KEEPALIVE_STATE(IN_HANDLER);
// Keep looping if "Extrude More" was selected
} while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_EXTRUDE_MORE);
#endif
// "Wait for print to resume"
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
// Set extruder to saved position
destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
planner.set_e_position_mm(current_position[E_AXIS]);
#if IS_KINEMATIC
// Move XYZ to starting position
planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
#else
// Move XY to starting position, then Z
destination[X_AXIS] = lastpos[X_AXIS];
destination[Y_AXIS] = lastpos[Y_AXIS];
RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
destination[Z_AXIS] = lastpos[Z_AXIS];
RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
#endif
stepper.synchronize();
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
filament_ran_out = false;
#endif
// Show status screen
lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
// Resume the print job timer if it was running
if (job_running) print_job_timer.start();
busy_doing_M600 = false; // Allow Stepper Motors to be turned off during inactivity
}
#endif // FILAMENT_CHANGE_FEATURE
#if ENABLED(DUAL_X_CARRIAGE)
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
* units x-offset and an optional differential hotend temperature of
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
stepper.synchronize();
if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
break;
case DXC_DUPLICATION_MODE:
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_CHAR(' ');
SERIAL_ECHO(hotend_offset[X_AXIS][0]);
SERIAL_CHAR(',');
SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
SERIAL_CHAR(' ');
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_CHAR(',');
SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
inline void gcode_M605() {
stepper.synchronize();
extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
SERIAL_ECHO_START;
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
}
#endif // DUAL_NOZZLE_DUPLICATION_MODE
#if ENABLED(LIN_ADVANCE)
/**
* M905: Set advance factor
*/
inline void gcode_M905() {
stepper.synchronize();
const float newK = code_seen('K') ? code_value_float() : -1,
newD = code_seen('D') ? code_value_float() : -1,
newW = code_seen('W') ? code_value_float() : -1,
newH = code_seen('H') ? code_value_float() : -1;
if (newK >= 0.0) planner.set_extruder_advance_k(newK);
SERIAL_ECHO_START;
SERIAL_ECHOLNPAIR("Advance factor: ", planner.get_extruder_advance_k());
if (newD >= 0 || newW >= 0 || newH >= 0) {
const float ratio = (!newD || !newW || !newH) ? 0 : (newW * newH) / (sq(newD * 0.5) * M_PI);
planner.set_advance_ed_ratio(ratio);
SERIAL_ECHO_START;
SERIAL_ECHOPGM("E/D ratio: ");
if (ratio) SERIAL_ECHOLN(ratio); else SERIAL_ECHOLNPGM("Automatic");
}
}
#endif // LIN_ADVANCE
#if ENABLED(HAVE_TMC2130)
static void tmc2130_print_current(const int mA, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis driver current: ");
SERIAL_ECHOLN(mA);
}
static void tmc2130_set_current(const int mA, TMC2130Stepper &st, const char name) {
tmc2130_print_current(mA, name);
st.setCurrent(mA, 0.11, 0.5);
}
static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
tmc2130_print_current(st.getCurrent(), name);
}
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
SERIAL_CHAR(name);
SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
}
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
st.clear_otpw();
SERIAL_CHAR(name);
SERIAL_ECHOLNPGM(" prewarn flag cleared");
}
/**
* M906: Set motor current in milliamps using axis codes X, Y, Z, E
*
* Report driver currents when no axis specified
*/
inline void gcode_M906() {
uint16_t values[NUM_AXIS];
LOOP_XYZE(i)
values[i] = code_seen(axis_codes[i]) ? code_value_int() : 0;
#if ENABLED(X_IS_TMC2130)
if (values[X_AXIS]) tmc2130_set_current(values[X_AXIS], stepperX, 'X');
else tmc2130_get_current(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (values[Y_AXIS]) tmc2130_set_current(values[Y_AXIS], stepperY, 'Y');
else tmc2130_get_current(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (values[Z_AXIS]) tmc2130_set_current(values[Z_AXIS], stepperZ, 'Z');
else tmc2130_get_current(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (values[E_AXIS]) tmc2130_set_current(values[E_AXIS], stepperE0, 'E');
else tmc2130_get_current(stepperE0, 'E');
#endif
}
/**
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag
* The flag is held by the library and persist until manually cleared by M912
*/
inline void gcode_M911() {
#if ENABLED(X_IS_TMC2130)
tmc2130_report_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
tmc2130_report_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
tmc2130_report_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
tmc2130_report_otpw(stepperE0, 'E');
#endif
}
/**
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
*/
inline void gcode_M912() {
#if ENABLED(X_IS_TMC2130)
if (code_seen('X')) tmc2130_clear_otpw(stepperX, 'X');
#endif
#if ENABLED(Y_IS_TMC2130)
if (code_seen('Y')) tmc2130_clear_otpw(stepperY, 'Y');
#endif
#if ENABLED(Z_IS_TMC2130)
if (code_seen('Z')) tmc2130_clear_otpw(stepperZ, 'Z');
#endif
#if ENABLED(E0_IS_TMC2130)
if (code_seen('E')) tmc2130_clear_otpw(stepperE0, 'E');
#endif
}
#endif // HAVE_TMC2130
/**
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if HAS_DIGIPOTSS
LOOP_XYZE(i)
if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
if (code_seen('B')) stepper.digipot_current(4, code_value_int());
if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
#elif HAS_MOTOR_CURRENT_PWM
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
if (code_seen('X')) stepper.digipot_current(0, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
#endif
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
if (code_seen('E')) stepper.digipot_current(2, code_value_int());
#endif
#endif
#if ENABLED(DIGIPOT_I2C)
// this one uses actual amps in floating point
LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
// 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_float());
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
if (code_seen('S')) {
float dac_percent = code_value_float();
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
}
LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
#endif
}
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
/**
* M908: Control digital trimpot directly (M908 P S)
*/
inline void gcode_M908() {
#if HAS_DIGIPOTSS
stepper.digitalPotWrite(
code_seen('P') ? code_value_int() : 0,
code_seen('S') ? code_value_int() : 0
);
#endif
#ifdef DAC_STEPPER_CURRENT
dac_current_raw(
code_seen('P') ? code_value_byte() : -1,
code_seen('S') ? code_value_ushort() : 0
);
#endif
}
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
inline void gcode_M909() { dac_print_values(); }
inline void gcode_M910() { dac_commit_eeprom(); }
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if HAS_MICROSTEPS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
stepper.microstep_readings();
}
/**
* 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 (code_seen('S')) switch (code_value_byte()) {
case 1:
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
break;
case 2:
LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
break;
}
stepper.microstep_readings();
}
#endif // HAS_MICROSTEPS
#if HAS_CASE_LIGHT
uint8_t case_light_brightness = 255;
void update_case_light() {
digitalWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
}
#endif // HAS_CASE_LIGHT
/**
* M355: Turn case lights on/off and set brightness
*
* S Turn case light on or off
* P Set case light brightness (PWM pin required)
*/
inline void gcode_M355() {
#if HAS_CASE_LIGHT
if (code_seen('P')) case_light_brightness = code_value_byte();
if (code_seen('S')) case_light_on = code_value_bool();
update_case_light();
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Case lights ");
case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
#endif // HAS_CASE_LIGHT
}
#if ENABLED(MIXING_EXTRUDER)
/**
* M163: Set a single mix factor for a mixing extruder
* This is called "weight" by some systems.
*
* S[index] The channel index to set
* P[float] The mix value
*
*/
inline void gcode_M163() {
int mix_index = code_seen('S') ? code_value_int() : 0;
if (mix_index < MIXING_STEPPERS) {
float mix_value = code_seen('P') ? code_value_float() : 0.0;
NOLESS(mix_value, 0.0);
mixing_factor[mix_index] = RECIPROCAL(mix_value);
}
}
#if MIXING_VIRTUAL_TOOLS > 1
/**
* M164: Store the current mix factors as a virtual tool.
*
* S[index] The virtual tool to store
*
*/
inline void gcode_M164() {
int tool_index = code_seen('S') ? code_value_int() : 0;
if (tool_index < MIXING_VIRTUAL_TOOLS) {
normalize_mix();
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
}
}
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
/**
* M165: Set multiple mix factors for a mixing extruder.
* Factors that are left out will be set to 0.
* All factors together must add up to 1.0.
*
* A[factor] Mix factor for extruder stepper 1
* B[factor] Mix factor for extruder stepper 2
* C[factor] Mix factor for extruder stepper 3
* D[factor] Mix factor for extruder stepper 4
* H[factor] Mix factor for extruder stepper 5
* I[factor] Mix factor for extruder stepper 6
*
*/
inline void gcode_M165() { gcode_get_mix(); }
#endif
#endif // MIXING_EXTRUDER
/**
* M999: Restart after being stopped
*
* Default behaviour is to flush the serial buffer and request
* a resend to the host starting on the last N line received.
*
* Sending "M999 S1" will resume printing without flushing the
* existing command buffer.
*
*/
inline void gcode_M999() {
Running = true;
lcd_reset_alert_level();
if (code_seen('S') && code_value_bool()) return;
// gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
}
#if ENABLED(SWITCHING_EXTRUDER)
inline void move_extruder_servo(uint8_t e) {
const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
}
#endif
inline void invalid_extruder_error(const uint8_t &e) {
SERIAL_ECHO_START;
SERIAL_CHAR('T');
SERIAL_PROTOCOL_F(e, DEC);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
return invalid_extruder_error(tmp_extruder);
// T0-Tnnn: Switch virtual tool by changing the mix
for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
#else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
#if HOTENDS > 1
if (tmp_extruder >= EXTRUDERS)
return invalid_extruder_error(tmp_extruder);
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
if (tmp_extruder != active_extruder) {
if (!no_move && axis_unhomed_error(true, true, true)) {
SERIAL_ECHOLNPGM("No move on toolchange");
no_move = true;
}
// Save current position to destination, for use later
set_destination_to_current();
#if ENABLED(DUAL_X_CARRIAGE)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Dual X Carriage Mode ");
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
}
}
#endif
const float xhome = x_home_pos(active_extruder);
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
&& IsRunning()
&& (delayed_move_time || current_position[X_AXIS] != xhome)
) {
float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
#if ENABLED(max_software_endstops)
NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Raise to ", raised_z);
SERIAL_ECHOLNPAIR("MoveX to ", xhome);
SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
}
#endif
// Park old head: 1) raise 2) move to park position 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? current_position[X_AXIS] : xhome,
current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_z,
current_position[E_AXIS],
planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
active_extruder
);
stepper.synchronize();
}
// Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
// Activate the new extruder
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
set_axis_is_at_home(X_AXIS);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
#endif
// Only when auto-parking are carriages safe to move
if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
// New current position is the position of the activated extruder
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
// Save the inactive extruder's position (from the old current_position)
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
break;
case DXC_AUTO_PARK_MODE:
// record raised toolhead position for use by unpark
COPY(raised_parked_position, current_position);
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
#if ENABLED(max_software_endstops)
NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
active_extruder_parked = true;
delayed_move_time = 0;
break;
case DXC_DUPLICATION_MODE:
// If the new extruder is the left one, set it "parked"
// This triggers the second extruder to move into the duplication position
active_extruder_parked = (active_extruder == 0);
if (active_extruder_parked)
current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
extruder_duplication_enabled = false;
break;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
DEBUG_POS("New extruder (parked)", current_position);
}
#endif
// No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
#else // !DUAL_X_CARRIAGE
#if ENABLED(SWITCHING_EXTRUDER)
// <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
// Always raise by some amount (destination copied from current_position earlier)
destination[Z_AXIS] += z_raise;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
move_extruder_servo(active_extruder);
delay(500);
// Move back down, if needed
if (z_raise != z_diff) {
destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
stepper.synchronize();
}
#endif
/**
* Set current_position to the position of the new nozzle.
* Offsets are based on linear distance, so we need to get
* the resulting position in coordinate space.
*
* - With grid or 3-point leveling, offset XYZ by a tilted vector
* - With mesh leveling, update Z for the new position
* - Otherwise, just use the raw linear distance
*
* Software endstops are altered here too. Consider a case where:
* E0 at X=0 ... E1 at X=10
* When we switch to E1 now X=10, but E1 can't move left.
* To express this we apply the change in XY to the software endstops.
* E1 can move farther right than E0, so the right limit is extended.
*
* Note that we don't adjust the Z software endstops. Why not?
* Consider a case where Z=0 (here) and switching to E1 makes Z=1
* because the bed is 1mm lower at the new position. As long as
* the first nozzle is out of the way, the carriage should be
* allowed to move 1mm lower. This technically "breaks" the
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
#if ABL_PLANAR
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
0),
act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][active_extruder],
0),
offset_vec = tmp_offset_vec - act_offset_vec;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
tmp_offset_vec.debug("tmp_offset_vec");
act_offset_vec.debug("act_offset_vec");
offset_vec.debug("offset_vec (BEFORE)");
}
#endif
offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
#endif
// Adjustments to the current position
float xydiff[2] = { offset_vec.x, offset_vec.y };
current_position[Z_AXIS] += offset_vec.z;
#else // !ABL_PLANAR
float xydiff[2] = {
hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
};
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
#endif
float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
z1 = current_position[Z_AXIS], z2 = z1;
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
planner.apply_leveling(x2, y2, z2);
current_position[Z_AXIS] += z2 - z1;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING))
SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
#endif
}
#endif // MESH_BED_LEVELING
#endif // !HAS_ABL
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
SERIAL_ECHOLNPGM(" }");
}
#endif
// The newly-selected extruder XY is actually at...
current_position[X_AXIS] += xydiff[X_AXIS];
current_position[Y_AXIS] += xydiff[Y_AXIS];
#if DISABLED(NO_WORKSPACE_OFFSETS) || ENABLED(DUAL_X_CARRIAGE)
for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
#if DISABLED(NO_WORKSPACE_OFFSETS)
position_shift[i] += xydiff[i];
#endif
update_software_endstops((AxisEnum)i);
}
#endif
// Set the new active extruder
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
#endif
// Tell the planner the new "current position"
SYNC_PLAN_POSITION_KINEMATIC();
// Move to the "old position" (move the extruder into place)
if (!no_move && IsRunning()) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
#endif
prepare_move_to_destination();
}
} // (tmp_extruder != active_extruder)
stepper.synchronize();
#if ENABLED(EXT_SOLENOID)
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
feedrate_mm_s = old_feedrate_mm_s;
#else // HOTENDS <= 1
// Set the new active extruder
active_extruder = tmp_extruder;
UNUSED(fr_mm_s);
UNUSED(no_move);
#endif // HOTENDS <= 1
SERIAL_ECHO_START;
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
#endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
}
/**
* T0-T3: Switch tool, usually switching extruders
*
* F[units/min] Set the movement feedrate
* S1 Don't move the tool in XY after change
*/
inline void gcode_T(uint8_t tmp_extruder) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
SERIAL_CHAR(')');
SERIAL_EOL;
DEBUG_POS("BEFORE", current_position);
}
#endif
#if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
tool_change(tmp_extruder);
#elif HOTENDS > 1
tool_change(
tmp_extruder,
code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
(tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
);
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
DEBUG_POS("AFTER", current_position);
SERIAL_ECHOLNPGM("<<< gcode_T");
}
#endif
}
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void process_next_command() {
current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START;
SERIAL_ECHOLN(current_command);
}
// Sanitize the current command:
// - Skip leading spaces
// - Bypass N[-0-9][0-9]*[ ]*
// - Overwrite * with nul to mark the end
while (*current_command == ' ') ++current_command;
if (*current_command == 'N' && NUMERIC_SIGNED(current_command[1])) {
current_command += 2; // skip N[-0-9]
while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
while (*current_command == ' ') ++current_command; // skip [ ]*
}
char* starpos = strchr(current_command, '*'); // * should always be the last parameter
if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
char *cmd_ptr = current_command;
// Get the command code, which must be G, M, or T
char command_code = *cmd_ptr++;
// Skip spaces to get the numeric part
while (*cmd_ptr == ' ') cmd_ptr++;
// Allow for decimal point in command
#if ENABLED(G38_PROBE_TARGET)
uint8_t subcode = 0;
#endif
uint16_t codenum = 0; // define ahead of goto
// Bail early if there's no code
bool code_is_good = NUMERIC(*cmd_ptr);
if (!code_is_good) goto ExitUnknownCommand;
// Get and skip the code number
do {
codenum = (codenum * 10) + (*cmd_ptr - '0');
cmd_ptr++;
} while (NUMERIC(*cmd_ptr));
// Allow for decimal point in command
#if ENABLED(G38_PROBE_TARGET)
if (*cmd_ptr == '.') {
cmd_ptr++;
while (NUMERIC(*cmd_ptr))
subcode = (subcode * 10) + (*cmd_ptr++ - '0');
}
#endif
// Skip all spaces to get to the first argument, or nul
while (*cmd_ptr == ' ') cmd_ptr++;
// The command's arguments (if any) start here, for sure!
current_command_args = cmd_ptr;
KEEPALIVE_STATE(IN_HANDLER);
// Handle a known G, M, or T
switch (command_code) {
case 'G': switch (codenum) {
// G0, G1
case 0:
case 1:
#if IS_SCARA
gcode_G0_G1(codenum == 0);
#else
gcode_G0_G1();
#endif
break;
// G2, G3
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(codenum == 2);
break;
#endif
// G4 Dwell
case 4:
gcode_G4();
break;
#if ENABLED(BEZIER_CURVE_SUPPORT)
// G5
case 5: // G5 - Cubic B_spline
gcode_G5();
break;
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(FWRETRACT)
case 10: // G10: retract
case 11: // G11: retract_recover
gcode_G10_G11(codenum == 10);
break;
#endif // FWRETRACT
#if ENABLED(NOZZLE_CLEAN_FEATURE)
case 12:
gcode_G12(); // G12: Nozzle Clean
break;
#endif // NOZZLE_CLEAN_FEATURE
#if ENABLED(INCH_MODE_SUPPORT)
case 20: //G20: Inch Mode
gcode_G20();
break;
case 21: //G21: MM Mode
gcode_G21();
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: // G27: Nozzle Park
gcode_G27();
break;
#endif // NOZZLE_PARK_FEATURE
case 28: // G28: Home all axes, one at a time
gcode_G28();
break;
#if PLANNER_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
gcode_G29();
break;
#endif // PLANNER_LEVELING
#if HAS_BED_PROBE
case 30: // G30 Single Z probe
gcode_G30();
break;
#if ENABLED(Z_PROBE_SLED)
case 31: // G31: dock the sled
gcode_G31();
break;
case 32: // G32: undock the sled
gcode_G32();
break;
#endif // Z_PROBE_SLED
#endif // HAS_BED_PROBE
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2 & G38.3
if (subcode == 2 || subcode == 3)
gcode_G38(subcode == 2);
break;
#endif
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
gcode_G92();
break;
}
break;
case 'M': switch (codenum) {
#if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
case 0: // M0: Unconditional stop - Wait for user button press on LCD
case 1: // M1: Conditional stop - Wait for user button press on LCD
gcode_M0_M1();
break;
#endif // ULTIPANEL
case 17: // M17: Enable all stepper motors
gcode_M17();
break;
#if ENABLED(SDSUPPORT)
case 20: // M20: list SD card
gcode_M20(); break;
case 21: // M21: init SD card
gcode_M21(); break;
case 22: // M22: release SD card
gcode_M22(); break;
case 23: // M23: Select file
gcode_M23(); break;
case 24: // M24: Start SD print
gcode_M24(); break;
case 25: // M25: Pause SD print
gcode_M25(); break;
case 26: // M26: Set SD index
gcode_M26(); break;
case 27: // M27: Get SD status
gcode_M27(); break;
case 28: // M28: Start SD write
gcode_M28(); break;
case 29: // M29: Stop SD write
gcode_M29(); break;
case 30: // M30 Delete File
gcode_M30(); break;
case 32: // M32: Select file and start SD print
gcode_M32(); break;
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
case 33: // M33: Get the long full path to a file or folder
gcode_M33(); break;
#endif
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
case 34: //M34 - Set SD card sorting options
gcode_M34(); break;
#endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
case 928: // M928: Start SD write
gcode_M928(); break;
#endif //SDSUPPORT
case 31: // M31: Report time since the start of SD print or last M109
gcode_M31(); break;
case 42: // M42: Change pin state
gcode_M42(); break;
#if ENABLED(PINS_DEBUGGING)
case 43: // M43: Read pin state
gcode_M43(); break;
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: // M48: Z probe repeatability test
gcode_M48();
break;
#endif // Z_MIN_PROBE_REPEATABILITY_TEST
case 75: // M75: Start print timer
gcode_M75(); break;
case 76: // M76: Pause print timer
gcode_M76(); break;
case 77: // M77: Stop print timer
gcode_M77(); break;
#if ENABLED(PRINTCOUNTER)
case 78: // M78: Show print statistics
gcode_M78(); break;
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
case 100: // M100: Free Memory Report
gcode_M100();
break;
#endif
case 104: // M104: Set hot end temperature
gcode_M104();
break;
case 110: // M110: Set Current Line Number
gcode_M110();
break;
case 111: // M111: Set debug level
gcode_M111();
break;
#if DISABLED(EMERGENCY_PARSER)
case 108: // M108: Cancel Waiting
gcode_M108();
break;
case 112: // M112: Emergency Stop
gcode_M112();
break;
case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410();
break;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: // M113: Set Host Keepalive interval
gcode_M113();
break;
#endif
case 140: // M140: Set bed temperature
gcode_M140();
break;
case 105: // M105: Report current temperature
gcode_M105();
KEEPALIVE_STATE(NOT_BUSY);
return; // "ok" already printed
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
case 155: // M155: Set temperature auto-report interval
gcode_M155();
break;
#endif
case 109: // M109: Wait for hotend temperature to reach target
gcode_M109();
break;
#if HAS_TEMP_BED
case 190: // M190: Wait for bed temperature to reach target
gcode_M190();
break;
#endif // HAS_TEMP_BED
#if FAN_COUNT > 0
case 106: // M106: Fan On
gcode_M106();
break;
case 107: // M107: Fan Off
gcode_M107();
break;
#endif // FAN_COUNT > 0
#if ENABLED(BARICUDA)
// PWM for HEATER_1_PIN
#if HAS_HEATER_1
case 126: // M126: valve open
gcode_M126();
break;
case 127: // M127: valve closed
gcode_M127();
break;
#endif // HAS_HEATER_1
// PWM for HEATER_2_PIN
#if HAS_HEATER_2
case 128: // M128: valve open
gcode_M128();
break;
case 129: // M129: valve closed
gcode_M129();
break;
#endif // HAS_HEATER_2
#endif // BARICUDA
#if HAS_POWER_SWITCH
case 80: // M80: Turn on Power Supply
gcode_M80();
break;
#endif // HAS_POWER_SWITCH
case 81: // M81: Turn off Power, including Power Supply, if possible
gcode_M81();
break;
case 82: // M83: Set E axis normal mode (same as other axes)
gcode_M82();
break;
case 83: // M83: Set E axis relative mode
gcode_M83();
break;
case 18: // M18 => M84
case 84: // M84: Disable all steppers or set timeout
gcode_M18_M84();
break;
case 85: // M85: Set inactivity stepper shutdown timeout
gcode_M85();
break;
case 92: // M92: Set the steps-per-unit for one or more axes
gcode_M92();
break;
case 114: // M114: Report current position
gcode_M114();
break;
case 115: // M115: Report capabilities
gcode_M115();
break;
case 117: // M117: Set LCD message text, if possible
gcode_M117();
break;
case 119: // M119: Report endstop states
gcode_M119();
break;
case 120: // M120: Enable endstops
gcode_M120();
break;
case 121: // M121: Disable endstops
gcode_M121();
break;
#if ENABLED(ULTIPANEL)
case 145: // M145: Set material heatup parameters
gcode_M145();
break;
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
case 149: // M149: Set temperature units
gcode_M149();
break;
#endif
#if ENABLED(BLINKM) || ENABLED(RGB_LED)
case 150: // M150: Set Status LED Color
gcode_M150();
break;
#endif // BLINKM
#if ENABLED(MIXING_EXTRUDER)
case 163: // M163: Set a component weight for mixing extruder
gcode_M163();
break;
#if MIXING_VIRTUAL_TOOLS > 1
case 164: // M164: Save current mix as a virtual extruder
gcode_M164();
break;
#endif
#if ENABLED(DIRECT_MIXING_IN_G1)
case 165: // M165: Set multiple mix weights
gcode_M165();
break;
#endif
#endif
case 200: // M200: Set filament diameter, E to cubic units
gcode_M200();
break;
case 201: // M201: Set max acceleration for print moves (units/s^2)
gcode_M201();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
gcode_M202();
break;
#endif
case 203: // M203: Set max feedrate (units/sec)
gcode_M203();
break;
case 204: // M204: Set acceleration
gcode_M204();
break;
case 205: //M205: Set advanced settings
gcode_M205();
break;
#if DISABLED(NO_WORKSPACE_OFFSETS)
case 206: // M206: Set home offsets
gcode_M206();
break;
#endif
#if ENABLED(DELTA)
case 665: // M665: Set delta configurations
gcode_M665();
break;
#endif
#if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
case 666: // M666: Set delta or dual endstop adjustment
gcode_M666();
break;
#endif
#if ENABLED(FWRETRACT)
case 207: // M207: Set Retract Length, Feedrate, and Z lift
gcode_M207();
break;
case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
gcode_M208();
break;
case 209: // M209: Turn Automatic Retract Detection on/off
gcode_M209();
break;
#endif // FWRETRACT
case 211: // M211: Enable, Disable, and/or Report software endstops
gcode_M211();
break;
#if HOTENDS > 1
case 218: // M218: Set a tool offset
gcode_M218();
break;
#endif
case 220: // M220: Set Feedrate Percentage: S ("FR" on your LCD)
gcode_M220();
break;
case 221: // M221: Set Flow Percentage
gcode_M221();
break;
case 226: // M226: Wait until a pin reaches a state
gcode_M226();
break;
#if HAS_SERVOS
case 280: // M280: Set servo position absolute
gcode_M280();
break;
#endif // HAS_SERVOS
#if HAS_BUZZER
case 300: // M300: Play beep tone
gcode_M300();
break;
#endif // HAS_BUZZER
#if ENABLED(PIDTEMP)
case 301: // M301: Set hotend PID parameters
gcode_M301();
break;
#endif // PIDTEMP
#if ENABLED(PIDTEMPBED)
case 304: // M304: Set bed PID parameters
gcode_M304();
break;
#endif // PIDTEMPBED
#if defined(CHDK) || HAS_PHOTOGRAPH
case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240();
break;
#endif // CHDK || PHOTOGRAPH_PIN
#if HAS_LCD_CONTRAST
case 250: // M250: Set LCD contrast
gcode_M250();
break;
#endif // HAS_LCD_CONTRAST
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 260: // M260: Send data to an i2c slave
gcode_M260();
break;
case 261: // M261: Request data from an i2c slave
gcode_M261();
break;
#endif // EXPERIMENTAL_I2CBUS
#if ENABLED(PREVENT_COLD_EXTRUSION)
case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
gcode_M302();
break;
#endif // PREVENT_COLD_EXTRUSION
case 303: // M303: PID autotune
gcode_M303();
break;
#if ENABLED(MORGAN_SCARA)
case 360: // M360: SCARA Theta pos1
if (gcode_M360()) return;
break;
case 361: // M361: SCARA Theta pos2
if (gcode_M361()) return;
break;
case 362: // M362: SCARA Psi pos1
if (gcode_M362()) return;
break;
case 363: // M363: SCARA Psi pos2
if (gcode_M363()) return;
break;
case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return;
break;
#endif // SCARA
case 400: // M400: Finish all moves
gcode_M400();
break;
#if HAS_BED_PROBE
case 401: // M401: Deploy probe
gcode_M401();
break;
case 402: // M402: Stow probe
gcode_M402();
break;
#endif // HAS_BED_PROBE
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404();
break;
case 405: // M405: Turn on filament sensor for control
gcode_M405();
break;
case 406: // M406: Turn off filament sensor for control
gcode_M406();
break;
case 407: // M407: Display measured filament diameter
gcode_M407();
break;
#endif // ENABLED(FILAMENT_WIDTH_SENSOR)
#if PLANNER_LEVELING
case 420: // M420: Enable/Disable Bed Leveling
gcode_M420();
break;
#endif
#if ENABLED(MESH_BED_LEVELING)
case 421: // M421: Set a Mesh Bed Leveling Z coordinate
gcode_M421();
break;
#endif
#if DISABLED(NO_WORKSPACE_OFFSETS)
case 428: // M428: Apply current_position to home_offset
gcode_M428();
break;
#endif
case 500: // M500: Store settings in EEPROM
gcode_M500();
break;
case 501: // M501: Read settings from EEPROM
gcode_M501();
break;
case 502: // M502: Revert to default settings
gcode_M502();
break;
case 503: // M503: print settings currently in memory
gcode_M503();
break;
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
case 540: // M540: Set abort on endstop hit for SD printing
gcode_M540();
break;
#endif
#if HAS_BED_PROBE
case 851: // M851: Set Z Probe Z Offset
gcode_M851();
break;
#endif // HAS_BED_PROBE
#if ENABLED(FILAMENT_CHANGE_FEATURE)
case 600: // M600: Pause for filament change
gcode_M600();
break;
#endif // FILAMENT_CHANGE_FEATURE
#if ENABLED(DUAL_X_CARRIAGE)
case 605: // M605: Set Dual X Carriage movement mode
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
#if ENABLED(LIN_ADVANCE)
case 905: // M905: Set advance K factor.
gcode_M905();
break;
#endif
#if ENABLED(HAVE_TMC2130)
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
gcode_M906();
break;
#endif
case 907: // M907: Set digital trimpot motor current using axis codes.
gcode_M907();
break;
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
case 908: // M908: Control digital trimpot directly.
gcode_M908();
break;
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
case 909: // M909: Print digipot/DAC current value
gcode_M909();
break;
case 910: // M910: Commit digipot/DAC value to external EEPROM
gcode_M910();
break;
#endif
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
#if ENABLED(HAVE_TMC2130)
case 911: // M911: Report TMC2130 prewarn triggered flags
gcode_M911();
break;
case 912: // M911: Clear TMC2130 prewarn triggered flags
gcode_M912();
break;
#endif
#if HAS_MICROSTEPS
case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
break;
case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351();
break;
#endif // HAS_MICROSTEPS
case 355: // M355 Turn case lights on/off
gcode_M355();
break;
case 999: // M999: Restart after being Stopped
gcode_M999();
break;
}
break;
case 'T':
gcode_T(codenum);
break;
default: code_is_good = false;
}
KEEPALIVE_STATE(NOT_BUSY);
ExitUnknownCommand:
// Still unknown command? Throw an error
if (!code_is_good) unknown_command_error();
ok_to_send();
}
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
void FlushSerialRequestResend() {
//char command_queue[cmd_queue_index_r][100]="Resend:";
MYSERIAL.flush();
SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ok_to_send();
}
/**
* Send an "ok" message to the host, indicating
* that a command was successfully processed.
*
* If ADVANCED_OK is enabled also include:
* N Line number of the command, if any
* P Planner space remaining
* B Block queue space remaining
*/
void ok_to_send() {
refresh_cmd_timeout();
if (!send_ok[cmd_queue_index_r]) return;
SERIAL_PROTOCOLPGM(MSG_OK);
#if ENABLED(ADVANCED_OK)
char* p = command_queue[cmd_queue_index_r];
if (*p == 'N') {
SERIAL_PROTOCOL(' ');
SERIAL_ECHO(*p++);
while (NUMERIC_SIGNED(*p))
SERIAL_ECHO(*p++);
}
SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
#endif
SERIAL_EOL;
}
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
/**
* Constrain the given coordinates to the software endstops.
*/
void clamp_to_software_endstops(float target[XYZ]) {
#if ENABLED(min_software_endstops)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if ENABLED(max_software_endstops)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) bed_level_grid_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_POINTS_X ABL_GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y ABL_GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) bed_level_grid[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(float cartesian[XYZ]) {
// XY relative to the probed area
const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
// Convert to grid box units
float ratio_x = x / ABL_BG_SPACING(X_AXIS),
ratio_y = y / ABL_BG_SPACING(Y_AXIS);
// Whole units for the grid line indices. Constrained within bounds.
const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1),
gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1),
nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
// Subtract whole to get the ratio within the grid box
ratio_x -= gridx; ratio_y -= gridy;
// Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
// Z at the box corners
const float z1 = ABL_BG_GRID(gridx, gridy), // left-front
z2 = ABL_BG_GRID(gridx, nexty), // left-back
z3 = ABL_BG_GRID(nextx, gridy), // right-front
z4 = ABL_BG_GRID(nextx, nexty), // right-back
// Bilinear interpolate
L = z1 + (z2 - z1) * ratio_y, // Linear interp. LF -> LB
R = z3 + (z4 - z3) * ratio_y, // Linear interp. RF -> RB
offset = L + ratio_x * (R - L);
/*
static float last_offset = 0;
if (fabs(last_offset - offset) > 0.2) {
SERIAL_ECHOPGM("Sudden Shift at ");
SERIAL_ECHOPAIR("x=", x);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
SERIAL_ECHOPAIR(" y=", y);
SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOLNPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" L=", L);
SERIAL_ECHOPAIR(" R=", R);
SERIAL_ECHOLNPAIR(" offset=", offset);
}
last_offset = offset;
//*/
return offset;
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if ENABLED(DELTA)
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), // back middle tower
delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]);
}
#if ENABLED(DELTA_FAST_SQRT)
/**
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float Q_rsqrt(float number) {
long i;
float x2, y;
const float threehalfs = 1.5f;
x2 = number * 0.5f;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
i = 0x5f3759df - ( i >> 1 ); // what the f***?
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
return y;
}
#define _SQRT(n) (1.0f / Q_rsqrt(n))
#else
#define _SQRT(n) sqrt(n)
#endif
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*
* - Use a fast-inverse-sqrt function and add the reciprocal.
* (see above)
*/
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower[T] - HYPOT2( \
delta_tower[T][X_AXIS] - raw[X_AXIS], \
delta_tower[T][Y_AXIS] - raw[Y_AXIS] \
) \
)
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(A_AXIS); \
delta[B_AXIS] = DELTA_Z(B_AXIS); \
delta[C_AXIS] = DELTA_Z(C_AXIS); \
} while(0)
#define DELTA_LOGICAL_IK() do { \
const float raw[XYZ] = { \
RAW_X_POSITION(logical[X_AXIS]), \
RAW_Y_POSITION(logical[Y_AXIS]), \
RAW_Z_POSITION(logical[Z_AXIS]) \
}; \
DELTA_RAW_IK(); \
} while(0)
#define DELTA_DEBUG() do { \
SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \
SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \
} while(0)
void inverse_kinematics(const float logical[XYZ]) {
DELTA_LOGICAL_IK();
// DELTA_DEBUG();
}
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
};
inverse_kinematics(cartesian);
float distance = delta[A_AXIS];
cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
inverse_kinematics(cartesian);
return abs(distance - delta[A_AXIS]);
}
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(float z1, float z2, float z3) {
// Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 };
// Get the Magnitude of vector.
float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
// Create unit vector by dividing by magnitude.
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
// Get the vector from the origin of the new system to the third point.
float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 };
// Use the dot product to find the component of this vector on the X axis.
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
// Create a vector along the x axis that represents the x component of p13.
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
// Subtract the X component from the original vector leaving only Y. We use the
// variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
// The magnitude of Y component
float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
// Convert to a unit vector
ey[0] /= j; ey[1] /= j; ey[2] /= j;
// The cross product of the unit x and y is the unit z
// float[] ez = vectorCrossProd(ex, ey);
float ez[3] = {
ex[1] * ey[2] - ex[2] * ey[1],
ex[2] * ey[0] - ex[0] * ey[2],
ex[0] * ey[1] - ex[1] * ey[0]
};
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew));
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
}
void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
#endif // DELTA
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain the "ideal" coordinates
* suitable for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
#elif IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
);
cartes[X_AXIS] += LOGICAL_X_POSITION(0);
cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*/
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
COPY(current_position, cartes);
else
current_position[axis] = cartes[axis];
}
#if ENABLED(MESH_BED_LEVELING)
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders.
*/
void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
NOMORE(cx1, MESH_NUM_X_POINTS - 2);
NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
NOMORE(cx2, MESH_NUM_X_POINTS - 2);
NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
// Do the split and look for more borders
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
#define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
* splitting the move where it crosses grid borders.
*/
void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
if (cx1 == cx2 && cy1 == cy2) {
// Start and end on same mesh square
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
#define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
float normalized_dist, end[XYZE];
// Split at the left/front border of the right/top square
int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
if (cx2 != cx1 && TEST(x_splits, gcx)) {
COPY(end, destination);
destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gcx);
}
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
COPY(end, destination);
destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gcy);
}
else {
// Already split on a border
line_to_destination(fr_mm_s);
set_current_to_destination();
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
// Do the split and look for more borders
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // AUTO_BED_LEVELING_BILINEAR
#if IS_KINEMATIC
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*/
inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
// Get the top feedrate of the move in the XY plane
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
// If the move is only in Z/E don't split up the move
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
return true;
}
// Get the cartesian distances moved in XYZE
float difference[NUM_AXIS];
LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
// Get the linear distance in XYZ
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return false;
// Minimum number of seconds to move the given distance
float seconds = cartesian_mm / _feedrate_mm_s;
// The number of segments-per-second times the duration
// gives the number of segments
uint16_t segments = delta_segments_per_second * seconds;
// For SCARA minimum segment size is 0.5mm
#if IS_SCARA
NOMORE(segments, cartesian_mm * 2);
#endif
// At least one segment is required
NOLESS(segments, 1);
// The approximate length of each segment
float segment_distance[XYZE] = {
difference[X_AXIS] / segments,
difference[Y_AXIS] / segments,
difference[Z_AXIS] / segments,
difference[E_AXIS] / segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
// Using "raw" coordinates saves 6 float subtractions
// per segment, saving valuable CPU cycles
#if ENABLED(USE_RAW_KINEMATICS)
// Get the raw current position as starting point
float raw[XYZE] = {
RAW_CURRENT_POSITION(X_AXIS),
RAW_CURRENT_POSITION(Y_AXIS),
RAW_CURRENT_POSITION(Z_AXIS),
current_position[E_AXIS]
};
#define DELTA_VAR raw
// Delta can inline its kinematics
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_RAW_IK()
#else
#define DELTA_IK() inverse_kinematics(raw)
#endif
#else
// Get the logical current position as starting point
float logical[XYZE];
COPY(logical, current_position);
#define DELTA_VAR logical
// Delta can inline its kinematics
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_LOGICAL_IK()
#else
#define DELTA_IK() inverse_kinematics(logical)
#endif
#endif
#if ENABLED(USE_DELTA_IK_INTERPOLATION)
// Only interpolate XYZ. Advance E normally.
#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
// Get the starting delta if interpolation is possible
if (segments >= 2) {
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
}
// Loop using decrement
for (uint16_t s = segments + 1; --s;) {
// Are there at least 2 moves left?
if (s >= 2) {
// Save the previous delta for interpolation
float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
// Get the delta 2 segments ahead (rather than the next)
DELTA_NEXT(segment_distance[i] + segment_distance[i]);
// Advance E normally
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Get the exact delta for the move after this
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
// Move to the interpolated delta position first
planner.buffer_line(
(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
);
// Advance E once more for the next move
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Do an extra decrement of the loop
--s;
}
else {
// Get the last segment delta. (Used when segments is odd)
DELTA_NEXT(segment_distance[i]);
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
}
// Move to the non-interpolated position
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#else
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
// For non-interpolated delta calculate every segment
for (uint16_t s = segments + 1; --s;) {
DELTA_NEXT(segment_distance[i]);
DELTA_IK();
ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#endif
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
return true;
}
#else // !IS_KINEMATIC
/**
* Prepare a linear move in a Cartesian setup.
* If Mesh Bed Leveling is enabled, perform a mesh move.
*/
inline bool prepare_move_to_destination_cartesian() {
// Do not use feedrate_percentage for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
}
else {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active()) {
mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}
else
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (planner.abl_enabled) {
bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}
else
#endif
line_to_destination(MMS_SCALED(feedrate_mm_s));
}
return true;
}
#endif // !IS_KINEMATIC
#if ENABLED(DUAL_X_CARRIAGE)
/**
* Prepare a linear move in a dual X axis setup
*/
inline bool prepare_move_to_destination_dualx() {
if (active_extruder_parked) {
switch (dual_x_carriage_mode) {
case DXC_FULL_CONTROL_MODE:
break;
case DXC_AUTO_PARK_MODE:
if (current_position[E_AXIS] == destination[E_AXIS]) {
// This is a travel move (with no extrusion)
// Skip it, but keep track of the current position
// (so it can be used as the start of the next non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL) {
set_current_to_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis();
return false;
}
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_AXIS],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
delayed_move_time = 0;
active_extruder_parked = false;
break;
case DXC_DUPLICATION_MODE:
if (active_extruder == 0) {
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
LOGICAL_X_POSITION(inactive_extruder_x_pos),
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
break;
}
}
return true;
}
#endif // DUAL_X_CARRIAGE
/**
* Prepare a single move and get ready for the next one
*
* This may result in several calls to planner.buffer_line to
* do smaller moves for DELTA, SCARA, mesh moves, etc.
*/
void prepare_move_to_destination() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (!DEBUGGING(DRYRUN)) {
if (destination[E_AXIS] != current_position[E_AXIS]) {
if (thermalManager.tooColdToExtrude(active_extruder)) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
}
#endif
#if IS_KINEMATIC
if (!prepare_kinematic_move_to(destination)) return;
#else
#if ENABLED(DUAL_X_CARRIAGE)
if (!prepare_move_to_destination_dualx()) return;
#endif
if (!prepare_move_to_destination_cartesian()) return;
#endif
set_current_to_destination();
}
#if ENABLED(ARC_SUPPORT)
/**
* Plan an arc in 2 dimensions
*
* The arc is approximated by generating many small linear segments.
* The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
* Arcs should only be made relatively large (over 5mm), as larger arcs with
* larger segments will tend to be more efficient. Your slicer should have
* options for G2/G3 arc generation. In future these options may be GCode tunable.
*/
void plan_arc(
float logical[NUM_AXIS], // Destination position
float* offset, // Center of rotation relative to current_position
uint8_t clockwise // Clockwise?
) {
float radius = HYPOT(offset[X_AXIS], offset[Y_AXIS]),
center_X = current_position[X_AXIS] + offset[X_AXIS],
center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
r_X = -offset[X_AXIS], // Radius vector from center to current location
r_Y = -offset[Y_AXIS],
rt_X = logical[X_AXIS] - center_X,
rt_Y = logical[Y_AXIS] - center_Y;
// CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
if (angular_travel < 0) angular_travel += RADIANS(360);
if (clockwise) angular_travel -= RADIANS(360);
// Make a circle if the angular rotation is 0
if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
angular_travel += RADIANS(360);
float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
if (mm_of_travel < 0.001) return;
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi)] * r ;
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
* vector rotations. This requires only two cos() and sin() computations to form the rotation
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
* all double numbers are single precision on the Arduino. (True double precision will not have
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
* tool precision in some cases. Therefore, arc path correction is implemented.
*
* Small angle approximation may be used to reduce computation overhead further. This approximation
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
* issue for CNC machines with the single precision Arduino calculations.
*
* This approximation also allows plan_arc to immediately insert a line segment into the planner
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float arc_target[XYZE],
theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment,
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
// Initialize the extruder axis
arc_target[E_AXIS] = current_position[E_AXIS];
float fr_mm_s = MMS_SCALED(feedrate_mm_s);
millis_t next_idle_ms = millis() + 200UL;
int8_t count = 0;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.manage_heater();
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}
if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1
float r_new_Y = r_X * sin_T + r_Y * cos_T;
r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y;
}
else {
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
float cos_Ti = cos(i * theta_per_segment),
sin_Ti = sin(i * theta_per_segment);
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
count = 0;
}
// Update arc_target location
arc_target[X_AXIS] = center_X + r_X;
arc_target[Y_AXIS] = center_Y + r_Y;
arc_target[Z_AXIS] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
clamp_to_software_endstops(arc_target);
planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
}
// Ensure last segment arrives at target location.
planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#endif
#if ENABLED(BEZIER_CURVE_SUPPORT)
void plan_cubic_move(const float offset[4]) {
cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
// As far as the parser is concerned, the position is now == destination. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
set_current_to_destination();
}
#endif // BEZIER_CURVE_SUPPORT
#if HAS_CONTROLLERFAN
void controllerFan() {
static millis_t lastMotorOn = 0; // Last time a motor was turned on
static millis_t nextMotorCheck = 0; // Last time the state was checked
millis_t ms = millis();
if (ELAPSED(ms, nextMotorCheck)) {
nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
#if E_STEPPERS > 1
|| E1_ENABLE_READ == E_ENABLE_ON
#if HAS_X2_ENABLE
|| X2_ENABLE_READ == X_ENABLE_ON
#endif
#if E_STEPPERS > 2
|| E2_ENABLE_READ == E_ENABLE_ON
#if E_STEPPERS > 3
|| E3_ENABLE_READ == E_ENABLE_ON
#endif
#endif
#endif
) {
lastMotorOn = ms; //... set time to NOW so the fan will turn on
}
// Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, speed);
analogWrite(CONTROLLERFAN_PIN, speed);
}
}
#endif // HAS_CONTROLLERFAN
#if ENABLED(MORGAN_SCARA)
/**
* Morgan SCARA Forward Kinematics. Results in cartes[].
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void forward_kinematics_SCARA(const float &a, const float &b) {
float a_sin = sin(RADIANS(a)) * L1,
a_cos = cos(RADIANS(a)) * L1,
b_sin = sin(RADIANS(b)) * L2,
b_cos = cos(RADIANS(b)) * L2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
/*
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
SERIAL_ECHOPAIR(" b=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
//*/
}
/**
* Morgan SCARA Inverse Kinematics. Results in delta[].
*
* See http://forums.reprap.org/read.php?185,283327
*
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/
void inverse_kinematics(const float logical[XYZ]) {
static float C2, S2, SK1, SK2, THETA, PSI;
float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y
sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor.
if (L1 == L2)
C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
else
C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
S2 = sqrt(sq(C2) - 1);
// Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
SK1 = L1 + L2 * C2;
// Rotated Arm2 gives the distance from Arm1 to Arm2
SK2 = L2 * S2;
// Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
THETA = atan2(SK1, SK2) - atan2(sx, sy);
// Angle of Arm2
PSI = atan2(S2, C2);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[C_AXIS] = logical[Z_AXIS];
/*
DEBUG_POS("SCARA IK", logical);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
//*/
}
#endif // MORGAN_SCARA
#if ENABLED(TEMP_STAT_LEDS)
static bool red_led = false;
static millis_t next_status_led_update_ms = 0;
void handle_status_leds(void) {
if (ELAPSED(millis(), next_status_led_update_ms)) {
next_status_led_update_ms += 500; // Update every 0.5s
float max_temp = 0.0;
#if HAS_TEMP_BED
max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
#endif
HOTEND_LOOP() {
max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
}
bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
if (new_led != red_led) {
red_led = new_led;
#if PIN_EXISTS(STAT_LED_RED)
WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
#if PIN_EXISTS(STAT_LED_BLUE)
WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
#endif
#else
WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
#endif
}
}
}
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void handle_filament_runout() {
if (!filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
stepper.synchronize();
}
}
#endif // FILAMENT_RUNOUT_SENSOR
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A)
case TIMER1A:
case TIMER1B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break;
#endif
#if defined(TCCR2)
case TIMER2:
case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val;
break;
#endif
#if defined(TCCR2A)
case TIMER2A:
case TIMER2B:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR2B |= val;
break;
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
}
}
#endif // FAST_PWM_FAN
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
}
void calculate_volumetric_multipliers() {
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
void enable_all_steppers() {
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
void disable_all_steppers() {
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
void automatic_current_control(const TMC2130Stepper &st) {
#if CURRENT_STEP > 0
const bool is_otpw = st.checkOT(), // Check otpw even if we don't adjust. Allows for flag inspection.
is_otpw_triggered = st.getOTPW();
if (!is_otpw && !is_otpw_triggered) {
// OTPW bit not triggered yet -> Increase current
const uint16_t current = st.getCurrent() + CURRENT_STEP;
if (current <= AUTO_ADJUST_MAX) st.SilentStepStick2130(current);
}
else if (is_otpw && is_otpw_triggered) {
// OTPW bit triggered, triggered flag raised -> Decrease current
st.SilentStepStick2130((float)st.getCurrent() - CURRENT_STEP);
}
// OTPW bit cleared (we've cooled down), triggered flag still raised until manually cleared -> Do nothing, we're good
#endif
}
void checkOverTemp() {
static millis_t next_cOT = 0;
if (ELAPSED(millis(), next_cOT)) {
next_cOT = millis() + 5000;
#if ENABLED(X_IS_TMC2130)
automatic_current_control(stepperX);
#endif
#if ENABLED(Y_IS_TMC2130)
automatic_current_control(stepperY);
#endif
#if ENABLED(Z_IS_TMC2130)
automatic_current_control(stepperZ);
#endif
#if ENABLED(X2_IS_TMC2130)
automatic_current_control(stepperX2);
#endif
#if ENABLED(Y2_IS_TMC2130)
automatic_current_control(stepperY2);
#endif
#if ENABLED(Z2_IS_TMC2130)
automatic_current_control(stepperZ2);
#endif
#if ENABLED(E0_IS_TMC2130)
automatic_current_control(stepperE0);
#endif
#if ENABLED(E1_IS_TMC2130)
automatic_current_control(stepperE1);
#endif
#if ENABLED(E2_IS_TMC2130)
automatic_current_control(stepperE2);
#endif
#if ENABLED(E3_IS_TMC2130)
automatic_current_control(stepperE3);
#endif
}
}
#endif // AUTOMATIC_CURRENT_CONTROL
/**
* Manage several activities:
* - Check for Filament Runout
* - Keep the command buffer full
* - Check for maximum inactive time between commands
* - Check for maximum inactive time between stepper commands
* - Check if pin CHDK needs to go LOW
* - Check for KILL button held down
* - Check for HOME button held down
* - Check if cooling fan needs to be switched on
* - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
handle_filament_runout();
#endif
if (commands_in_queue < BUFSIZE) get_available_commands();
millis_t ms = millis();
if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) {
SERIAL_ERROR_START;
SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, current_command);
kill(PSTR(MSG_KILLED));
}
// Prevent steppers timing-out in the middle of M600
#if ENABLED(FILAMENT_CHANGE_FEATURE) && ENABLED(FILAMENT_CHANGE_NO_STEPPER_TIMEOUT)
#define M600_TEST !busy_doing_M600
#else
#define M600_TEST true
#endif
if (M600_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
&& !ignore_stepper_queue && !planner.blocks_queued()) {
#if ENABLED(DISABLE_INACTIVE_X)
disable_x();
#endif
#if ENABLED(DISABLE_INACTIVE_Y)
disable_y();
#endif
#if ENABLED(DISABLE_INACTIVE_Z)
disable_z();
#endif
#if ENABLED(DISABLE_INACTIVE_E)
disable_e0();
disable_e1();
disable_e2();
disable_e3();
#endif
}
#ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && PENDING(ms, chdkHigh + CHDK_DELAY)) {
chdkActive = false;
WRITE(CHDK, LOW);
}
#endif
#if HAS_KILL
// Check if the kill button was pressed and wait just in case it was an accidental
// key kill key press
// -------------------------------------------------------------------------------
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 750;
if (!READ(KILL_PIN))
killCount++;
else if (killCount > 0)
killCount--;
// Exceeded threshold and we can confirm that it was not accidental
// KILL the machine
// ----------------------------------------------------------------
if (killCount >= KILL_DELAY) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_KILL_BUTTON);
kill(PSTR(MSG_KILLED));
}
#endif
#if HAS_HOME
// Check to see if we have to home, use poor man's debouncer
// ---------------------------------------------------------
static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 2500;
if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
if (!homeDebounceCount) {
enqueue_and_echo_commands_P(PSTR("G28"));
LCD_MESSAGEPGM(MSG_AUTO_HOME);
}
if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
homeDebounceCount++;
else
homeDebounceCount = 0;
}
#endif
#if HAS_CONTROLLERFAN
controllerFan(); // Check if fan should be turned on to cool stepper drivers down
#endif
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
&& thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
bool oldstatus;
#if ENABLED(SWITCHING_EXTRUDER)
oldstatus = E0_ENABLE_READ;
enable_e0();
#else // !SWITCHING_EXTRUDER
switch (active_extruder) {
case 0:
oldstatus = E0_ENABLE_READ;
enable_e0();
break;
#if E_STEPPERS > 1
case 1:
oldstatus = E1_ENABLE_READ;
enable_e1();
break;
#if E_STEPPERS > 2
case 2:
oldstatus = E2_ENABLE_READ;
enable_e2();
break;
#if E_STEPPERS > 3
case 3:
oldstatus = E3_ENABLE_READ;
enable_e3();
break;
#endif
#endif
#endif
}
#endif // !SWITCHING_EXTRUDER
previous_cmd_ms = ms; // refresh_cmd_timeout()
#if IS_KINEMATIC
inverse_kinematics(current_position);
ADJUST_DELTA(current_position);
planner.buffer_line(
delta[A_AXIS], delta[B_AXIS], delta[C_AXIS],
current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
);
#else
planner.buffer_line(
current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
);
#endif
stepper.synchronize();
planner.set_e_position_mm(current_position[E_AXIS]);
#if ENABLED(SWITCHING_EXTRUDER)
E0_ENABLE_WRITE(oldstatus);
#else
switch (active_extruder) {
case 0:
E0_ENABLE_WRITE(oldstatus);
break;
#if E_STEPPERS > 1
case 1:
E1_ENABLE_WRITE(oldstatus);
break;
#if E_STEPPERS > 2
case 2:
E2_ENABLE_WRITE(oldstatus);
break;
#if E_STEPPERS > 3
case 3:
E3_ENABLE_WRITE(oldstatus);
break;
#endif
#endif
#endif
}
#endif // !SWITCHING_EXTRUDER
}
#endif // EXTRUDER_RUNOUT_PREVENT
#if ENABLED(DUAL_X_CARRIAGE)
// handle delayed move timeout
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_to_current();
prepare_move_to_destination();
}
#endif
#if ENABLED(TEMP_STAT_LEDS)
handle_status_leds();
#endif
#if ENABLED(AUTOMATIC_CURRENT_CONTROL)
checkOverTemp();
#endif
planner.check_axes_activity();
}
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
bool no_stepper_sleep/*=false*/
#endif
) {
lcd_update();
host_keepalive();
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
auto_report_temperatures();
#endif
manage_inactivity(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
no_stepper_sleep
#endif
);
thermalManager.manage_heater();
#if ENABLED(PRINTCOUNTER)
print_job_timer.tick();
#endif
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
buzzer.tick();
#endif
}
/**
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
void kill(const char* lcd_msg) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
#if ENABLED(ULTRA_LCD)
kill_screen(lcd_msg);
#else
UNUSED(lcd_msg);
#endif
delay(500); // Wait a short time
cli(); // Stop interrupts
thermalManager.disable_all_heaters();
disable_all_steppers();
#if HAS_POWER_SWITCH
SET_INPUT(PS_ON_PIN);
#endif
suicide();
while (1) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
} // Wait for reset
}
/**
* Turn off heaters and stop the print in progress
* After a stop the machine may be resumed with M999
*/
void stop() {
thermalManager.disable_all_heaters();
if (IsRunning()) {
Running = false;
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
}
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
setup_filrunoutpin();
#endif
setup_killpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
SERIAL_EOL;
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
Config_RetrieveSettings();
#if DISABLED(NO_WORKSPACE_OFFSETS)
// Initialize current position based on home_offset
COPY(current_position, home_offset);
#else
ZERO(current_position);
#endif
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
stepper.init(); // Initialize stepper, this enables interrupts!
servo_init();
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#if HAS_CASE_LIGHT
update_case_light();
#endif
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
#if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
OUT_WRITE(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#if PIN_EXISTS(STAT_LED_RED)
OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
#endif
#if PIN_EXISTS(STAT_LED_BLUE)
OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
#endif
#if ENABLED(RGB_LED)
pinMode(RGB_LED_R_PIN, OUTPUT);
pinMode(RGB_LED_G_PIN, OUTPUT);
pinMode(RGB_LED_B_PIN, OUTPUT);
#endif
lcd_init();
#if ENABLED(SHOW_BOOTSCREEN)
#if ENABLED(DOGLCD)
safe_delay(BOOTSCREEN_TIMEOUT);
#elif ENABLED(ULTRA_LCD)
bootscreen();
#if DISABLED(SDSUPPORT)
lcd_init();
#endif
#endif
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
#if ENABLED(BLTOUCH)
bltouch_command(BLTOUCH_RESET); // Just in case the BLTouch is in the error state, try to
set_bltouch_deployed(true); // reset it. Also needs to deploy and stow to clear the
set_bltouch_deployed(false); // error condition.
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
setup_endstop_interrupts();
#endif
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
// The queue may be reset by a command handler or by code invoked by idle() within a handler
if (commands_in_queue) {
--commands_in_queue;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
}
endstops.report_state();
idle();
}