From cdc38aa7838c9311d1625e53b919d4c95dd9a4ee Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 5 Mar 2015 04:27:24 -0800 Subject: [PATCH] Move gcode handlers into inline functions --- Marlin/Marlin_main.cpp | 5863 ++++++++++++++++++++++------------------ 1 file changed, 3204 insertions(+), 2659 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 2174eb8f3..79416850b 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -30,7 +30,10 @@ #include "Marlin.h" #ifdef ENABLE_AUTO_BED_LEVELING -#include "vector_3.h" + #if Z_MIN_PIN == -1 + #error "You must have a Z_MIN endstop to enable Auto Bed Leveling feature. Z_MIN_PIN must point to a valid hardware pin." + #endif + #include "vector_3.h" #ifdef AUTO_BED_LEVELING_GRID #include "qr_solve.h" #endif @@ -124,6 +127,8 @@ // M115 - Capabilities string // M117 - display message // M119 - Output Endstop status to serial port +// M120 - Enable endstop detection +// M121 - Disable endstop detection // M126 - Solenoid Air Valve Open (BariCUDA support by jmil) // M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil) // M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) @@ -203,9 +208,9 @@ int extruder_multiply[EXTRUDERS] = { 100 , 100 #if EXTRUDERS > 2 , 100 - #if EXTRUDERS > 3 - , 100 - #endif + #if EXTRUDERS > 3 + , 100 + #endif #endif #endif }; @@ -287,8 +292,8 @@ int fanSpeed = 0; #if EXTRUDERS > 2 , false #if EXTRUDERS > 3 - , false - #endif + , false + #endif #endif #endif }; @@ -298,8 +303,8 @@ int fanSpeed = 0; #if EXTRUDERS > 2 , false #if EXTRUDERS > 3 - , false - #endif + , false + #endif #endif #endif }; @@ -319,7 +324,7 @@ int fanSpeed = 0; #ifdef PS_DEFAULT_OFF false #else - true + true #endif ; #endif @@ -331,9 +336,9 @@ int fanSpeed = 0; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS; float delta_tower1_x = -SIN_60 * delta_radius; // front left tower - float delta_tower1_y = -COS_60 * delta_radius; + float delta_tower1_y = -COS_60 * delta_radius; float delta_tower2_x = SIN_60 * delta_radius; // front right tower - float delta_tower2_y = -COS_60 * delta_radius; + float delta_tower2_y = -COS_60 * delta_radius; float delta_tower3_x = 0; // back middle tower float delta_tower3_y = delta_radius; float delta_diagonal_rod = DELTA_DIAGONAL_ROD; @@ -343,7 +348,7 @@ int fanSpeed = 0; #ifdef SCARA float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 -#endif +#endif bool cancel_heatup = false; @@ -543,7 +548,7 @@ void setup_powerhold() #if defined(PS_ON_PIN) && PS_ON_PIN > -1 #if defined(PS_DEFAULT_OFF) OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); - #else + #else OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); #endif #endif @@ -643,7 +648,7 @@ void setup() lcd_init(); - _delay_ms(1000); // wait 1sec to display the splash screen + _delay_ms(1000); // wait 1sec to display the splash screen #if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1 SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan @@ -739,7 +744,7 @@ void get_command() if(strchr(cmdbuffer[bufindw], 'N') != NULL) { strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); - gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); + gcode_N = (strtol(strchr_pointer + 1, NULL, 10)); if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_LINE_NO); @@ -757,7 +762,7 @@ void get_command() while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; strchr_pointer = strchr(cmdbuffer[bufindw], '*'); - if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { + if( (int)(strtod(strchr_pointer + 1, NULL)) != checksum) { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH); SERIAL_ERRORLN(gcode_LastN); @@ -793,7 +798,7 @@ void get_command() } if((strchr(cmdbuffer[bufindw], 'G') != NULL)){ strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); - switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){ + switch((int)((strtod(strchr_pointer + 1, NULL)))){ case 0: case 1: case 2: @@ -892,12 +897,12 @@ void get_command() float code_value() { - return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); + return (strtod(strchr_pointer + 1, NULL)); } long code_value_long() { - return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); + return (strtol(strchr_pointer + 1, NULL, 10)); } bool code_seen(char code) @@ -995,7 +1000,7 @@ static void axis_is_at_home(int axis) { { homeposition[i] = base_home_pos(i); } - // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); + // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]); // Works out real Homeposition angles using inverse kinematics, // and calculates homing offset using forward kinematics @@ -1010,7 +1015,7 @@ static void axis_is_at_home(int axis) { } // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]); - // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]); + // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]); // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]); // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]); @@ -1255,7 +1260,7 @@ static void homeaxis(int axis) { if (axis==Z_AXIS) { engage_z_probe(); } - else + else #endif if (servo_endstops[axis] > -1) { servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); @@ -1416,157 +1421,159 @@ static void dock_sled(bool dock, int offset=0) { } #endif -void process_commands() -{ - unsigned long codenum; //throw away variable - char *starpos = NULL; -#ifdef ENABLE_AUTO_BED_LEVELING - float x_tmp, y_tmp, z_tmp, real_z; -#endif - if(code_seen('G')) - { - switch((int)code_value()) - { - case 0: // G0 -> G1 - case 1: // G1 - if(Stopped == false) { - get_coordinates(); // For X Y Z E F - #ifdef FWRETRACT - if(autoretract_enabled) - if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { - float echange=destination[E_AXIS]-current_position[E_AXIS]; - if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover - current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations - plan_set_e_position(current_position[E_AXIS]); //AND from the planner - retract(!retracted[active_extruder]); - return; - } - } - #endif //FWRETRACT - prepare_move(); - //ClearToSend(); +/** + * + * G-Code Handler functions + * + */ + +/** + * G0, G1: Coordinated movement of X Y Z E axes + */ +inline void gcode_G0_G1() { + if (!Stopped) { + get_coordinates(); // For X Y Z E F + #ifdef FWRETRACT + if (autoretract_enabled) + if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { + float echange = destination[E_AXIS] - current_position[E_AXIS]; + // Is this move an attempt to retract or recover? + if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) { + current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations + plan_set_e_position(current_position[E_AXIS]); // AND from the planner + retract(!retracted[active_extruder]); + return; + } } - break; -#ifndef SCARA //disable arc support - case 2: // G2 - CW ARC - if(Stopped == false) { - get_arc_coordinates(); - prepare_arc_move(true); + #endif //FWRETRACT + prepare_move(); + //ClearToSend(); + } +} + +/** + * G2: Clockwise Arc + * G3: Counterclockwise Arc + */ +inline void gcode_G2_G3(bool clockwise) { + if (!Stopped) { + get_arc_coordinates(); + prepare_arc_move(clockwise); + } +} + +/** + * G4: Dwell S or P + */ +inline void gcode_G4() { + unsigned long codenum; + + LCD_MESSAGEPGM(MSG_DWELL); + + if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait + if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait + + st_synchronize(); + previous_millis_cmd = millis(); + codenum += previous_millis_cmd; // keep track of when we started waiting + while(millis() < codenum) { + manage_heater(); + manage_inactivity(); + lcd_update(); + } +} + +#ifdef FWRETRACT + + /** + * G10 - Retract filament according to settings of M207 + * G11 - Recover filament according to settings of M208 + */ + inline void gcode_G10_G11(bool doRetract=false) { + #if EXTRUDERS > 1 + if (doRetract) { + retracted_swap[active_extruder] = (code_seen('S') && code_value_long() == 1); // checks for swap retract argument } - break; - case 3: // G3 - CCW ARC - if(Stopped == false) { - get_arc_coordinates(); - prepare_arc_move(false); - } - break; -#endif - case 4: // G4 dwell - LCD_MESSAGEPGM(MSG_DWELL); - codenum = 0; - if(code_seen('P')) codenum = code_value(); // milliseconds to wait - if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait + #endif + retract(doRetract + #if EXTRUDERS > 1 + , retracted_swap[active_extruder] + #endif + ); + } - st_synchronize(); - codenum += millis(); // keep track of when we started waiting - previous_millis_cmd = millis(); - while(millis() < codenum) { - manage_heater(); - manage_inactivity(); - lcd_update(); - } - break; - #ifdef FWRETRACT - case 10: // G10 retract - #if EXTRUDERS > 1 - retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument - retract(true,retracted_swap[active_extruder]); - #else - retract(true); - #endif - break; - case 11: // G11 retract_recover - #if EXTRUDERS > 1 - retract(false,retracted_swap[active_extruder]); - #else - retract(false); - #endif - break; - #endif //FWRETRACT - case 28: //G28 Home all Axis one at a time -#ifdef ENABLE_AUTO_BED_LEVELING - plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) -#endif //ENABLE_AUTO_BED_LEVELING +#endif //FWRETRACT - saved_feedrate = feedrate; - saved_feedmultiply = feedmultiply; - feedmultiply = 100; - previous_millis_cmd = millis(); +/** + * G28: Home all axes, one at a time + */ +inline void gcode_G28() { + #ifdef ENABLE_AUTO_BED_LEVELING + plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data) + #endif - enable_endstops(true); + saved_feedrate = feedrate; + saved_feedmultiply = feedmultiply; + feedmultiply = 100; + previous_millis_cmd = millis(); - for(int8_t i=0; i < NUM_AXIS; i++) { - destination[i] = current_position[i]; - } - feedrate = 0.0; + enable_endstops(true); -#ifdef DELTA - // A delta can only safely home all axis at the same time - // all axis have to home at the same time + for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = current_position[i]; - // Move all carriages up together until the first endstop is hit. - current_position[X_AXIS] = 0; - current_position[Y_AXIS] = 0; - current_position[Z_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + feedrate = 0.0; - destination[X_AXIS] = 3 * Z_MAX_LENGTH; - destination[Y_AXIS] = 3 * Z_MAX_LENGTH; - destination[Z_AXIS] = 3 * Z_MAX_LENGTH; - feedrate = 1.732 * homing_feedrate[X_AXIS]; - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); - st_synchronize(); - endstops_hit_on_purpose(); + #ifdef DELTA + // A delta can only safely home all axis at the same time + // all axis have to home at the same time - current_position[X_AXIS] = destination[X_AXIS]; - current_position[Y_AXIS] = destination[Y_AXIS]; - current_position[Z_AXIS] = destination[Z_AXIS]; + // Move all carriages up together until the first endstop is hit. + for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - // take care of back off and rehome now we are all at the top - HOMEAXIS(X); - HOMEAXIS(Y); - HOMEAXIS(Z); + for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH; + feedrate = 1.732 * homing_feedrate[X_AXIS]; + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); + st_synchronize(); + endstops_hit_on_purpose(); - calculate_delta(current_position); - plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); + // Destination reached + for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i]; -#else // NOT DELTA + // take care of back off and rehome now we are all at the top + HOMEAXIS(X); + HOMEAXIS(Y); + HOMEAXIS(Z); - home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))); + calculate_delta(current_position); + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); - #if Z_HOME_DIR > 0 // If homing away from BED do Z first - if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { + #else // NOT DELTA + + home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS])); + + #if Z_HOME_DIR > 0 // If homing away from BED do Z first + if (home_all_axis || code_seen(axis_codes[Z_AXIS])) { HOMEAXIS(Z); } - #endif + #endif - #ifdef QUICK_HOME - if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move - { - current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; + #ifdef QUICK_HOME + if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) { //first diagonal move + current_position[X_AXIS] = current_position[Y_AXIS] = 0; - #ifndef DUAL_X_CARRIAGE - int x_axis_home_dir = home_dir(X_AXIS); - #else - int x_axis_home_dir = x_home_dir(active_extruder); - extruder_duplication_enabled = false; - #endif + #ifndef DUAL_X_CARRIAGE + int x_axis_home_dir = home_dir(X_AXIS); + #else + int x_axis_home_dir = x_home_dir(active_extruder); + extruder_duplication_enabled = false; + #endif plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); + destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir; + destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); feedrate = homing_feedrate[X_AXIS]; - if(homing_feedrate[Y_AXIS] max_length(Y_AXIS)) { feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1); } else { @@ -1587,14 +1594,13 @@ void process_commands() current_position[X_AXIS] = destination[X_AXIS]; current_position[Y_AXIS] = destination[Y_AXIS]; - #ifndef SCARA - current_position[Z_AXIS] = destination[Z_AXIS]; - #endif + #ifndef SCARA + current_position[Z_AXIS] = destination[Z_AXIS]; + #endif } - #endif + #endif //QUICK_HOME - if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) - { + if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) { #ifdef DUAL_X_CARRIAGE int tmp_extruder = active_extruder; extruder_duplication_enabled = false; @@ -1610,2561 +1616,3140 @@ void process_commands() #else HOMEAXIS(X); #endif - } + } - if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) { - HOMEAXIS(Y); - } + if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y); - if(code_seen(axis_codes[X_AXIS])) - { - if(code_value_long() != 0) { - #ifdef SCARA - current_position[X_AXIS]=code_value(); - #else - current_position[X_AXIS]=code_value()+add_homing[X_AXIS]; - #endif - } - } - - if(code_seen(axis_codes[Y_AXIS])) { - if(code_value_long() != 0) { - #ifdef SCARA - current_position[Y_AXIS]=code_value(); - #else - current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS]; - #endif - } - } - - #if Z_HOME_DIR < 0 // If homing towards BED do Z last - #ifndef Z_SAFE_HOMING - if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { - #if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0) - destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed - feedrate = max_feedrate[Z_AXIS]; - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); - st_synchronize(); + if (code_seen(axis_codes[X_AXIS])) { + if (code_value_long() != 0) { + current_position[X_AXIS] = code_value() + #ifndef SCARA + + add_homing[X_AXIS] #endif - HOMEAXIS(Z); - } - #else // Z Safe mode activated. - if(home_all_axis) { - destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); - destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); - destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed - feedrate = XY_TRAVEL_SPEED/60; - current_position[Z_AXIS] = 0; + ; + } + } - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) { + current_position[Y_AXIS] = code_value() + #ifndef SCARA + + add_homing[Y_AXIS] + #endif + ; + } + + #if Z_HOME_DIR < 0 // If homing towards BED do Z last + + #ifndef Z_SAFE_HOMING + + if (home_all_axis || code_seen(axis_codes[Z_AXIS])) { + #if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0 + destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed + feedrate = max_feedrate[Z_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); st_synchronize(); - current_position[X_AXIS] = destination[X_AXIS]; - current_position[Y_AXIS] = destination[Y_AXIS]; + #endif + HOMEAXIS(Z); + } - HOMEAXIS(Z); - } - // Let's see if X and Y are homed and probe is inside bed area. - if(code_seen(axis_codes[Z_AXIS])) { - if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \ - && (current_position[X_AXIS] >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \ - && (current_position[X_AXIS] <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \ - && (current_position[Y_AXIS] >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) \ - && (current_position[Y_AXIS] <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER)) { + #else // Z_SAFE_HOMING + if (home_all_axis) { + destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER); + destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER); + destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed + feedrate = XY_TRAVEL_SPEED / 60; + current_position[Z_AXIS] = 0; + + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); + st_synchronize(); + current_position[X_AXIS] = destination[X_AXIS]; + current_position[Y_AXIS] = destination[Y_AXIS]; + + HOMEAXIS(Z); + } + + // Let's see if X and Y are homed and probe is inside bed area. + if (code_seen(axis_codes[Z_AXIS])) { + + if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) { + + float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS]; + if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER + && cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER + && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER + && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) { current_position[Z_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed + plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed feedrate = max_feedrate[Z_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); st_synchronize(); - HOMEAXIS(Z); - } else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) { - LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); - } else { + } + else { LCD_MESSAGEPGM(MSG_ZPROBE_OUT); SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); } } - #endif - #endif - - - - if(code_seen(axis_codes[Z_AXIS])) { - if(code_value_long() != 0) { - current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS]; + else { + LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); + } } - } - #ifdef ENABLE_AUTO_BED_LEVELING - if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { - current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative) - } - #endif - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); -#endif // else DELTA -#ifdef SCARA - calculate_delta(current_position); - plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); -#endif // SCARA + #endif // Z_SAFE_HOMING - #ifdef ENDSTOPS_ONLY_FOR_HOMING - enable_endstops(false); - #endif + #endif // Z_HOME_DIR < 0 - feedrate = saved_feedrate; - feedmultiply = saved_feedmultiply; - previous_millis_cmd = millis(); - endstops_hit_on_purpose(); - break; + + if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0) + current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS]; + + #ifdef ENABLE_AUTO_BED_LEVELING + if (home_all_axis || code_seen(axis_codes[Z_AXIS])) + current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative) + #endif + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #endif // else DELTA + + #ifdef SCARA + calculate_delta(current_position); + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); + #endif + + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #endif + + feedrate = saved_feedrate; + feedmultiply = saved_feedmultiply; + previous_millis_cmd = millis(); + endstops_hit_on_purpose(); +} #ifdef ENABLE_AUTO_BED_LEVELING - #if Z_MIN_PIN == -1 - #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling!!! Z_MIN_PIN must point to a valid hardware pin." - #endif + /** + * G29: Detailed Z-Probe, probes the bed at 3 or more points. + * Will fail if the printer has not been homed with G28. + * + * Enhanced G29 Auto Bed Leveling Probe Routine + * + * Parameters With AUTO_BED_LEVELING_GRID: + * + * P Set the size of the grid that will be probed (P x P points). + * Example: "G29 P4" + * + * V Set the verbose level (0-4). Example: "G29 V3" + * + * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. + * This is useful for manual bed leveling and finding flaws in the bed (to + * assist with part placement). + * + * F Set the Front limit of the probing grid + * B Set the Back limit of the probing grid + * L Set the Left limit of the probing grid + * R Set the Right limit of the probing grid + * + * Global Parameters: + * + * E/e By default G29 engages / disengages the probe for each point. + * Include "E" to engage and disengage the probe just once. + * There's no extra effect if you have a fixed probe. + * Usage: "G29 E" or "G29 e" + * + */ - /** - * Enhanced G29 Auto Bed Leveling Probe Routine - * - * Parameters With AUTO_BED_LEVELING_GRID: - * - * P Set the size of the grid that will be probed (P x P points). - * Example: "G29 P4" - * - * V Set the verbose level (0-4). Example: "G29 V3" - * - * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. - * This is useful for manual bed leveling and finding flaws in the bed (to - * assist with part placement). - * - * F Set the Front limit of the probing grid - * B Set the Back limit of the probing grid - * L Set the Left limit of the probing grid - * R Set the Right limit of the probing grid - * - * Global Parameters: - * - * E/e By default G29 engages / disengages the probe for each point. - * Include "E" to engage and disengage the probe just once. - * There's no extra effect if you have a fixed probe. - * Usage: "G29 E" or "G29 e" - * - */ + // Use one of these defines to specify the origin + // for a topographical map to be printed for your bed. + enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight }; + #define TOPO_ORIGIN OriginFrontLeft - case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points. - { - // Use one of these defines to specify the origin - // for a topographical map to be printed for your bed. - #define ORIGIN_BACK_LEFT 1 - #define ORIGIN_FRONT_RIGHT 2 - #define ORIGIN_BACK_RIGHT 3 - #define ORIGIN_FRONT_LEFT 4 - #define TOPO_ORIGIN ORIGIN_FRONT_LEFT + inline void gcode_G29() { - // Prevent user from running a G29 without first homing in X and Y - if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS])) { - LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); - break; // abort G29, since we don't know where we are + float x_tmp, y_tmp, z_tmp, real_z; + + // Prevent user from running a G29 without first homing in X and Y + if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { + LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); + return; + } + + bool enhanced_g29 = code_seen('E') || code_seen('e'); + + #ifdef AUTO_BED_LEVELING_GRID + + // Example Syntax: G29 N4 V2 E T + int verbose_level = 1; + + bool topo_flag = code_seen('T') || code_seen('t'); + + if (code_seen('V') || code_seen('v')) { + verbose_level = code_value(); + if (verbose_level < 0 || verbose_level > 4) { + SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n"); + return; + } + if (verbose_level > 0) { + SERIAL_PROTOCOLPGM("G29 Enhanced Auto Bed Leveling Code V1.25:\n"); + SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n"); + if (verbose_level > 2) topo_flag = true; + } } - bool enhanced_g29 = code_seen('E') || code_seen('e'); + int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS; + if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) { + SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); + return; + } - #ifdef AUTO_BED_LEVELING_GRID + // Define the possible boundaries for probing based on the set limits. + // Code above (in G28) might have these limits wrong, or I am wrong here. + #define MIN_PROBE_EDGE 10 // Edges of the probe square can be no less + const int min_probe_x = max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER), + max_probe_x = min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER), + min_probe_y = max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER), + max_probe_y = min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER); - // Example Syntax: G29 N4 V2 E T - int verbose_level = 1; + int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION, + right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION, + front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION, + back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION; - bool topo_flag = code_seen('T') || code_seen('t'); + bool left_out_l = left_probe_bed_position < min_probe_x, + left_out_r = left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE, + left_out = left_out_l || left_out_r, + right_out_r = right_probe_bed_position > max_probe_x, + right_out_l =right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, + right_out = right_out_l || right_out_r, + front_out_f = front_probe_bed_position < min_probe_y, + front_out_b = front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE, + front_out = front_out_f || front_out_b, + back_out_b = back_probe_bed_position > max_probe_y, + back_out_f = back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE, + back_out = back_out_f || back_out_b; - if (code_seen('V') || code_seen('v')) { - verbose_level = code_value(); - if (verbose_level < 0 || verbose_level > 4) { - SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n"); - break; - } - if (verbose_level > 0) { - SERIAL_PROTOCOLPGM("G29 Enhanced Auto Bed Leveling Code V1.25:\n"); - SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n"); - if (verbose_level > 2) topo_flag = true; - } + if (left_out || right_out || front_out || back_out) { + if (left_out) { + SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n"); + left_probe_bed_position = left_out_l ? min_probe_x : right_probe_bed_position - MIN_PROBE_EDGE; } - - int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS; - if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) { - SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); - break; + if (right_out) { + SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n"); + right_probe_bed_position = right_out_r ? max_probe_x : left_probe_bed_position + MIN_PROBE_EDGE; } - - // Define the possible boundaries for probing based on the set limits. - // Code above (in G28) might have these limits wrong, or I am wrong here. - #define MIN_PROBE_EDGE 10 // Edges of the probe square can be no less - const int min_probe_x = max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER), - max_probe_x = min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER), - min_probe_y = max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER), - max_probe_y = min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER); - - int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION, - right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION, - front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION, - back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION; - - bool left_out_l = left_probe_bed_position < min_probe_x, - left_out_r = left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE, - left_out = left_out_l || left_out_r, - right_out_r = right_probe_bed_position > max_probe_x, - right_out_l =right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, - right_out = right_out_l || right_out_r, - front_out_f = front_probe_bed_position < min_probe_y, - front_out_b = front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE, - front_out = front_out_f || front_out_b, - back_out_b = back_probe_bed_position > max_probe_y, - back_out_f = back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE, - back_out = back_out_f || back_out_b; - - if (left_out || right_out || front_out || back_out) { - if (left_out) { - SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n"); - left_probe_bed_position = left_out_l ? min_probe_x : right_probe_bed_position - MIN_PROBE_EDGE; - } - if (right_out) { - SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n"); - right_probe_bed_position = right_out_r ? max_probe_x : left_probe_bed_position + MIN_PROBE_EDGE; - } - if (front_out) { - SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n"); - front_probe_bed_position = front_out_f ? min_probe_y : back_probe_bed_position - MIN_PROBE_EDGE; - } - if (back_out) { - SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n"); - back_probe_bed_position = back_out_b ? max_probe_y : front_probe_bed_position + MIN_PROBE_EDGE; - } - break; + if (front_out) { + SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n"); + front_probe_bed_position = front_out_f ? min_probe_y : back_probe_bed_position - MIN_PROBE_EDGE; } + if (back_out) { + SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n"); + back_probe_bed_position = back_out_b ? max_probe_y : front_probe_bed_position + MIN_PROBE_EDGE; + } + return; + } - #endif + #endif // AUTO_BED_LEVELING_GRID - #ifdef Z_PROBE_SLED - dock_sled(false); // engage (un-dock) the probe - #endif + #ifdef Z_PROBE_SLED + dock_sled(false); // engage (un-dock) the probe + #endif + st_synchronize(); + + // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly + //vector_3 corrected_position = plan_get_position_mm(); + //corrected_position.debug("position before G29"); + plan_bed_level_matrix.set_to_identity(); + vector_3 uncorrected_position = plan_get_position(); + //uncorrected_position.debug("position durring G29"); + current_position[X_AXIS] = uncorrected_position.x; + current_position[Y_AXIS] = uncorrected_position.y; + current_position[Z_AXIS] = uncorrected_position.z; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + setup_for_endstop_move(); + + feedrate = homing_feedrate[Z_AXIS]; + + #ifdef AUTO_BED_LEVELING_GRID + + // probe at the points of a lattice grid + int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + + // solve the plane equation ax + by + d = z + // A is the matrix with rows [x y 1] for all the probed points + // B is the vector of the Z positions + // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 + // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + + int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; + + double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations + eqnBVector[abl2], // "B" vector of Z points + mean = 0.0; + + int probePointCounter = 0; + bool zig = true; + + for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) { + int xProbe, xInc; + + if (zig) + xProbe = left_probe_bed_position, xInc = xGridSpacing; + else + xProbe = right_probe_bed_position, xInc = -xGridSpacing; + + // If topo_flag is set then don't zig-zag. Just scan in one direction. + // This gets the probe points in more readable order. + if (!topo_flag) zig = !zig; + + for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) { + // raise extruder + float measured_z, + z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS; + + // Enhanced G29 - Do not retract servo between probes + ProbeAction act; + if (enhanced_g29) { + if (yProbe == front_probe_bed_position && xCount == 0) + act = ProbeEngage; + else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1) + act = ProbeRetract; + else + act = ProbeStay; + } + else + act = ProbeEngageRetract; + + measured_z = probe_pt(xProbe, yProbe, z_before, act); + + mean += measured_z; + + eqnBVector[probePointCounter] = measured_z; + eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; + eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; + eqnAMatrix[probePointCounter + 2 * abl2] = 1; + + probePointCounter++; + xProbe += xInc; + + } //xProbe + + } //yProbe + + clean_up_after_endstop_move(); + + // solve lsq problem + double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); + + mean /= abl2; + + if (verbose_level) { + SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); + SERIAL_PROTOCOL(plane_equation_coefficients[0]); + SERIAL_PROTOCOLPGM(" b: "); + SERIAL_PROTOCOL(plane_equation_coefficients[1]); + SERIAL_PROTOCOLPGM(" d: "); + SERIAL_PROTOCOLLN(plane_equation_coefficients[2]); + if (verbose_level > 2) { + SERIAL_PROTOCOLPGM("Mean of sampled points: "); + SERIAL_PROTOCOL_F(mean, 6); + SERIAL_PROTOCOLPGM(" \n"); + } + } + + if (topo_flag) { + + int xx, yy; + + SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); + #if TOPO_ORIGIN == OriginFrontLeft + for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) + #else + for (yy = 0; yy < auto_bed_leveling_grid_points; yy++) + #endif + { + #if TOPO_ORIGIN == OriginBackRight + for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) + #else + for (xx = 0; xx < auto_bed_leveling_grid_points; xx++) + #endif + { + int ind = + #if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft + yy * auto_bed_leveling_grid_points + xx + #elif TOPO_ORIGIN == OriginBackLeft + xx * auto_bed_leveling_grid_points + yy + #elif TOPO_ORIGIN == OriginFrontRight + abl2 - xx * auto_bed_leveling_grid_points - yy - 1 + #endif + ; + float diff = eqnBVector[ind] - mean; + if (diff >= 0.0) + SERIAL_PROTOCOLPGM(" +"); // Watch column alignment in Pronterface + else + SERIAL_PROTOCOLPGM(" -"); + SERIAL_PROTOCOL_F(diff, 5); + } // xx + SERIAL_PROTOCOLPGM("\n"); + } // yy + SERIAL_PROTOCOLPGM("\n"); + + } //topo_flag + + + set_bed_level_equation_lsq(plane_equation_coefficients); + free(plane_equation_coefficients); + + #else // !AUTO_BED_LEVELING_GRID + + // Probe at 3 arbitrary points + float z_at_pt_1, z_at_pt_2, z_at_pt_3; + + if (enhanced_g29) { + // Basic Enhanced G29 + z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage); + z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay); + z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract); + } + else { + z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING); + z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); + z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); + } + clean_up_after_endstop_move(); + set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); + + #endif // !AUTO_BED_LEVELING_GRID + + st_synchronize(); + + if (verbose_level > 0) + plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); + + // The following code correct the Z height difference from z-probe position and hotend tip position. + // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. + // When the bed is uneven, this height must be corrected. + real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) + x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; + y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; + z_tmp = current_position[Z_AXIS]; + + apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset + current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #ifdef Z_PROBE_SLED + dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel + #endif + } + + #ifndef Z_PROBE_SLED + + inline void gcode_G30() { + engage_z_probe(); // Engage Z Servo endstop if available st_synchronize(); - // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly - //vector_3 corrected_position = plan_get_position_mm(); - //corrected_position.debug("position before G29"); - plan_bed_level_matrix.set_to_identity(); - vector_3 uncorrected_position = plan_get_position(); - //uncorrected_position.debug("position durring G29"); - current_position[X_AXIS] = uncorrected_position.x; - current_position[Y_AXIS] = uncorrected_position.y; - current_position[Z_AXIS] = uncorrected_position.z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly setup_for_endstop_move(); feedrate = homing_feedrate[Z_AXIS]; - #ifdef AUTO_BED_LEVELING_GRID - // probe at the points of a lattice grid + run_z_probe(); + SERIAL_PROTOCOLPGM(MSG_BED); + SERIAL_PROTOCOLPGM(" X: "); + SERIAL_PROTOCOL(current_position[X_AXIS]); + SERIAL_PROTOCOLPGM(" Y: "); + SERIAL_PROTOCOL(current_position[Y_AXIS]); + SERIAL_PROTOCOLPGM(" Z: "); + SERIAL_PROTOCOL(current_position[Z_AXIS]); + SERIAL_PROTOCOLPGM("\n"); - int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1); - int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + clean_up_after_endstop_move(); + retract_z_probe(); // Retract Z Servo endstop if available + } - // solve the plane equation ax + by + d = z - // A is the matrix with rows [x y 1] for all the probed points - // B is the vector of the Z positions - // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 - // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + #endif //!Z_PROBE_SLED - int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; +#endif //ENABLE_AUTO_BED_LEVELING - double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations - eqnBVector[abl2], // "B" vector of Z points - mean = 0.0; +/** + * G92: Set current position to given X Y Z E + */ +inline void gcode_G92() { + if (!code_seen(axis_codes[E_AXIS])) + st_synchronize(); - int probePointCounter = 0; - bool zig = true; - - for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) { - int xProbe, xInc; - - if (zig) - xProbe = left_probe_bed_position, xInc = xGridSpacing; - else - xProbe = right_probe_bed_position, xInc = -xGridSpacing; - - // If topo_flag is set then don't zig-zag. Just scan in one direction. - // This gets the probe points in more readable order. - if (!topo_flag) zig = !zig; - - for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) { - // raise extruder - float z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, - measured_z; - - // Enhanced G29 - Do not retract servo between probes - ProbeAction act; - if (enhanced_g29) { - if (yProbe == front_probe_bed_position && xCount == 0) - act = ProbeEngage; - else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1) - act = ProbeRetract; - else - act = ProbeStay; - } - else - act = ProbeEngageRetract; - - measured_z = probe_pt(xProbe, yProbe, z_before, act); - - mean += measured_z; - - eqnBVector[probePointCounter] = measured_z; - eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; - eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; - eqnAMatrix[probePointCounter + 2 * abl2] = 1; - - probePointCounter++; - xProbe += xInc; - - } //xProbe - - } //yProbe - - clean_up_after_endstop_move(); - - // solve lsq problem - double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); - - mean /= abl2; - - if (verbose_level) { - SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); - SERIAL_PROTOCOL(plane_equation_coefficients[0]); - SERIAL_PROTOCOLPGM(" b: "); - SERIAL_PROTOCOL(plane_equation_coefficients[1]); - SERIAL_PROTOCOLPGM(" d: "); - SERIAL_PROTOCOLLN(plane_equation_coefficients[2]); - if (verbose_level > 2) { - SERIAL_PROTOCOLPGM("Mean of sampled points: "); - SERIAL_PROTOCOL_F(mean, 6); - SERIAL_PROTOCOLPGM(" \n"); - } - } - - if (topo_flag) { - - int xx, yy; - - SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); - #if TOPO_ORIGIN == ORIGIN_FRONT_LEFT - for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) + for (int i=0;i= 0; xx--) - #else - for (xx = 0; xx < auto_bed_leveling_grid_points; xx++) - #endif - { - int ind = - #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT || TOPO_ORIGIN == ORIGIN_FRONT_LEFT - yy * auto_bed_leveling_grid_points + xx - #elif TOPO_ORIGIN == ORIGIN_BACK_LEFT - xx * auto_bed_leveling_grid_points + yy - #elif TOPO_ORIGIN == ORIGIN_FRONT_RIGHT - abl2 - xx * auto_bed_leveling_grid_points - yy - 1 - #endif - ; - float diff = eqnBVector[ind] - mean; - if (diff >= 0.0) - SERIAL_PROTOCOLPGM(" +"); // Watch column alignment in Pronterface - else - SERIAL_PROTOCOLPGM(" -"); - SERIAL_PROTOCOL_F(diff, 5); - } // xx - SERIAL_PROTOCOLPGM("\n"); - } // yy - SERIAL_PROTOCOLPGM("\n"); + ; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + } + } + } +} - } //topo_flag +#ifdef ULTIPANEL + /** + * M0: // M0 - Unconditional stop - Wait for user button press on LCD + * M1: // M1 - Conditional stop - Wait for user button press on LCD + */ + inline void gcode_M0_M1() { + char *src = strchr_pointer + 2; - set_bed_level_equation_lsq(plane_equation_coefficients); - free(plane_equation_coefficients); + unsigned long codenum = 0; + bool hasP = false, hasS = false; + if (code_seen('P')) { + codenum = code_value(); // milliseconds to wait + hasP = codenum > 0; + } + if (code_seen('S')) { + codenum = code_value() * 1000; // seconds to wait + hasS = codenum > 0; + } + char* starpos = strchr(src, '*'); + if (starpos != NULL) *(starpos) = '\0'; + while (*src == ' ') ++src; + if (!hasP && !hasS && *src != '\0') + lcd_setstatus(src); + else + LCD_MESSAGEPGM(MSG_USERWAIT); - #else // !AUTO_BED_LEVELING_GRID + lcd_ignore_click(); + st_synchronize(); + previous_millis_cmd = millis(); + if (codenum > 0) { + codenum += previous_millis_cmd; // keep track of when we started waiting + while(millis() < codenum && !lcd_clicked()) { + manage_heater(); + manage_inactivity(); + lcd_update(); + } + lcd_ignore_click(false); + } + else { + if (!lcd_detected()) return; + while (!lcd_clicked()) { + manage_heater(); + manage_inactivity(); + lcd_update(); + } + } + if (IS_SD_PRINTING) + LCD_MESSAGEPGM(MSG_RESUMING); + else + LCD_MESSAGEPGM(WELCOME_MSG); + } - // Probe at 3 arbitrary points - float z_at_pt_1, z_at_pt_2, z_at_pt_3; +#endif // ULTIPANEL - if (enhanced_g29) { - // Basic Enhanced G29 - z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage); - z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay); - z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract); - } - else { - z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING); - z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - } - clean_up_after_endstop_move(); - set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); +/** + * M17: Enable power on all stepper motors + */ +inline void gcode_M17() { + LCD_MESSAGEPGM(MSG_NO_MOVE); + enable_x(); + enable_y(); + enable_z(); + enable_e0(); + enable_e1(); + enable_e2(); + enable_e3(); +} - #endif // !AUTO_BED_LEVELING_GRID +#ifdef SDSUPPORT + /** + * M20: List SD card to serial output + */ + inline void gcode_M20() { + SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); + card.ls(); + SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); + } + + /** + * M21: Init SD Card + */ + inline void gcode_M21() { + card.initsd(); + } + + /** + * M22: Release SD Card + */ + inline void gcode_M22() { + card.release(); + } + + /** + * M23: Select a file + */ + inline void gcode_M23() { + char* codepos = strchr_pointer + 4; + char* starpos = strchr(codepos, '*'); + if (starpos) *starpos = '\0'; + card.openFile(codepos, true); + } + + /** + * M24: Start SD Print + */ + inline void gcode_M24() { + card.startFileprint(); + starttime = millis(); + } + + /** + * M25: Pause SD Print + */ + inline void gcode_M25() { + card.pauseSDPrint(); + } + + /** + * M26: Set SD Card file index + */ + inline void gcode_M26() { + if (card.cardOK && code_seen('S')) + card.setIndex(code_value_long()); + } + + /** + * M27: Get SD Card status + */ + inline void gcode_M27() { + card.getStatus(); + } + + /** + * M28: Start SD Write + */ + inline void gcode_M28() { + char* codepos = strchr_pointer + 4; + char* starpos = strchr(strchr_pointer + 4, '*'); + if (starpos) { + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos, ' ') + 1; + *(starpos) = '\0'; + } + card.openFile(strchr_pointer + 4, false); + } + + /** + * M29: Stop SD Write + * Processed in write to file routine above + */ + inline void gcode_M29() { + // card.saving = false; + } + + /** + * M30 : Delete SD Card file + */ + inline void gcode_M30() { + if (card.cardOK) { + card.closefile(); + char* starpos = strchr(strchr_pointer + 4, '*'); + if (starpos) { + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos, ' ') + 1; + *(starpos) = '\0'; + } + card.removeFile(strchr_pointer + 4); + } + } + +#endif + +/** + * M31: Get the time since the start of SD Print (or last M109) + */ +inline void gcode_M31() { + stoptime = millis(); + unsigned long t = (stoptime - starttime) / 1000; + int min = t / 60, sec = t % 60; + char time[30]; + sprintf_P(time, PSTR("%i min, %i sec"), min, sec); + SERIAL_ECHO_START; + SERIAL_ECHOLN(time); + lcd_setstatus(time); + autotempShutdown(); +} + +#ifdef SDSUPPORT + + /** + * M32: Select file and start SD Print + */ + inline void gcode_M32() { + if (card.sdprinting) st_synchronize(); - if (verbose_level > 0) - plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); + char* codepos = strchr_pointer + 4; - // The following code correct the Z height difference from z-probe position and hotend tip position. - // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. - // When the bed is uneven, this height must be corrected. - real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) - x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; - y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; - z_tmp = current_position[Z_AXIS]; + char* namestartpos = strchr(codepos, '!'); //find ! to indicate filename string start. + if (! namestartpos) + namestartpos = codepos; //default name position, 4 letters after the M + else + namestartpos++; //to skip the '!' - apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset - current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + char* starpos = strchr(codepos, '*'); + if (starpos) *(starpos) = '\0'; - #ifdef Z_PROBE_SLED - dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel + bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos); + + if (card.cardOK) { + card.openFile(namestartpos, true, !call_procedure); + + if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!) + card.setIndex(code_value_long()); + + card.startFileprint(); + if (!call_procedure) + starttime = millis(); //procedure calls count as normal print time. + } + } + + /** + * M928: Start SD Write + */ + inline void gcode_M928() { + char* starpos = strchr(strchr_pointer + 5, '*'); + if (starpos) { + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos, ' ') + 1; + *(starpos) = '\0'; + } + card.openLogFile(strchr_pointer + 5); + } + +#endif // SDSUPPORT + +/** + * M42: Change pin status via GCode + */ +inline void gcode_M42() { + if (code_seen('S')) { + int pin_status = code_value(), + pin_number = LED_PIN; + + if (code_seen('P') && pin_status >= 0 && pin_status <= 255) + pin_number = code_value(); + + for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins) / sizeof(*sensitive_pins)); i++) { + if (sensitive_pins[i] == pin_number) { + pin_number = -1; + break; + } + } + + #if defined(FAN_PIN) && FAN_PIN > -1 + if (pin_number == FAN_PIN) fanSpeed = pin_status; + #endif + + if (pin_number > -1) { + pinMode(pin_number, OUTPUT); + digitalWrite(pin_number, pin_status); + analogWrite(pin_number, pin_status); + } + } // code_seen('S') +} + + +#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST) + + #if Z_MIN_PIN == -1 + #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability." + #endif + + /** + * M48: Z-Probe repeatability measurement function. + * + * Usage: + * M48 + * n = Number of samples (4-50, default 10) + * X = Sample X position + * Y = Sample Y position + * V = Verbose level (0-4, default=1) + * E = Engage probe for each reading + * L = Number of legs of movement before probe + * + * This function assumes the bed has been homed. Specificaly, that a G28 command + * as been issued prior to invoking the M48 Z-Probe repeatability measurement function. + * Any information generated by a prior G29 Bed leveling command will be lost and need to be + * regenerated. + * + * The number of samples will default to 10 if not specified. You can use upper or lower case + * letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital + * N for its communication protocol and will get horribly confused if you send it a capital N. + */ + inline void gcode_M48() { + + double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50]; + int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0; + double X_current, Y_current, Z_current; + double X_probe_location, Y_probe_location, Z_start_location, ext_position; + + if (code_seen('V') || code_seen('v')) { + verbose_level = code_value(); + if (verbose_level < 0 || verbose_level > 4 ) { + SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n"); + return; + } + } + + if (verbose_level > 0) { + SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n"); + SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n"); + } + + if (code_seen('n')) { + n_samples = code_value(); + if (n_samples < 4 || n_samples > 50) { + SERIAL_PROTOCOLPGM("?Specified sample size not plausible (4-50).\n"); + return; + } + } + + X_current = X_probe_location = st_get_position_mm(X_AXIS); + Y_current = Y_probe_location = st_get_position_mm(Y_AXIS); + Z_current = st_get_position_mm(Z_AXIS); + Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; + ext_position = st_get_position_mm(E_AXIS); + + if (code_seen('E') || code_seen('e')) + engage_probe_for_each_reading++; + + if (code_seen('X') || code_seen('x')) { + X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER; + if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) { + SERIAL_PROTOCOLPGM("?Specified X position out of range.\n"); + return; + } + } + + if (code_seen('Y') || code_seen('y')) { + Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER; + if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) { + SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n"); + return; + } + } + + if (code_seen('L') || code_seen('l')) { + n_legs = code_value(); + if (n_legs == 1) n_legs = 2; + if (n_legs < 0 || n_legs > 15) { + SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausible (0-15).\n"); + return; + } + } + + // + // Do all the preliminary setup work. First raise the probe. + // + + st_synchronize(); + plan_bed_level_matrix.set_to_identity(); + plan_buffer_line(X_current, Y_current, Z_start_location, + ext_position, + homing_feedrate[Z_AXIS] / 60, + active_extruder); + st_synchronize(); + + // + // Now get everything to the specified probe point So we can safely do a probe to + // get us close to the bed. If the Z-Axis is far from the bed, we don't want to + // use that as a starting point for each probe. + // + if (verbose_level > 2) + SERIAL_PROTOCOL("Positioning probe for the test.\n"); + + plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, + ext_position, + homing_feedrate[X_AXIS]/60, + active_extruder); + st_synchronize(); + + current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS); + current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS); + current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); + current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS); + + // + // OK, do the inital probe to get us close to the bed. + // Then retrace the right amount and use that in subsequent probes + // + + engage_z_probe(); + + setup_for_endstop_move(); + run_z_probe(); + + current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); + Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; + + plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, + ext_position, + homing_feedrate[X_AXIS]/60, + active_extruder); + st_synchronize(); + current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); + + if (engage_probe_for_each_reading) retract_z_probe(); + + for (n=0; n < n_samples; n++) { + + do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location + + if (n_legs) { + double radius=0.0, theta=0.0, x_sweep, y_sweep; + int l; + int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise + radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go + theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians + + //SERIAL_ECHOPAIR("starting radius: ",radius); + //SERIAL_ECHOPAIR(" theta: ",theta); + //SERIAL_ECHOPAIR(" direction: ",rotational_direction); + //SERIAL_PROTOCOLLNPGM(""); + + float dir = rotational_direction ? 1 : -1; + for (l = 0; l < n_legs - 1; l++) { + theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians + + radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L); + if (radius < 0.0) radius = -radius; + + X_current = X_probe_location + cos(theta) * radius; + Y_current = Y_probe_location + sin(theta) * radius; + + // Make sure our X & Y are sane + X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); + Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); + + if (verbose_level > 3) { + SERIAL_ECHOPAIR("x: ", X_current); + SERIAL_ECHOPAIR("y: ", Y_current); + SERIAL_PROTOCOLLNPGM(""); + } + + do_blocking_move_to( X_current, Y_current, Z_current ); + } + do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location + } + + if (engage_probe_for_each_reading) { + engage_z_probe(); + delay(1000); + } + + setup_for_endstop_move(); + run_z_probe(); + + sample_set[n] = current_position[Z_AXIS]; + + // + // Get the current mean for the data points we have so far + // + sum = 0.0; + for (j=0; j<=n; j++) sum += sample_set[j]; + mean = sum / (double (n+1)); + + // + // Now, use that mean to calculate the standard deviation for the + // data points we have so far + // + sum = 0.0; + for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean); + sigma = sqrt( sum / (double (n+1)) ); + + if (verbose_level > 1) { + SERIAL_PROTOCOL(n+1); + SERIAL_PROTOCOL(" of "); + SERIAL_PROTOCOL(n_samples); + SERIAL_PROTOCOLPGM(" z: "); + SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); + } + + if (verbose_level > 2) { + SERIAL_PROTOCOL(" mean: "); + SERIAL_PROTOCOL_F(mean,6); + SERIAL_PROTOCOL(" sigma: "); + SERIAL_PROTOCOL_F(sigma,6); + } + + if (verbose_level > 0) + SERIAL_PROTOCOLPGM("\n"); + + plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, + current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); + st_synchronize(); + + if (engage_probe_for_each_reading) { + retract_z_probe(); + delay(1000); + } + } + + retract_z_probe(); + delay(1000); + + clean_up_after_endstop_move(); + + // enable_endstops(true); + + if (verbose_level > 0) { + SERIAL_PROTOCOLPGM("Mean: "); + SERIAL_PROTOCOL_F(mean, 6); + SERIAL_PROTOCOLPGM("\n"); + } + + SERIAL_PROTOCOLPGM("Standard Deviation: "); + SERIAL_PROTOCOL_F(sigma, 6); + SERIAL_PROTOCOLPGM("\n\n"); + } + +#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST + +/** + * M104: Set hot end temperature + */ +inline void gcode_M104() { + if (setTargetedHotend(104)) return; + + if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder); + #ifdef DUAL_X_CARRIAGE + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0) + setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset); + #endif + setWatch(); +} + +/** + * M105: Read hot end and bed temperature + */ +inline void gcode_M105() { + if (setTargetedHotend(105)) return; + + #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1 + SERIAL_PROTOCOLPGM("ok T:"); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); + #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 + SERIAL_PROTOCOLPGM(" B:"); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetBed(),1); + #endif //TEMP_BED_PIN + for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { + SERIAL_PROTOCOLPGM(" T"); + SERIAL_PROTOCOL(cur_extruder); + SERIAL_PROTOCOLPGM(":"); + SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); + SERIAL_PROTOCOLPGM(" /"); + SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1); + } + #else + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); + #endif + + SERIAL_PROTOCOLPGM(" @:"); + #ifdef EXTRUDER_WATTS + SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127); + SERIAL_PROTOCOLPGM("W"); + #else + SERIAL_PROTOCOL(getHeaterPower(tmp_extruder)); + #endif + + SERIAL_PROTOCOLPGM(" B@:"); + #ifdef BED_WATTS + SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127); + SERIAL_PROTOCOLPGM("W"); + #else + SERIAL_PROTOCOL(getHeaterPower(-1)); + #endif + + #ifdef SHOW_TEMP_ADC_VALUES + #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 + SERIAL_PROTOCOLPGM(" ADC B:"); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLPGM("C->"); + SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0); + #endif + for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { + SERIAL_PROTOCOLPGM(" T"); + SERIAL_PROTOCOL(cur_extruder); + SERIAL_PROTOCOLPGM(":"); + SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); + SERIAL_PROTOCOLPGM("C->"); + SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0); + } + #endif + + SERIAL_PROTOCOLLN(""); +} + +#if defined(FAN_PIN) && FAN_PIN > -1 + + /** + * M106: Set Fan Speed + */ + inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value(), 0, 255) : 255; } + + /** + * M107: Fan Off + */ + inline void gcode_M107() { fanSpeed = 0; } + +#endif //FAN_PIN + +/** + * M109: Wait for extruder(s) to reach temperature + */ +inline void gcode_M109() { + if (setTargetedHotend(109)) return; + + LCD_MESSAGEPGM(MSG_HEATING); + + CooldownNoWait = code_seen('S'); + if (CooldownNoWait || code_seen('R')) { + setTargetHotend(code_value(), tmp_extruder); + #ifdef DUAL_X_CARRIAGE + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0) + setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset); + #endif + } + + #ifdef AUTOTEMP + autotemp_enabled = code_seen('F'); + if (autotemp_enabled) autotemp_factor = code_value(); + if (code_seen('S')) autotemp_min = code_value(); + if (code_seen('B')) autotemp_max = code_value(); + #endif + + setWatch(); + + unsigned long timetemp = millis(); + + /* See if we are heating up or cooling down */ + target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling + + cancel_heatup = false; + + #ifdef TEMP_RESIDENCY_TIME + long residencyStart = -1; + /* continue to loop until we have reached the target temp + _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ + while((!cancel_heatup)&&((residencyStart == -1) || + (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) + #else + while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) + #endif //TEMP_RESIDENCY_TIME + + { // while loop + if (millis() > timetemp + 1000UL) { //Print temp & remaining time every 1s while waiting + SERIAL_PROTOCOLPGM("T:"); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL((int)tmp_extruder); + #ifdef TEMP_RESIDENCY_TIME + SERIAL_PROTOCOLPGM(" W:"); + if (residencyStart > -1) { + timetemp = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL; + SERIAL_PROTOCOLLN( timetemp ); + } + else { + SERIAL_PROTOCOLLN( "?" ); + } + #else + SERIAL_PROTOCOLLN(""); + #endif + timetemp = millis(); + } + manage_heater(); + manage_inactivity(); + lcd_update(); + #ifdef TEMP_RESIDENCY_TIME + // start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time + // or when current temp falls outside the hysteresis after target temp was reached + if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) || + (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) || + (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) + { + residencyStart = millis(); + } + #endif //TEMP_RESIDENCY_TIME + } + + LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); + starttime = previous_millis_cmd = millis(); +} + +#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 + + /** + * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating + * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling + */ + inline void gcode_M190() { + LCD_MESSAGEPGM(MSG_BED_HEATING); + CooldownNoWait = code_seen('S'); + if (CooldownNoWait || code_seen('R')) + setTargetBed(code_value()); + + unsigned long timetemp = millis(); + + cancel_heatup = false; + target_direction = isHeatingBed(); // true if heating, false if cooling + + while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) { + unsigned long ms = millis(); + if (ms > timetemp + 1000UL) { //Print Temp Reading every 1 second while heating up. + timetemp = ms; + float tt = degHotend(active_extruder); + SERIAL_PROTOCOLPGM("T:"); + SERIAL_PROTOCOL(tt); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL((int)active_extruder); + SERIAL_PROTOCOLPGM(" B:"); + SERIAL_PROTOCOL_F(degBed(), 1); + SERIAL_PROTOCOLLN(""); + } + manage_heater(); + manage_inactivity(); + lcd_update(); + } + LCD_MESSAGEPGM(MSG_BED_DONE); + previous_millis_cmd = millis(); + } + +#endif // TEMP_BED_PIN > -1 + +/** + * M112: Emergency Stop + */ +inline void gcode_M112() { + kill(); +} + +#ifdef BARICUDA + + #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 + /** + * M126: Heater 1 valve open + */ + inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; } + /** + * M127: Heater 1 valve close + */ + inline void gcode_M127() { ValvePressure = 0; } + #endif + + #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 + /** + * M128: Heater 2 valve open + */ + inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; } + /** + * M129: Heater 2 valve close + */ + inline void gcode_M129() { EtoPPressure = 0; } + #endif + +#endif //BARICUDA + +/** + * M140: Set bed temperature + */ +inline void gcode_M140() { + if (code_seen('S')) setTargetBed(code_value()); +} + +#if defined(PS_ON_PIN) && PS_ON_PIN > -1 + + /** + * M80: Turn on Power Supply + */ + inline void gcode_M80() { + OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND + + // If you have a switch on suicide pin, this is useful + // if you want to start another print with suicide feature after + // a print without suicide... + #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 + OUT_WRITE(SUICIDE_PIN, HIGH); + #endif + + #ifdef ULTIPANEL + powersupply = true; + LCD_MESSAGEPGM(WELCOME_MSG); + lcd_update(); + #endif + } + +#endif // PS_ON_PIN + +/** + * M81: Turn off Power Supply + */ +inline void gcode_M81() { + disable_heater(); + st_synchronize(); + disable_e0(); + disable_e1(); + disable_e2(); + disable_e3(); + finishAndDisableSteppers(); + fanSpeed = 0; + delay(1000); // Wait 1 second before switching off + #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 + st_synchronize(); + suicide(); + #elif defined(PS_ON_PIN) && PS_ON_PIN > -1 + OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); + #endif + #ifdef ULTIPANEL + powersupply = false; + LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF "."); + lcd_update(); + #endif +} + +/** + * M82: Set E codes absolute (default) + */ +inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; } + +/** + * M82: Set E codes relative while in Absolute Coordinates (G90) mode + */ +inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; } + +/** + * M18, M84: Disable all stepper motors + */ +inline void gcode_M18_M84() { + if (code_seen('S')) { + stepper_inactive_time = code_value() * 1000; + } + else { + bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS]))); + if (all_axis) { + st_synchronize(); + disable_e0(); + disable_e1(); + disable_e2(); + disable_e3(); + finishAndDisableSteppers(); + } + else { + st_synchronize(); + if (code_seen('X')) disable_x(); + if (code_seen('Y')) disable_y(); + if (code_seen('Z')) disable_z(); + #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS + if (code_seen('E')) { + disable_e0(); + disable_e1(); + disable_e2(); + disable_e3(); + } #endif } - break; + } +} -#ifndef Z_PROBE_SLED - case 30: // G30 Single Z Probe - { - engage_z_probe(); // Engage Z Servo endstop if available - st_synchronize(); - // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly - setup_for_endstop_move(); +/** + * 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() * 1000; +} - feedrate = homing_feedrate[Z_AXIS]; - - run_z_probe(); - SERIAL_PROTOCOLPGM(MSG_BED); - SERIAL_PROTOCOLPGM(" X: "); - SERIAL_PROTOCOL(current_position[X_AXIS]); - SERIAL_PROTOCOLPGM(" Y: "); - SERIAL_PROTOCOL(current_position[Y_AXIS]); - SERIAL_PROTOCOLPGM(" Z: "); - SERIAL_PROTOCOL(current_position[Z_AXIS]); - SERIAL_PROTOCOLPGM("\n"); - - clean_up_after_endstop_move(); - retract_z_probe(); // Retract Z Servo endstop if available +/** + * M92: Set inactivity shutdown timer with parameter S. To disable set zero (default) + */ +inline void gcode_M92() { + for(int8_t i=0; i < NUM_AXIS; i++) { + if (code_seen(axis_codes[i])) { + if (i == E_AXIS) { + float value = code_value(); + if (value < 20.0) { + float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. + max_e_jerk *= factor; + max_feedrate[i] *= factor; + axis_steps_per_sqr_second[i] *= factor; } + axis_steps_per_unit[i] = value; + } + else { + axis_steps_per_unit[i] = code_value(); + } + } + } +} + +/** + * M114: Output current position to serial port + */ +inline void gcode_M114() { + SERIAL_PROTOCOLPGM("X:"); + SERIAL_PROTOCOL(current_position[X_AXIS]); + SERIAL_PROTOCOLPGM(" Y:"); + SERIAL_PROTOCOL(current_position[Y_AXIS]); + SERIAL_PROTOCOLPGM(" Z:"); + SERIAL_PROTOCOL(current_position[Z_AXIS]); + SERIAL_PROTOCOLPGM(" E:"); + SERIAL_PROTOCOL(current_position[E_AXIS]); + + SERIAL_PROTOCOLPGM(MSG_COUNT_X); + SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOLPGM(" Y:"); + SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOLPGM(" Z:"); + SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); + + SERIAL_PROTOCOLLN(""); + + #ifdef SCARA + SERIAL_PROTOCOLPGM("SCARA Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]); + SERIAL_PROTOCOLPGM(" Psi+Theta:"); + SERIAL_PROTOCOL(delta[Y_AXIS]); + SERIAL_PROTOCOLLN(""); + + SERIAL_PROTOCOLPGM("SCARA Cal - Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]); + SERIAL_PROTOCOLPGM(" Psi+Theta (90):"); + SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]); + SERIAL_PROTOCOLLN(""); + + SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); + SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]); + SERIAL_PROTOCOLPGM(" Psi+Theta:"); + SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]); + SERIAL_PROTOCOLLN(""); + SERIAL_PROTOCOLLN(""); + #endif +} + +/** + * M115: Capabilities string + */ +inline void gcode_M115() { + SERIAL_PROTOCOLPGM(MSG_M115_REPORT); +} + +/** + * M117: Set LCD Status Message + */ +inline void gcode_M117() { + char* codepos = strchr_pointer + 5; + char* starpos = strchr(codepos, '*'); + if (starpos) *starpos = '\0'; + lcd_setstatus(codepos); +} + +/** + * M119: Output endstop states to serial output + */ +inline void gcode_M119() { + SERIAL_PROTOCOLLN(MSG_M119_REPORT); + #if defined(X_MIN_PIN) && X_MIN_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_X_MIN); + SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif + #if defined(X_MAX_PIN) && X_MAX_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_X_MAX); + SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif + #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_Y_MIN); + SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif + #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_Y_MAX); + SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif + #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_Z_MIN); + SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif + #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1 + SERIAL_PROTOCOLPGM(MSG_Z_MAX); + SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); + #endif +} + +/** + * M120: Enable endstops + */ +inline void gcode_M120() { enable_endstops(false); } + +/** + * M121: Disable endstops + */ +inline void gcode_M121() { enable_endstops(true); } + +#ifdef BLINKM + + /** + * M150: Set Status LED Color - Use R-U-B for R-G-B + */ + inline void gcode_M150() { + SendColors( + code_seen('R') ? (byte)code_value() : 0, + code_seen('U') ? (byte)code_value() : 0, + code_seen('B') ? (byte)code_value() : 0 + ); + } + +#endif // BLINKM + +/** + * M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters). + * T + * D + */ +inline void gcode_M200() { + tmp_extruder = active_extruder; + if (code_seen('T')) { + tmp_extruder = code_value(); + if (tmp_extruder >= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER); + return; + } + } + + float area = .0; + if (code_seen('D')) { + float diameter = code_value(); + // setting any extruder filament size disables volumetric on the assumption that + // slicers either generate in extruder values as cubic mm or as as filament feeds + // for all extruders + volumetric_enabled = (diameter != 0.0); + if (volumetric_enabled) { + filament_size[tmp_extruder] = diameter; + // make sure all extruders have some sane value for the filament size + for (int i=0; i 1 + + /** + * M218 - set hotend offset (in mm), T X Y + */ + inline void gcode_M218() { + if (setTargetedHotend(218)) return; + + if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value(); + if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value(); + + #ifdef DUAL_X_CARRIAGE + if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value(); + #endif + + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); + for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) { + SERIAL_ECHO(" "); + SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]); + SERIAL_ECHO(","); + SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]); + #ifdef DUAL_X_CARRIAGE + SERIAL_ECHO(","); + SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]); + #endif + } + SERIAL_EOL; + } + +#endif // EXTRUDERS > 1 + +/** + * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) + */ +inline void gcode_M220() { + if (code_seen('S')) feedmultiply = code_value(); +} + +/** + * M221: Set extrusion percentage (M221 T0 S95) + */ +inline void gcode_M221() { + if (code_seen('S')) { + int sval = code_value(); + if (code_seen('T')) { + if (setTargetedHotend(221)) return; + extruder_multiply[tmp_extruder] = sval; + } + else { + extrudemultiply = sval; + } + } +} + +/** + * M226: Wait until the specified pin reaches the state required (M226 P S) + */ +inline void gcode_M226() { + if (code_seen('P')) { + int pin_number = code_value(); + + int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted + + if (pin_state >= -1 && pin_state <= 1) { + + for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) { + if (sensitive_pins[i] == pin_number) { + pin_number = -1; + break; + } + } + + if (pin_number > -1) { + int target = LOW; + + st_synchronize(); + + pinMode(pin_number, INPUT); + + switch(pin_state){ + case 1: + target = HIGH; + break; + + case 0: + target = LOW; + break; + + case -1: + target = !digitalRead(pin_number); + break; + } + + while(digitalRead(pin_number) != target) { + manage_heater(); + manage_inactivity(); + lcd_update(); + } + + } // pin_number > -1 + } // pin_state -1 0 1 + } // code_seen('P') +} + +#if NUM_SERVOS > 0 + + /** + * M280: Set servo position absolute. P: servo index, S: angle or microseconds + */ + inline void gcode_M280() { + int servo_index = code_seen('P') ? code_value() : -1; + int servo_position = 0; + if (code_seen('S')) { + servo_position = code_value(); + if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) { + #if defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0 + servos[servo_index].attach(0); + #endif + servos[servo_index].write(servo_position); + #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) + delay(PROBE_SERVO_DEACTIVATION_DELAY); + servos[servo_index].detach(); + #endif + } + else { + SERIAL_ECHO_START; + SERIAL_ECHO("Servo "); + SERIAL_ECHO(servo_index); + SERIAL_ECHOLN(" out of range"); + } + } + else if (servo_index >= 0) { + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" Servo "); + SERIAL_PROTOCOL(servo_index); + SERIAL_PROTOCOL(": "); + SERIAL_PROTOCOL(servos[servo_index].read()); + SERIAL_PROTOCOLLN(""); + } + } + +#endif // NUM_SERVOS > 0 + +#if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)) + + /** + * M300: Play beep sound S P + */ + inline void gcode_M300() { + int beepS = code_seen('S') ? code_value() : 110; + int beepP = code_seen('P') ? code_value() : 1000; + if (beepS > 0) { + #if BEEPER > 0 + tone(BEEPER, beepS); + delay(beepP); + noTone(BEEPER); + #elif defined(ULTRALCD) + lcd_buzz(beepS, beepP); + #elif defined(LCD_USE_I2C_BUZZER) + lcd_buzz(beepP, beepS); + #endif + } + else { + delay(beepP); + } + } + +#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER) + +#ifdef PIDTEMP + + /** + * M301: Set PID parameters P I D (and optionally C) + */ + inline void gcode_M301() { + + // multi-extruder PID patch: M301 updates or prints a single extruder's PID values + // default behaviour (omitting E parameter) is to update for extruder 0 only + int e = code_seen('E') ? code_value() : 0; // extruder being updated + + if (e < EXTRUDERS) { // catch bad input value + if (code_seen('P')) PID_PARAM(Kp, e) = code_value(); + if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value()); + if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value()); + #ifdef PID_ADD_EXTRUSION_RATE + if (code_seen('C')) PID_PARAM(Kc, e) = code_value(); + #endif + + updatePID(); + SERIAL_PROTOCOL(MSG_OK); + #ifdef PID_PARAMS_PER_EXTRUDER + SERIAL_PROTOCOL(" e:"); // specify extruder in serial output + SERIAL_PROTOCOL(e); + #endif // PID_PARAMS_PER_EXTRUDER + SERIAL_PROTOCOL(" p:"); + SERIAL_PROTOCOL(PID_PARAM(Kp, e)); + SERIAL_PROTOCOL(" i:"); + SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e))); + SERIAL_PROTOCOL(" d:"); + SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e))); + #ifdef PID_ADD_EXTRUSION_RATE + SERIAL_PROTOCOL(" c:"); + //Kc does not have scaling applied above, or in resetting defaults + SERIAL_PROTOCOL(PID_PARAM(Kc, e)); + #endif + SERIAL_PROTOCOLLN(""); + } + else { + SERIAL_ECHO_START; + SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); + } + } + +#endif // PIDTEMP + +#ifdef PIDTEMPBED + + inline void gcode_M304() { + if (code_seen('P')) bedKp = code_value(); + if (code_seen('I')) bedKi = scalePID_i(code_value()); + if (code_seen('D')) bedKd = scalePID_d(code_value()); + + updatePID(); + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" p:"); + SERIAL_PROTOCOL(bedKp); + SERIAL_PROTOCOL(" i:"); + SERIAL_PROTOCOL(unscalePID_i(bedKi)); + SERIAL_PROTOCOL(" d:"); + SERIAL_PROTOCOL(unscalePID_d(bedKd)); + SERIAL_PROTOCOLLN(""); + } + +#endif // PIDTEMPBED + +#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1) + + /** + * M240: Trigger a camera by emulating a Canon RC-1 + * See http://www.doc-diy.net/photo/rc-1_hacked/ + */ + inline void gcode_M240() { + #ifdef CHDK + + OUT_WRITE(CHDK, HIGH); + chdkHigh = millis(); + chdkActive = true; + + #elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1 + + const uint8_t NUM_PULSES = 16; + const float PULSE_LENGTH = 0.01524; + for (int i = 0; i < NUM_PULSES; i++) { + WRITE(PHOTOGRAPH_PIN, HIGH); + _delay_ms(PULSE_LENGTH); + WRITE(PHOTOGRAPH_PIN, LOW); + _delay_ms(PULSE_LENGTH); + } + delay(7.33); + for (int i = 0; i < NUM_PULSES; i++) { + WRITE(PHOTOGRAPH_PIN, HIGH); + _delay_ms(PULSE_LENGTH); + WRITE(PHOTOGRAPH_PIN, LOW); + _delay_ms(PULSE_LENGTH); + } + + #endif // !CHDK && PHOTOGRAPH_PIN > -1 + } + +#endif // CHDK || PHOTOGRAPH_PIN + +#ifdef DOGLCD + + /** + * M250: Read and optionally set the LCD contrast + */ + inline void gcode_M250() { + if (code_seen('C')) lcd_setcontrast(code_value_long() & 0x3F); + SERIAL_PROTOCOLPGM("lcd contrast value: "); + SERIAL_PROTOCOL(lcd_contrast); + SERIAL_PROTOCOLLN(""); + } + +#endif // DOGLCD + +#ifdef PREVENT_DANGEROUS_EXTRUDE + + /** + * M302: Allow cold extrudes, or set the minimum extrude S. + */ + inline void gcode_M302() { + set_extrude_min_temp(code_seen('S') ? code_value() : 0); + } + +#endif // PREVENT_DANGEROUS_EXTRUDE + +/** + * M303: PID relay autotune + * S sets the target temperature. (default target temperature = 150C) + * E (-1 for the bed) + * C + */ +inline void gcode_M303() { + int e = code_seen('E') ? code_value_long() : 0; + int c = code_seen('C') ? code_value_long() : 5; + float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0); + PID_autotune(temp, e, c); +} + +#ifdef SCARA + + /** + * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration) + */ + inline bool gcode_M360() { + SERIAL_ECHOLN(" Cal: Theta 0 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if (! Stopped) { + //get_coordinates(); // For X Y Z E F + delta[X_AXIS] = 0; + delta[Y_AXIS] = 120; + calculate_SCARA_forward_Transform(delta); + destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; + destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; + prepare_move(); + //ClearToSend(); + return true; + } + return false; + } + + /** + * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) + */ + inline bool gcode_M361() { + SERIAL_ECHOLN(" Cal: Theta 90 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if (! Stopped) { + //get_coordinates(); // For X Y Z E F + delta[X_AXIS] = 90; + delta[Y_AXIS] = 130; + calculate_SCARA_forward_Transform(delta); + destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; + destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; + prepare_move(); + //ClearToSend(); + return true; + } + return false; + } + + /** + * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration) + */ + inline bool gcode_M362() { + SERIAL_ECHOLN(" Cal: Psi 0 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if (! Stopped) { + //get_coordinates(); // For X Y Z E F + delta[X_AXIS] = 60; + delta[Y_AXIS] = 180; + calculate_SCARA_forward_Transform(delta); + destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; + destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; + prepare_move(); + //ClearToSend(); + return true; + } + return false; + } + + /** + * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) + */ + inline bool gcode_M363() { + SERIAL_ECHOLN(" Cal: Psi 90 "); + //SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if (! Stopped) { + //get_coordinates(); // For X Y Z E F + delta[X_AXIS] = 50; + delta[Y_AXIS] = 90; + calculate_SCARA_forward_Transform(delta); + destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; + destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; + prepare_move(); + //ClearToSend(); + return true; + } + return false; + } + + /** + * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) + */ + inline bool gcode_M364() { + SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); + // SoftEndsEnabled = false; // Ignore soft endstops during calibration + //SERIAL_ECHOLN(" Soft endstops disabled "); + if (! Stopped) { + //get_coordinates(); // For X Y Z E F + delta[X_AXIS] = 45; + delta[Y_AXIS] = 135; + calculate_SCARA_forward_Transform(delta); + destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS]; + destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS]; + prepare_move(); + //ClearToSend(); + return true; + } + return false; + } + + /** + * M365: SCARA calibration: Scaling factor, X, Y, Z axis + */ + inline void gcode_M365() { + for (int8_t i = X_AXIS; i <= Z_AXIS; i++) { + if (code_seen(axis_codes[i])) { + axis_scaling[i] = code_value(); + } + } + } + +#endif // SCARA + +#ifdef EXT_SOLENOID + + void enable_solenoid(uint8_t num) { + switch(num) { + case 0: + OUT_WRITE(SOL0_PIN, HIGH); break; -#else - case 31: // dock the sled - dock_sled(true); + #if defined(SOL1_PIN) && SOL1_PIN > -1 + case 1: + OUT_WRITE(SOL1_PIN, HIGH); + break; + #endif + #if defined(SOL2_PIN) && SOL2_PIN > -1 + case 2: + OUT_WRITE(SOL2_PIN, HIGH); + break; + #endif + #if defined(SOL3_PIN) && SOL3_PIN > -1 + case 3: + OUT_WRITE(SOL3_PIN, HIGH); + break; + #endif + default: + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID); break; - case 32: // undock the sled - dock_sled(false); + } + } + + void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } + + void disable_all_solenoids() { + OUT_WRITE(SOL0_PIN, LOW); + OUT_WRITE(SOL1_PIN, LOW); + OUT_WRITE(SOL2_PIN, LOW); + OUT_WRITE(SOL3_PIN, LOW); + } + + /** + * M380: Enable solenoid on the active extruder + */ + inline void gcode_M380() { enable_solenoid_on_active_extruder(); } + + /** + * M381: Disable all solenoids + */ + inline void gcode_M381() { disable_all_solenoids(); } + +#endif // EXT_SOLENOID + +/** + * M400: Finish all moves + */ +inline void gcode_M400() { st_synchronize(); } + +#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED) + + /** + * M401: Engage Z Servo endstop if available + */ + inline void gcode_M401() { engage_z_probe(); } + /** + * M402: Retract Z Servo endstop if enabled + */ + inline void gcode_M402() { retract_z_probe(); } + +#endif + +#ifdef FILAMENT_SENSOR + + /** + * M404: Display or set the nominal filament width (3mm, 1.75mm ) N<3.0> + */ + inline void gcode_M404() { + #if FILWIDTH_PIN > -1 + if (code_seen('N')) { + filament_width_nominal = code_value(); + } + else { + SERIAL_PROTOCOLPGM("Filament dia (nominal mm):"); + SERIAL_PROTOCOLLN(filament_width_nominal); + } + #endif + } + + /** + * M405: Turn on filament sensor for control + */ + inline void gcode_M405() { + if (code_seen('D')) meas_delay_cm = code_value(); + if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY; + + if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup + int temp_ratio = widthFil_to_size_ratio(); + + for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1) + measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte + + delay_index1 = delay_index2 = 0; + } + + filament_sensor = true; + + //SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); + //SERIAL_PROTOCOL(filament_width_meas); + //SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); + //SERIAL_PROTOCOL(extrudemultiply); + } + + /** + * M406: Turn off filament sensor for control + */ + inline void gcode_M406() { filament_sensor = false; } + + /** + * M407: Get measured filament diameter on serial output + */ + inline void gcode_M407() { + SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); + SERIAL_PROTOCOLLN(filament_width_meas); + } + +#endif // FILAMENT_SENSOR + +/** + * M500: Store settings in EEPROM + */ +inline void gcode_M500() { + Config_StoreSettings(); +} + +/** + * M501: Read settings from EEPROM + */ +inline void gcode_M501() { + Config_RetrieveSettings(); +} + +/** + * M502: Revert to default settings + */ +inline void gcode_M502() { + Config_ResetDefault(); +} + +/** + * M503: print settings currently in memory + */ +inline void gcode_M503() { + Config_PrintSettings(code_seen('S') && code_value == 0); +} + +#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + + /** + * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) + */ + inline void gcode_M540() { + if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0); + } + +#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + +#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET + + inline void gcode_SET_Z_PROBE_OFFSET() { + float value; + if (code_seen('Z')) { + value = code_value(); + if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) { + zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); + SERIAL_PROTOCOLLN(""); + } + else { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET); + SERIAL_ECHOPGM(MSG_Z_MIN); + SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN); + SERIAL_ECHOPGM(MSG_Z_MAX); + SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX); + SERIAL_PROTOCOLLN(""); + } + } + else { + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : "); + SERIAL_ECHO(-zprobe_zoffset); + SERIAL_PROTOCOLLN(""); + } + } + +#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET + +#ifdef FILAMENTCHANGEENABLE + + /** + * M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] + */ + inline void gcode_M600() { + float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60; + for (int i=0; i 0 + OUT_WRITE(BEEPER,HIGH); + delay(3); + WRITE(BEEPER,LOW); + delay(3); + #else + #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) + lcd_buzz(1000/6, 100); + #else + lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ); + #endif + #endif + } + } // while(!lcd_clicked) + + //return to normal + if (code_seen('L')) target[E_AXIS] -= code_value(); + #ifdef FILAMENTCHANGE_FINALRETRACT + else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT; + #endif + + current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding + plan_set_e_position(current_position[E_AXIS]); + + RUNPLAN; //should do nothing + + lcd_reset_alert_level(); + + #ifdef DELTA + calculate_delta(lastpos); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract + #else + plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back + plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back + plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract + #endif + } + +#endif // FILAMENTCHANGEENABLE + +#ifdef DUAL_X_CARRIAGE + + /** + * M605: Set dual x-carriage movement mode + * + * M605 S0: Full control mode. The slicer has full control over x-carriage movement + * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement + * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn + * millimeters x-offset and an optional differential hotend temperature of + * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate + * the first with a spacing of 100mm in the x direction and 2 degrees hotter. + * + * Note: the X axis should be homed after changing dual x-carriage mode. + */ + inline void gcode_M605() { + st_synchronize(); + if (code_seen('S')) dual_x_carriage_mode = code_value(); + switch(dual_x_carriage_mode) { + case DXC_DUPLICATION_MODE: + if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0)); + if (code_seen('R')) duplicate_extruder_temp_offset = code_value(); + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); + SERIAL_ECHO(" "); + SERIAL_ECHO(extruder_offset[X_AXIS][0]); + SERIAL_ECHO(","); + SERIAL_ECHO(extruder_offset[Y_AXIS][0]); + SERIAL_ECHO(" "); + SERIAL_ECHO(duplicate_extruder_x_offset); + SERIAL_ECHO(","); + SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]); break; -#endif // Z_PROBE_SLED -#endif // ENABLE_AUTO_BED_LEVELING + case DXC_FULL_CONTROL_MODE: + case DXC_AUTO_PARK_MODE: + break; + default: + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + break; + } + active_extruder_parked = false; + extruder_duplication_enabled = false; + delayed_move_time = 0; + } + +#endif // DUAL_X_CARRIAGE + +/** + * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S + */ +inline void gcode_M907() { + #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 + for (int i=0;i -1 + + /** + * M908: Control digital trimpot directly (M908 P S) + */ + inline void gcode_M908() { + digitalPotWrite( + code_seen('P') ? code_value() : 0, + code_seen('S') ? code_value() : 0 + ); + } + +#endif // DIGIPOTSS_PIN + +// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. +inline void gcode_M350() { + #if defined(X_MS1_PIN) && X_MS1_PIN > -1 + if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); + for(int i=0;i -1 + if (code_seen('S')) switch((int)code_value()) { + case 1: + for(int i=0;i= EXTRUDERS) { + SERIAL_ECHO_START; + SERIAL_ECHO("T"); + SERIAL_ECHO(tmp_extruder); + SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); + } + else { + boolean make_move = false; + if (code_seen('F')) { + make_move = true; + next_feedrate = code_value(); + if (next_feedrate > 0.0) feedrate = next_feedrate; + } + #if EXTRUDERS > 1 + if (tmp_extruder != active_extruder) { + // Save current position to return to after applying extruder offset + memcpy(destination, current_position, sizeof(destination)); + #ifdef DUAL_X_CARRIAGE + if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false && + (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) { + // Park old head: 1) raise 2) move to park position 3) lower + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, + current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); + plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, + current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder); + plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS], + current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); + st_synchronize(); + } + + // apply Y & Z extruder offset (x offset is already used in determining home pos) + current_position[Y_AXIS] = current_position[Y_AXIS] - + extruder_offset[Y_AXIS][active_extruder] + + extruder_offset[Y_AXIS][tmp_extruder]; + current_position[Z_AXIS] = current_position[Z_AXIS] - + extruder_offset[Z_AXIS][active_extruder] + + extruder_offset[Z_AXIS][tmp_extruder]; + + active_extruder = tmp_extruder; + + // This function resets the max/min values - the current position may be overwritten below. + axis_is_at_home(X_AXIS); + + if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) { + current_position[X_AXIS] = inactive_extruder_x_pos; + inactive_extruder_x_pos = destination[X_AXIS]; + } + else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { + active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position + if (active_extruder == 0 || active_extruder_parked) + current_position[X_AXIS] = inactive_extruder_x_pos; + else + current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; + inactive_extruder_x_pos = destination[X_AXIS]; + extruder_duplication_enabled = false; + } + else { + // record raised toolhead position for use by unpark + memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); + raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; + active_extruder_parked = true; + delayed_move_time = 0; + } + #else // !DUAL_X_CARRIAGE + // Offset extruder (only by XY) + for (int i=X_AXIS; i<=Y_AXIS; i++) + current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder]; + // Set the new active extruder and position + active_extruder = tmp_extruder; + #endif // !DUAL_X_CARRIAGE + #ifdef DELTA + calculate_delta(current_position); // change cartesian kinematic to delta kinematic; + //sent position to plan_set_position(); + plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]); + #else + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + #endif + // Move to the old position if 'F' was in the parameters + if (make_move && !Stopped) prepare_move(); + } + + #ifdef EXT_SOLENOID + st_synchronize(); + disable_all_solenoids(); + enable_solenoid_on_active_extruder(); + #endif // EXT_SOLENOID + + #endif // EXTRUDERS > 1 + SERIAL_ECHO_START; + SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); + SERIAL_PROTOCOLLN((int)active_extruder); + } +} + +/** + * Process Commands and dispatch them to handlers + */ +void process_commands() { + if (code_seen('G')) { + + int gCode = code_value_long(); + + switch(gCode) { + + // G0, G1 + case 0: + case 1: + gcode_G0_G1(); + break; + + // G2, G3 + #ifndef SCARA + case 2: // G2 - CW ARC + case 3: // G3 - CCW ARC + gcode_G2_G3(gCode == 2); + break; + #endif + + // G4 Dwell + case 4: + gcode_G4(); + break; + + #ifdef FWRETRACT + + case 10: // G10: retract + case 11: // G11: retract_recover + gcode_G10_G11(gCode == 10); + break; + + #endif //FWRETRACT + + case 28: // G28: Home all axes, one at a time + gcode_G28(); + break; + + #ifdef ENABLE_AUTO_BED_LEVELING + + case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points. + gcode_G29(); + break; + + #ifndef Z_PROBE_SLED + + case 30: // G30 Single Z Probe + gcode_G30(); + break; + + #else // Z_PROBE_SLED + + case 31: // G31: dock the sled + case 32: // G32: undock the sled + dock_sled(gCode == 31); + break; + + #endif // Z_PROBE_SLED + + #endif // ENABLE_AUTO_BED_LEVELING + case 90: // G90 relative_mode = false; break; case 91: // G91 relative_mode = true; break; + case 92: // G92 - if(!code_seen(axis_codes[E_AXIS])) - st_synchronize(); - for(int8_t i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) { - if(i == E_AXIS) { - current_position[i] = code_value(); - plan_set_e_position(current_position[E_AXIS]); - } - else { -#ifdef SCARA - if (i == X_AXIS || i == Y_AXIS) { - current_position[i] = code_value(); - } - else { - current_position[i] = code_value()+add_homing[i]; - } -#else - current_position[i] = code_value()+add_homing[i]; -#endif - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - } - } - } + gcode_G92(); break; } } - else if(code_seen('M')) - { - switch( (int)code_value() ) - { -#ifdef ULTIPANEL - case 0: // M0 - Unconditional stop - Wait for user button press on LCD - case 1: // M1 - Conditional stop - Wait for user button press on LCD - { - char *src = strchr_pointer + 2; + else if (code_seen('M')) { + switch( (int)code_value() ) { + #ifdef ULTIPANEL + case 0: // M0 - Unconditional stop - Wait for user button press on LCD + case 1: // M1 - Conditional stop - Wait for user button press on LCD + gcode_M0_M1(); + break; + #endif // ULTIPANEL - codenum = 0; + case 17: + gcode_M17(); + break; - bool hasP = false, hasS = false; - if (code_seen('P')) { - codenum = code_value(); // milliseconds to wait - hasP = codenum > 0; - } - if (code_seen('S')) { - codenum = code_value() * 1000; // seconds to wait - hasS = codenum > 0; - } - starpos = strchr(src, '*'); - if (starpos != NULL) *(starpos) = '\0'; - while (*src == ' ') ++src; - if (!hasP && !hasS && *src != '\0') { - lcd_setstatus(src); - } else { - LCD_MESSAGEPGM(MSG_USERWAIT); - } + #ifdef SDSUPPORT - lcd_ignore_click(); - st_synchronize(); - previous_millis_cmd = millis(); - if (codenum > 0){ - codenum += millis(); // keep track of when we started waiting - while(millis() < codenum && !lcd_clicked()){ - manage_heater(); - manage_inactivity(); - lcd_update(); - } - lcd_ignore_click(false); - }else{ - if (!lcd_detected()) - break; - while(!lcd_clicked()){ - manage_heater(); - manage_inactivity(); - lcd_update(); - } - } - if (IS_SD_PRINTING) - LCD_MESSAGEPGM(MSG_RESUMING); - else - LCD_MESSAGEPGM(WELCOME_MSG); - } - break; -#endif - case 17: - LCD_MESSAGEPGM(MSG_NO_MOVE); - enable_x(); - enable_y(); - enable_z(); - enable_e0(); - enable_e1(); - enable_e2(); - enable_e3(); - break; + 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; + case 928: //M928 - Start SD write + gcode_M928(); break; -#ifdef SDSUPPORT - case 20: // M20 - list SD card - SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST); - card.ls(); - SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); - break; - case 21: // M21 - init SD card + #endif //SDSUPPORT - card.initsd(); + case 31: //M31 take time since the start of the SD print or an M109 command + gcode_M31(); + break; - break; - case 22: //M22 - release SD card - card.release(); + case 42: //M42 -Change pin status via gcode + gcode_M42(); + break; - break; - case 23: //M23 - Select file - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos!=NULL) - *(starpos)='\0'; - card.openFile(strchr_pointer + 4,true); - break; - case 24: //M24 - Start SD print - card.startFileprint(); - starttime=millis(); - break; - case 25: //M25 - Pause SD print - card.pauseSDPrint(); - break; - case 26: //M26 - Set SD index - if(card.cardOK && code_seen('S')) { - card.setIndex(code_value_long()); - } - break; - case 27: //M27 - Get SD status - card.getStatus(); - break; - case 28: //M28 - Start SD write - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos != NULL){ - char* npos = strchr(cmdbuffer[bufindr], 'N'); - strchr_pointer = strchr(npos,' ') + 1; - *(starpos) = '\0'; - } - card.openFile(strchr_pointer+4,false); - break; - case 29: //M29 - Stop SD write - //processed in write to file routine above - //card,saving = false; - break; - case 30: //M30 Delete File - if (card.cardOK){ - card.closefile(); - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos != NULL){ - char* npos = strchr(cmdbuffer[bufindr], 'N'); - strchr_pointer = strchr(npos,' ') + 1; - *(starpos) = '\0'; - } - card.removeFile(strchr_pointer + 4); - } - break; - case 32: //M32 - Select file and start SD print - { - if(card.sdprinting) { - st_synchronize(); + #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST) + case 48: // M48 Z-Probe repeatability + gcode_M48(); + break; + #endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST - } - starpos = (strchr(strchr_pointer + 4,'*')); + case 104: // M104 + gcode_M104(); + break; - char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start. - if(namestartpos==NULL) - { - namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M - } - else - namestartpos++; //to skip the '!' + case 112: // M112 Emergency Stop + gcode_M112(); + break; - if(starpos!=NULL) - *(starpos)='\0'; + case 140: // M140 Set bed temp + gcode_M140(); + break; - bool call_procedure=(code_seen('P')); + case 105: // M105 Read current temperature + gcode_M105(); + return; + break; - if(strchr_pointer>namestartpos) - call_procedure=false; //false alert, 'P' found within filename + case 109: // M109 Wait for temperature + gcode_M109(); + break; - if( card.cardOK ) - { - card.openFile(namestartpos,true,!call_procedure); - if(code_seen('S')) - if(strchr_pointer -1 + case 190: // M190 - Wait for bed heater to reach target. + gcode_M190(); + break; + #endif //TEMP_BED_PIN -#endif //SDSUPPORT - - case 31: //M31 take time since the start of the SD print or an M109 command - { - stoptime=millis(); - char time[30]; - unsigned long t=(stoptime-starttime)/1000; - int sec,min; - min=t/60; - sec=t%60; - sprintf_P(time, PSTR("%i min, %i sec"), min, sec); - SERIAL_ECHO_START; - SERIAL_ECHOLN(time); - lcd_setstatus(time); - autotempShutdown(); - } - break; - case 42: //M42 -Change pin status via gcode - if (code_seen('S')) - { - int pin_status = code_value(); - int pin_number = LED_PIN; - if (code_seen('P') && pin_status >= 0 && pin_status <= 255) - pin_number = code_value(); - for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++) - { - if (sensitive_pins[i] == pin_number) - { - pin_number = -1; - break; - } - } #if defined(FAN_PIN) && FAN_PIN > -1 - if (pin_number == FAN_PIN) - fanSpeed = pin_status; - #endif - if (pin_number > -1) - { - pinMode(pin_number, OUTPUT); - digitalWrite(pin_number, pin_status); - analogWrite(pin_number, pin_status); - } - } - break; - -// M48 Z-Probe repeatability measurement function. -// -// Usage: M48 -// -// This function assumes the bed has been homed. Specificaly, that a G28 command -// as been issued prior to invoking the M48 Z-Probe repeatability measurement function. -// Any information generated by a prior G29 Bed leveling command will be lost and need to be -// regenerated. -// -// The number of samples will default to 10 if not specified. You can use upper or lower case -// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital -// N for its communication protocol and will get horribly confused if you send it a capital N. -// - -#ifdef ENABLE_AUTO_BED_LEVELING -#ifdef Z_PROBE_REPEATABILITY_TEST - - case 48: // M48 Z-Probe repeatability - { - #if Z_MIN_PIN == -1 - #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability." - #endif - - double sum=0.0; - double mean=0.0; - double sigma=0.0; - double sample_set[50]; - int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ; - double X_current, Y_current, Z_current; - double X_probe_location, Y_probe_location, Z_start_location, ext_position; - - if (code_seen('V') || code_seen('v')) { - verbose_level = code_value(); - if (verbose_level<0 || verbose_level>4 ) { - SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n"); - goto Sigma_Exit; - } - } - - if (verbose_level > 0) { - SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n"); - SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n"); - } - - if (code_seen('n')) { - n_samples = code_value(); - if (n_samples<4 || n_samples>50 ) { - SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n"); - goto Sigma_Exit; - } - } - - X_current = X_probe_location = st_get_position_mm(X_AXIS); - Y_current = Y_probe_location = st_get_position_mm(Y_AXIS); - Z_current = st_get_position_mm(Z_AXIS); - Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; - ext_position = st_get_position_mm(E_AXIS); - - if (code_seen('E') || code_seen('e') ) - engage_probe_for_each_reading++; - - if (code_seen('X') || code_seen('x') ) { - X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER; - if (X_probe_locationX_MAX_POS ) { - SERIAL_PROTOCOLPGM("?Specified X position out of range.\n"); - goto Sigma_Exit; - } - } - - if (code_seen('Y') || code_seen('y') ) { - Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER; - if (Y_probe_locationY_MAX_POS ) { - SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n"); - goto Sigma_Exit; - } - } - - if (code_seen('L') || code_seen('l') ) { - n_legs = code_value(); - if ( n_legs==1 ) - n_legs = 2; - if ( n_legs<0 || n_legs>15 ) { - SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n"); - goto Sigma_Exit; - } - } - -// -// Do all the preliminary setup work. First raise the probe. -// - - st_synchronize(); - plan_bed_level_matrix.set_to_identity(); - plan_buffer_line( X_current, Y_current, Z_start_location, - ext_position, - homing_feedrate[Z_AXIS]/60, - active_extruder); - st_synchronize(); - -// -// Now get everything to the specified probe point So we can safely do a probe to -// get us close to the bed. If the Z-Axis is far from the bed, we don't want to -// use that as a starting point for each probe. -// - if (verbose_level > 2) - SERIAL_PROTOCOL("Positioning probe for the test.\n"); - - plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, - ext_position, - homing_feedrate[X_AXIS]/60, - active_extruder); - st_synchronize(); - - current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS); - current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS); - current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); - current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS); - -// -// OK, do the inital probe to get us close to the bed. -// Then retrace the right amount and use that in subsequent probes -// - - engage_z_probe(); - - setup_for_endstop_move(); - run_z_probe(); - - current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); - Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING; - - plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, - ext_position, - homing_feedrate[X_AXIS]/60, - active_extruder); - st_synchronize(); - current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS); - - if (engage_probe_for_each_reading) - retract_z_probe(); - - for( n=0; nX_MAX_POS) - X_current = X_MAX_POS; - - if ( Y_currentY_MAX_POS) - Y_current = Y_MAX_POS; - - if (verbose_level>3 ) { - SERIAL_ECHOPAIR("x: ", X_current); - SERIAL_ECHOPAIR("y: ", Y_current); - SERIAL_PROTOCOLLNPGM(""); - } - - do_blocking_move_to( X_current, Y_current, Z_current ); - } - do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location - } - - if (engage_probe_for_each_reading) { - engage_z_probe(); - delay(1000); - } - - setup_for_endstop_move(); - run_z_probe(); - - sample_set[n] = current_position[Z_AXIS]; - -// -// Get the current mean for the data points we have so far -// - sum=0.0; - for( j=0; j<=n; j++) { - sum = sum + sample_set[j]; - } - mean = sum / (double (n+1)); -// -// Now, use that mean to calculate the standard deviation for the -// data points we have so far -// - - sum=0.0; - for( j=0; j<=n; j++) { - sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean); - } - sigma = sqrt( sum / (double (n+1)) ); - - if (verbose_level > 1) { - SERIAL_PROTOCOL(n+1); - SERIAL_PROTOCOL(" of "); - SERIAL_PROTOCOL(n_samples); - SERIAL_PROTOCOLPGM(" z: "); - SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6); - } - - if (verbose_level > 2) { - SERIAL_PROTOCOL(" mean: "); - SERIAL_PROTOCOL_F(mean,6); - - SERIAL_PROTOCOL(" sigma: "); - SERIAL_PROTOCOL_F(sigma,6); - } - - if (verbose_level > 0) - SERIAL_PROTOCOLPGM("\n"); - - plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location, - current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); - st_synchronize(); - - if (engage_probe_for_each_reading) { - retract_z_probe(); - delay(1000); - } - } - - retract_z_probe(); - delay(1000); - - clean_up_after_endstop_move(); - -// enable_endstops(true); - - if (verbose_level > 0) { - SERIAL_PROTOCOLPGM("Mean: "); - SERIAL_PROTOCOL_F(mean, 6); - SERIAL_PROTOCOLPGM("\n"); - } - -SERIAL_PROTOCOLPGM("Standard Deviation: "); -SERIAL_PROTOCOL_F(sigma, 6); -SERIAL_PROTOCOLPGM("\n\n"); - -Sigma_Exit: - break; - } -#endif // Z_PROBE_REPEATABILITY_TEST -#endif // ENABLE_AUTO_BED_LEVELING - - case 104: // M104 - if(setTargetedHotend(104)){ - break; - } - if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder); -#ifdef DUAL_X_CARRIAGE - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0) - setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset); -#endif - setWatch(); - break; - case 112: // M112 -Emergency Stop - kill(); - break; - case 140: // M140 set bed temp - if (code_seen('S')) setTargetBed(code_value()); - break; - case 105 : // M105 - if(setTargetedHotend(105)){ - break; - } - #if defined(TEMP_0_PIN) && TEMP_0_PIN > -1 - SERIAL_PROTOCOLPGM("ok T:"); - SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); - SERIAL_PROTOCOLPGM(" /"); - SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); - #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 - SERIAL_PROTOCOLPGM(" B:"); - SERIAL_PROTOCOL_F(degBed(),1); - SERIAL_PROTOCOLPGM(" /"); - SERIAL_PROTOCOL_F(degTargetBed(),1); - #endif //TEMP_BED_PIN - for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { - SERIAL_PROTOCOLPGM(" T"); - SERIAL_PROTOCOL(cur_extruder); - SERIAL_PROTOCOLPGM(":"); - SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); - SERIAL_PROTOCOLPGM(" /"); - SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1); - } - #else - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); - #endif - - SERIAL_PROTOCOLPGM(" @:"); - #ifdef EXTRUDER_WATTS - SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127); - SERIAL_PROTOCOLPGM("W"); - #else - SERIAL_PROTOCOL(getHeaterPower(tmp_extruder)); - #endif - - SERIAL_PROTOCOLPGM(" B@:"); - #ifdef BED_WATTS - SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127); - SERIAL_PROTOCOLPGM("W"); - #else - SERIAL_PROTOCOL(getHeaterPower(-1)); - #endif - - #ifdef SHOW_TEMP_ADC_VALUES - #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 - SERIAL_PROTOCOLPGM(" ADC B:"); - SERIAL_PROTOCOL_F(degBed(),1); - SERIAL_PROTOCOLPGM("C->"); - SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0); - #endif - for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { - SERIAL_PROTOCOLPGM(" T"); - SERIAL_PROTOCOL(cur_extruder); - SERIAL_PROTOCOLPGM(":"); - SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); - SERIAL_PROTOCOLPGM("C->"); - SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0); - } - #endif - - SERIAL_PROTOCOLLN(""); - return; - break; - case 109: - {// M109 - Wait for extruder heater to reach target. - if(setTargetedHotend(109)){ - break; - } - LCD_MESSAGEPGM(MSG_HEATING); - #ifdef AUTOTEMP - autotemp_enabled=false; - #endif - if (code_seen('S')) { - setTargetHotend(code_value(), tmp_extruder); -#ifdef DUAL_X_CARRIAGE - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0) - setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset); -#endif - CooldownNoWait = true; - } else if (code_seen('R')) { - setTargetHotend(code_value(), tmp_extruder); -#ifdef DUAL_X_CARRIAGE - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0) - setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset); -#endif - CooldownNoWait = false; - } - #ifdef AUTOTEMP - if (code_seen('S')) autotemp_min=code_value(); - if (code_seen('B')) autotemp_max=code_value(); - if (code_seen('F')) - { - autotemp_factor=code_value(); - autotemp_enabled=true; - } - #endif - - setWatch(); - codenum = millis(); - - /* See if we are heating up or cooling down */ - target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling - - cancel_heatup = false; - - #ifdef TEMP_RESIDENCY_TIME - long residencyStart; - residencyStart = -1; - /* continue to loop until we have reached the target temp - _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ - while((!cancel_heatup)&&((residencyStart == -1) || - (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) { - #else - while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) { - #endif //TEMP_RESIDENCY_TIME - if( (millis() - codenum) > 1000UL ) - { //Print Temp Reading and remaining time every 1 second while heating up/cooling down - SERIAL_PROTOCOLPGM("T:"); - SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); - SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL((int)tmp_extruder); - #ifdef TEMP_RESIDENCY_TIME - SERIAL_PROTOCOLPGM(" W:"); - if(residencyStart > -1) - { - codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL; - SERIAL_PROTOCOLLN( codenum ); - } - else - { - SERIAL_PROTOCOLLN( "?" ); - } - #else - SERIAL_PROTOCOLLN(""); - #endif - codenum = millis(); - } - manage_heater(); - manage_inactivity(); - lcd_update(); - #ifdef TEMP_RESIDENCY_TIME - /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time - or when current temp falls outside the hysteresis after target temp was reached */ - if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) || - (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) || - (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) - { - residencyStart = millis(); - } - #endif //TEMP_RESIDENCY_TIME - } - LCD_MESSAGEPGM(MSG_HEATING_COMPLETE); - starttime=millis(); - previous_millis_cmd = millis(); - } - break; - case 190: // M190 - Wait for bed heater to reach target. - #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1 - LCD_MESSAGEPGM(MSG_BED_HEATING); - if (code_seen('S')) { - setTargetBed(code_value()); - CooldownNoWait = true; - } else if (code_seen('R')) { - setTargetBed(code_value()); - CooldownNoWait = false; - } - codenum = millis(); - - cancel_heatup = false; - target_direction = isHeatingBed(); // true if heating, false if cooling - - while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) - { - if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. - { - float tt=degHotend(active_extruder); - SERIAL_PROTOCOLPGM("T:"); - SERIAL_PROTOCOL(tt); - SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL((int)active_extruder); - SERIAL_PROTOCOLPGM(" B:"); - SERIAL_PROTOCOL_F(degBed(),1); - SERIAL_PROTOCOLLN(""); - codenum = millis(); - } - manage_heater(); - manage_inactivity(); - lcd_update(); - } - LCD_MESSAGEPGM(MSG_BED_DONE); - previous_millis_cmd = millis(); - #endif - break; - - #if defined(FAN_PIN) && FAN_PIN > -1 - case 106: //M106 Fan On - if (code_seen('S')){ - fanSpeed=constrain(code_value(),0,255); - } - else { - fanSpeed=255; - } - break; - case 107: //M107 Fan Off - fanSpeed = 0; - break; - #endif //FAN_PIN - #ifdef BARICUDA - // PWM for HEATER_1_PIN - #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 - case 126: //M126 valve open - if (code_seen('S')){ - ValvePressure=constrain(code_value(),0,255); - } - else { - ValvePressure=255; - } + case 106: //M106 Fan On + gcode_M106(); break; - case 127: //M127 valve closed - ValvePressure = 0; + case 107: //M107 Fan Off + gcode_M107(); break; - #endif //HEATER_1_PIN + #endif //FAN_PIN - // PWM for HEATER_2_PIN - #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 - case 128: //M128 valve open - if (code_seen('S')){ - EtoPPressure=constrain(code_value(),0,255); - } - else { - EtoPPressure=255; - } + #ifdef BARICUDA + // PWM for HEATER_1_PIN + #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 + case 126: // M126 valve open + gcode_M126(); + break; + case 127: // M127 valve closed + gcode_M127(); + break; + #endif //HEATER_1_PIN + + // PWM for HEATER_2_PIN + #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 + case 128: // M128 valve open + gcode_M128(); + break; + case 129: // M129 valve closed + gcode_M129(); + break; + #endif //HEATER_2_PIN + #endif //BARICUDA + + #if defined(PS_ON_PIN) && PS_ON_PIN > -1 + + case 80: // M80 - Turn on Power Supply + gcode_M80(); break; - case 129: //M129 valve closed - EtoPPressure = 0; - break; - #endif //HEATER_2_PIN - #endif - #if defined(PS_ON_PIN) && PS_ON_PIN > -1 - case 80: // M80 - Turn on Power Supply - OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND - - // If you have a switch on suicide pin, this is useful - // if you want to start another print with suicide feature after - // a print without suicide... - #if defined SUICIDE_PIN && SUICIDE_PIN > -1 - OUT_WRITE(SUICIDE_PIN, HIGH); - #endif - - #ifdef ULTIPANEL - powersupply = true; - LCD_MESSAGEPGM(WELCOME_MSG); - lcd_update(); - #endif - break; - #endif + #endif // PS_ON_PIN case 81: // M81 - Turn off Power Supply - disable_heater(); - st_synchronize(); - disable_e0(); - disable_e1(); - disable_e2(); - disable_e3(); - finishAndDisableSteppers(); - fanSpeed = 0; - delay(1000); // Wait a little before to switch off - #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 - st_synchronize(); - suicide(); - #elif defined(PS_ON_PIN) && PS_ON_PIN > -1 - OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); - #endif - #ifdef ULTIPANEL - powersupply = false; - LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF"."); - lcd_update(); - #endif - break; - - case 82: - axis_relative_modes[3] = false; - break; - case 83: - axis_relative_modes[3] = true; - break; - case 18: //compatibility - case 84: // M84 - if(code_seen('S')){ - stepper_inactive_time = code_value() * 1000; - } - else - { - bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS]))); - if(all_axis) - { - st_synchronize(); - disable_e0(); - disable_e1(); - disable_e2(); - disable_e3(); - finishAndDisableSteppers(); - } - else - { - st_synchronize(); - if(code_seen('X')) disable_x(); - if(code_seen('Y')) disable_y(); - if(code_seen('Z')) disable_z(); - #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS - if(code_seen('E')) { - disable_e0(); - disable_e1(); - disable_e2(); - disable_e3(); - } - #endif - } - } - break; - case 85: // M85 - if(code_seen('S')) { - max_inactive_time = code_value() * 1000; - } - break; - case 92: // M92 - for(int8_t i=0; i < NUM_AXIS; i++) - { - if(code_seen(axis_codes[i])) - { - if(i == 3) { // E - float value = code_value(); - if(value < 20.0) { - float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab. - max_e_jerk *= factor; - max_feedrate[i] *= factor; - axis_steps_per_sqr_second[i] *= factor; - } - axis_steps_per_unit[i] = value; - } - else { - axis_steps_per_unit[i] = code_value(); - } - } - } - break; - case 115: // M115 - SERIAL_PROTOCOLPGM(MSG_M115_REPORT); - break; - case 117: // M117 display message - starpos = (strchr(strchr_pointer + 5,'*')); - if(starpos!=NULL) - *(starpos)='\0'; - lcd_setstatus(strchr_pointer + 5); - break; - case 114: // M114 - SERIAL_PROTOCOLPGM("X:"); - SERIAL_PROTOCOL(current_position[X_AXIS]); - SERIAL_PROTOCOLPGM(" Y:"); - SERIAL_PROTOCOL(current_position[Y_AXIS]); - SERIAL_PROTOCOLPGM(" Z:"); - SERIAL_PROTOCOL(current_position[Z_AXIS]); - SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL(current_position[E_AXIS]); - - SERIAL_PROTOCOLPGM(MSG_COUNT_X); - SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]); - SERIAL_PROTOCOLPGM(" Y:"); - SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]); - SERIAL_PROTOCOLPGM(" Z:"); - SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); - - SERIAL_PROTOCOLLN(""); -#ifdef SCARA - SERIAL_PROTOCOLPGM("SCARA Theta:"); - SERIAL_PROTOCOL(delta[X_AXIS]); - SERIAL_PROTOCOLPGM(" Psi+Theta:"); - SERIAL_PROTOCOL(delta[Y_AXIS]); - SERIAL_PROTOCOLLN(""); - - SERIAL_PROTOCOLPGM("SCARA Cal - Theta:"); - SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]); - SERIAL_PROTOCOLPGM(" Psi+Theta (90):"); - SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]); - SERIAL_PROTOCOLLN(""); - - SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); - SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]); - SERIAL_PROTOCOLPGM(" Psi+Theta:"); - SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]); - SERIAL_PROTOCOLLN(""); - SERIAL_PROTOCOLLN(""); -#endif - break; - case 120: // M120 - enable_endstops(false) ; - break; - case 121: // M121 - enable_endstops(true) ; - break; - case 119: // M119 - SERIAL_PROTOCOLLN(MSG_M119_REPORT); - #if defined(X_MIN_PIN) && X_MIN_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_X_MIN); - SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - #if defined(X_MAX_PIN) && X_MAX_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_X_MAX); - SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_Y_MIN); - SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_Y_MAX); - SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_Z_MIN); - SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1 - SERIAL_PROTOCOLPGM(MSG_Z_MAX); - SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); - #endif - break; - //TODO: update for all axis, use for loop - #ifdef BLINKM - case 150: // M150 - { - byte red; - byte grn; - byte blu; - - if(code_seen('R')) red = code_value(); - if(code_seen('U')) grn = code_value(); - if(code_seen('B')) blu = code_value(); - - SendColors(red,grn,blu); - } - break; - #endif //BLINKM - case 200: // M200 D set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters). - { - - tmp_extruder = active_extruder; - if(code_seen('T')) { - tmp_extruder = code_value(); - if(tmp_extruder >= EXTRUDERS) { - SERIAL_ECHO_START; - SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER); - break; - } - } - - float area = .0; - if(code_seen('D')) { - float diameter = code_value(); - // setting any extruder filament size disables volumetric on the assumption that - // slicers either generate in extruder values as cubic mm or as as filament feeds - // for all extruders - volumetric_enabled = (diameter != 0.0); - if (volumetric_enabled) { - filament_size[tmp_extruder] = diameter; - // make sure all extruders have some sane value for the filament size - for (int i=0; i R S - if(code_seen('L')) { - delta_diagonal_rod= code_value(); - } - if(code_seen('R')) { - delta_radius= code_value(); - } - if(code_seen('S')) { - delta_segments_per_second= code_value(); - } - - recalc_delta_settings(delta_radius, delta_diagonal_rod); - break; - case 666: // M666 set delta endstop adjustemnt - for(int8_t i=0; i < 3; i++) - { - if(code_seen(axis_codes[i])) endstop_adj[i] = code_value(); - } - break; - #endif - #ifdef FWRETRACT - case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] - { - if(code_seen('S')) - { - retract_length = code_value() ; - } - if(code_seen('F')) - { - retract_feedrate = code_value()/60 ; - } - if(code_seen('Z')) - { - retract_zlift = code_value() ; - } - }break; - case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] - { - if(code_seen('S')) - { - retract_recover_length = code_value() ; - } - if(code_seen('F')) - { - retract_recover_feedrate = code_value()/60 ; - } - }break; - case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. - { - if(code_seen('S')) - { - int t= code_value() ; - switch(t) - { - case 0: - case 1: - { - autoretract_enabled = (t == 1); - for (int i=0; i 1 - case 218: // M218 - set hotend offset (in mm), T X Y - { - if(setTargetedHotend(218)){ - break; - } - if(code_seen('X')) - { - extruder_offset[X_AXIS][tmp_extruder] = code_value(); - } - if(code_seen('Y')) - { - extruder_offset[Y_AXIS][tmp_extruder] = code_value(); - } - #ifdef DUAL_X_CARRIAGE - if(code_seen('Z')) - { - extruder_offset[Z_AXIS][tmp_extruder] = code_value(); - } - #endif - SERIAL_ECHO_START; - SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); - for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) - { - SERIAL_ECHO(" "); - SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]); - SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]); - #ifdef DUAL_X_CARRIAGE - SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]); - #endif - } - SERIAL_EOL; - }break; - #endif - case 220: // M220 S- set speed factor override percentage - { - if(code_seen('S')) - { - feedmultiply = code_value() ; - } - } - break; - case 221: // M221 S- set extrude factor override percentage - { - if(code_seen('S')) - { - int tmp_code = code_value(); - if (code_seen('T')) - { - if(setTargetedHotend(221)){ - break; - } - extruder_multiply[tmp_extruder] = tmp_code; - } - else - { - extrudemultiply = tmp_code ; - } - } - } - break; - - case 226: // M226 P S- Wait until the specified pin reaches the state required - { - if(code_seen('P')){ - int pin_number = code_value(); // pin number - int pin_state = -1; // required pin state - default is inverted - - if(code_seen('S')) pin_state = code_value(); // required pin state - - if(pin_state >= -1 && pin_state <= 1){ - - for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++) - { - if (sensitive_pins[i] == pin_number) - { - pin_number = -1; - break; - } - } - - if (pin_number > -1) - { - int target = LOW; - - st_synchronize(); - - pinMode(pin_number, INPUT); - - switch(pin_state){ - case 1: - target = HIGH; - break; - - case 0: - target = LOW; - break; - - case -1: - target = !digitalRead(pin_number); - break; - } - - while(digitalRead(pin_number) != target){ - manage_heater(); - manage_inactivity(); - lcd_update(); - } - } - } - } - } - break; - - #if NUM_SERVOS > 0 - case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds - { - int servo_index = -1; - int servo_position = 0; - if (code_seen('P')) - servo_index = code_value(); - if (code_seen('S')) { - servo_position = code_value(); - if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) { -#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) - servos[servo_index].attach(0); -#endif - servos[servo_index].write(servo_position); -#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0) - delay(PROBE_SERVO_DEACTIVATION_DELAY); - servos[servo_index].detach(); -#endif - } - else { - SERIAL_ECHO_START; - SERIAL_ECHO("Servo "); - SERIAL_ECHO(servo_index); - SERIAL_ECHOLN(" out of range"); - } - } - else if (servo_index >= 0) { - SERIAL_PROTOCOL(MSG_OK); - SERIAL_PROTOCOL(" Servo "); - SERIAL_PROTOCOL(servo_index); - SERIAL_PROTOCOL(": "); - SERIAL_PROTOCOL(servos[servo_index].read()); - SERIAL_PROTOCOLLN(""); - } - } - break; - #endif // NUM_SERVOS > 0 - - #if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))) - case 300: // M300 - { - int beepS = code_seen('S') ? code_value() : 110; - int beepP = code_seen('P') ? code_value() : 1000; - if (beepS > 0) - { - #if BEEPER > 0 - tone(BEEPER, beepS); - delay(beepP); - noTone(BEEPER); - #elif defined(ULTRALCD) - lcd_buzz(beepS, beepP); - #elif defined(LCD_USE_I2C_BUZZER) - lcd_buzz(beepP, beepS); - #endif - } - else - { - delay(beepP); - } - } - break; - #endif // M300 - - #ifdef PIDTEMP - case 301: // M301 - { - - // multi-extruder PID patch: M301 updates or prints a single extruder's PID values - // default behaviour (omitting E parameter) is to update for extruder 0 only - int e = 0; // extruder being updated - if (code_seen('E')) - { - e = (int)code_value(); - } - if (e < EXTRUDERS) // catch bad input value - { - - if (code_seen('P')) PID_PARAM(Kp,e) = code_value(); - if (code_seen('I')) PID_PARAM(Ki,e) = scalePID_i(code_value()); - if (code_seen('D')) PID_PARAM(Kd,e) = scalePID_d(code_value()); - #ifdef PID_ADD_EXTRUSION_RATE - if (code_seen('C')) PID_PARAM(Kc,e) = code_value(); - #endif - - updatePID(); - SERIAL_PROTOCOL(MSG_OK); - #ifdef PID_PARAMS_PER_EXTRUDER - SERIAL_PROTOCOL(" e:"); // specify extruder in serial output - SERIAL_PROTOCOL(e); - #endif // PID_PARAMS_PER_EXTRUDER - SERIAL_PROTOCOL(" p:"); - SERIAL_PROTOCOL(PID_PARAM(Kp,e)); - SERIAL_PROTOCOL(" i:"); - SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki,e))); - SERIAL_PROTOCOL(" d:"); - SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd,e))); - #ifdef PID_ADD_EXTRUSION_RATE - SERIAL_PROTOCOL(" c:"); - //Kc does not have scaling applied above, or in resetting defaults - SERIAL_PROTOCOL(PID_PARAM(Kc,e)); - #endif - SERIAL_PROTOCOLLN(""); - - } - else - { - SERIAL_ECHO_START; - SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); - } - - } - break; - #endif //PIDTEMP - #ifdef PIDTEMPBED - case 304: // M304 - { - if(code_seen('P')) bedKp = code_value(); - if(code_seen('I')) bedKi = scalePID_i(code_value()); - if(code_seen('D')) bedKd = scalePID_d(code_value()); - - updatePID(); - SERIAL_PROTOCOL(MSG_OK); - SERIAL_PROTOCOL(" p:"); - SERIAL_PROTOCOL(bedKp); - SERIAL_PROTOCOL(" i:"); - SERIAL_PROTOCOL(unscalePID_i(bedKi)); - SERIAL_PROTOCOL(" d:"); - SERIAL_PROTOCOL(unscalePID_d(bedKd)); - SERIAL_PROTOCOLLN(""); - } - break; - #endif //PIDTEMP - case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ - { - #ifdef CHDK - - OUT_WRITE(CHDK, HIGH); - chdkHigh = millis(); - chdkActive = true; - - #else - - #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1 - const uint8_t NUM_PULSES=16; - const float PULSE_LENGTH=0.01524; - for(int i=0; i < NUM_PULSES; i++) { - WRITE(PHOTOGRAPH_PIN, HIGH); - _delay_ms(PULSE_LENGTH); - WRITE(PHOTOGRAPH_PIN, LOW); - _delay_ms(PULSE_LENGTH); - } - delay(7.33); - for(int i=0; i < NUM_PULSES; i++) { - WRITE(PHOTOGRAPH_PIN, HIGH); - _delay_ms(PULSE_LENGTH); - WRITE(PHOTOGRAPH_PIN, LOW); - _delay_ms(PULSE_LENGTH); - } - #endif - #endif //chdk end if - } - break; -#ifdef DOGLCD - case 250: // M250 Set LCD contrast value: C (value 0..63) - { - if (code_seen('C')) { - lcd_setcontrast( ((int)code_value())&63 ); - } - SERIAL_PROTOCOLPGM("lcd contrast value: "); - SERIAL_PROTOCOL(lcd_contrast); - SERIAL_PROTOCOLLN(""); - } - break; -#endif - #ifdef PREVENT_DANGEROUS_EXTRUDE - case 302: // allow cold extrudes, or set the minimum extrude temperature - { - float temp = .0; - if (code_seen('S')) temp=code_value(); - set_extrude_min_temp(temp); - } - break; - #endif - case 303: // M303 PID autotune - { - float temp = 150.0; - int e=0; - int c=5; - if (code_seen('E')) e=code_value(); - if (e<0) - temp=70; - if (code_seen('S')) temp=code_value(); - if (code_seen('C')) c=code_value(); - PID_autotune(temp, e, c); - } - break; - #ifdef SCARA - case 360: // M360 SCARA Theta pos1 - SERIAL_ECHOLN(" Cal: Theta 0 "); - //SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLN(" Soft endstops disabled "); - if(Stopped == false) { - //get_coordinates(); // For X Y Z E F - delta[X_AXIS] = 0; - delta[Y_AXIS] = 120; - calculate_SCARA_forward_Transform(delta); - destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; - destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; - - prepare_move(); - //ClearToSend(); - return; - } - break; - - case 361: // SCARA Theta pos2 - SERIAL_ECHOLN(" Cal: Theta 90 "); - //SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLN(" Soft endstops disabled "); - if(Stopped == false) { - //get_coordinates(); // For X Y Z E F - delta[X_AXIS] = 90; - delta[Y_AXIS] = 130; - calculate_SCARA_forward_Transform(delta); - destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; - destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; - - prepare_move(); - //ClearToSend(); - return; - } - break; - case 362: // SCARA Psi pos1 - SERIAL_ECHOLN(" Cal: Psi 0 "); - //SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLN(" Soft endstops disabled "); - if(Stopped == false) { - //get_coordinates(); // For X Y Z E F - delta[X_AXIS] = 60; - delta[Y_AXIS] = 180; - calculate_SCARA_forward_Transform(delta); - destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; - destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; - - prepare_move(); - //ClearToSend(); - return; - } - break; - case 363: // SCARA Psi pos2 - SERIAL_ECHOLN(" Cal: Psi 90 "); - //SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLN(" Soft endstops disabled "); - if(Stopped == false) { - //get_coordinates(); // For X Y Z E F - delta[X_AXIS] = 50; - delta[Y_AXIS] = 90; - calculate_SCARA_forward_Transform(delta); - destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; - destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; - - prepare_move(); - //ClearToSend(); - return; - } - break; - case 364: // SCARA Psi pos3 (90 deg to Theta) - SERIAL_ECHOLN(" Cal: Theta-Psi 90 "); - // SoftEndsEnabled = false; // Ignore soft endstops during calibration - //SERIAL_ECHOLN(" Soft endstops disabled "); - if(Stopped == false) { - //get_coordinates(); // For X Y Z E F - delta[X_AXIS] = 45; - delta[Y_AXIS] = 135; - calculate_SCARA_forward_Transform(delta); - destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; - destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; - - prepare_move(); - //ClearToSend(); - return; - } - break; - case 365: // M364 Set SCARA scaling for X Y Z - for(int8_t i=0; i < 3; i++) - { - if(code_seen(axis_codes[i])) - { - - axis_scaling[i] = code_value(); - - } - } - break; - #endif - -#ifdef EXT_SOLENOID - case 380: - enable_solenoid_on_active_extruder(); + gcode_M81(); break; - case 381: - disable_all_solenoids(); + case 82: + gcode_M82(); break; -#endif //EXT_SOLENOID + case 83: + gcode_M83(); + break; + case 18: //compatibility + case 84: // M84 + gcode_M18_M84(); + break; + case 85: // M85 + gcode_M85(); + break; + case 92: // M92 + gcode_M92(); + break; + case 115: // M115 + gcode_M115(); + break; + case 117: // M117 display message + gcode_M117(); + break; + case 114: // M114 + gcode_M114(); + break; + case 120: // M120 + gcode_M120(); + break; + case 121: // M121 + gcode_M121(); + break; + case 119: // M119 + gcode_M119(); + break; + //TODO: update for all axis, use for loop - case 400: // M400 finish all moves - { - st_synchronize(); - } - break; -#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED) - case 401: - { - engage_z_probe(); // Engage Z Servo endstop if available - } - break; + #ifdef BLINKM - case 402: - { - retract_z_probe(); // Retract Z Servo endstop if enabled - } - break; -#endif - -#ifdef FILAMENT_SENSOR -case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width - { - #if (FILWIDTH_PIN > -1) - if(code_seen('N')) filament_width_nominal=code_value(); - else{ - SERIAL_PROTOCOLPGM("Filament dia (nominal mm):"); - SERIAL_PROTOCOLLN(filament_width_nominal); - } - #endif - } - break; - - case 405: //M405 Turn on filament sensor for control - { - - - if(code_seen('D')) meas_delay_cm=code_value(); - - if(meas_delay_cm> MAX_MEASUREMENT_DELAY) - meas_delay_cm = MAX_MEASUREMENT_DELAY; - - if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup - { - int temp_ratio = widthFil_to_size_ratio(); - - for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){ - measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte - } - delay_index1=0; - delay_index2=0; - } - - filament_sensor = true ; - - //SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); - //SERIAL_PROTOCOL(filament_width_meas); - //SERIAL_PROTOCOLPGM("Extrusion ratio(%):"); - //SERIAL_PROTOCOL(extrudemultiply); - } - break; - - case 406: //M406 Turn off filament sensor for control - { - filament_sensor = false ; - } - break; - - case 407: //M407 Display measured filament diameter - { - - - - SERIAL_PROTOCOLPGM("Filament dia (measured mm):"); - SERIAL_PROTOCOLLN(filament_width_meas); - } - break; - #endif - - - - - - case 500: // M500 Store settings in EEPROM - { - Config_StoreSettings(); - } - break; - case 501: // M501 Read settings from EEPROM - { - Config_RetrieveSettings(); - } - break; - case 502: // M502 Revert to default settings - { - Config_ResetDefault(); - } - break; - case 503: // M503 print settings currently in memory - { - Config_PrintSettings(code_seen('S') && code_value == 0); - } - break; - #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED - case 540: - { - if(code_seen('S')) abort_on_endstop_hit = code_value() > 0; - } - break; - #endif - - #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET - case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET: - { - float value; - if (code_seen('Z')) - { - value = code_value(); - if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX)) - { - zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); - SERIAL_PROTOCOLLN(""); - } - else - { - SERIAL_ECHO_START; - SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET); - SERIAL_ECHOPGM(MSG_Z_MIN); - SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN); - SERIAL_ECHOPGM(MSG_Z_MAX); - SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX); - SERIAL_PROTOCOLLN(""); - } - } - else - { - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : "); - SERIAL_ECHO(-zprobe_zoffset); - SERIAL_PROTOCOLLN(""); - } - break; - } - #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET - - #ifdef FILAMENTCHANGEENABLE - case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] - { - float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate/60; - for (int i=0; i 0 - OUT_WRITE(BEEPER,HIGH); - delay(3); - WRITE(BEEPER,LOW); - delay(3); - #else - #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) - lcd_buzz(1000/6,100); - #else - lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ); - #endif - #endif - } - } - - //return to normal - if(code_seen('L')) - { - target[E_AXIS]+= -code_value(); - } - else - { - #ifdef FILAMENTCHANGE_FINALRETRACT - target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ; - #endif - } - current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding - plan_set_e_position(current_position[E_AXIS]); - - RUNPLAN; //should do nothing - - //reset LCD alert message - lcd_reset_alert_level(); - - #ifdef DELTA - calculate_delta(lastpos); - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract - #else - plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back - plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back - plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract - #endif - } - break; - #endif //FILAMENTCHANGEENABLE - #ifdef DUAL_X_CARRIAGE - case 605: // Set dual x-carriage movement mode: - // M605 S0: Full control mode. The slicer has full control over x-carriage movement - // M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement - // M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn - // millimeters x-offset and an optional differential hotend temperature of - // mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate - // the first with a spacing of 100mm in the x direction and 2 degrees hotter. - // - // Note: the X axis should be homed after changing dual x-carriage mode. - { - st_synchronize(); - - if (code_seen('S')) - dual_x_carriage_mode = code_value(); - - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) - { - if (code_seen('X')) - duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0)); - - if (code_seen('R')) - duplicate_extruder_temp_offset = code_value(); - - SERIAL_ECHO_START; - SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); - SERIAL_ECHO(" "); - SERIAL_ECHO(extruder_offset[X_AXIS][0]); - SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Y_AXIS][0]); - SERIAL_ECHO(" "); - SERIAL_ECHO(duplicate_extruder_x_offset); - SERIAL_ECHO(","); - SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]); - } - else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE) - { - dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; - } - - active_extruder_parked = false; - extruder_duplication_enabled = false; - delayed_move_time = 0; - } - break; - #endif //DUAL_X_CARRIAGE - - case 907: // M907 Set digital trimpot motor current using axis codes. - { - #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 - for(int i=0;i -1 - uint8_t channel,current; - if(code_seen('P')) channel=code_value(); - if(code_seen('S')) current=code_value(); - digitalPotWrite(channel, current); - #endif - } - break; - case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. - { - #if defined(X_MS1_PIN) && X_MS1_PIN > -1 - if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); - for(int i=0;i -1 - if(code_seen('S')) switch((int)code_value()) - { - case 1: - for(int i=0;i= EXTRUDERS) { - SERIAL_ECHO_START; - SERIAL_ECHO("T"); - SERIAL_ECHO(tmp_extruder); - SERIAL_ECHOLN(MSG_INVALID_EXTRUDER); - } - else { - boolean make_move = false; - if(code_seen('F')) { - make_move = true; - next_feedrate = code_value(); - if(next_feedrate > 0.0) { - feedrate = next_feedrate; - } - } + #endif //BLINKM + + case 200: // M200 D set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters). + gcode_M200(); + break; + case 201: // M201 + gcode_M201(); + break; + #if 0 // Not used for Sprinter/grbl gen6 + case 202: // M202 + gcode_M202(); + break; + #endif + case 203: // M203 max feedrate mm/sec + gcode_M203(); + break; + case 204: // M204 acclereration S normal moves T filmanent only moves + gcode_M204(); + break; + case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + gcode_M205(); + break; + case 206: // M206 additional homing offset + gcode_M206(); + break; + + #ifdef DELTA + case 665: // M665 set delta configurations L R S + gcode_M665(); + break; + case 666: // M666 set delta endstop adjustment + gcode_M666(); + break; + #endif // DELTA + + #ifdef FWRETRACT + case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop] + gcode_M207(); + break; + case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min] + gcode_M208(); + break; + case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. + gcode_M209(); + break; + #endif // FWRETRACT + #if EXTRUDERS > 1 - if(tmp_extruder != active_extruder) { - // Save current position to return to after applying extruder offset - memcpy(destination, current_position, sizeof(destination)); - #ifdef DUAL_X_CARRIAGE - if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false && - (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) - { - // Park old head: 1) raise 2) move to park position 3) lower - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT, - current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder); - plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - st_synchronize(); - } - - // apply Y & Z extruder offset (x offset is already used in determining home pos) - current_position[Y_AXIS] = current_position[Y_AXIS] - - extruder_offset[Y_AXIS][active_extruder] + - extruder_offset[Y_AXIS][tmp_extruder]; - current_position[Z_AXIS] = current_position[Z_AXIS] - - extruder_offset[Z_AXIS][active_extruder] + - extruder_offset[Z_AXIS][tmp_extruder]; - - active_extruder = tmp_extruder; - - // This function resets the max/min values - the current position may be overwritten below. - axis_is_at_home(X_AXIS); - - if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) - { - current_position[X_AXIS] = inactive_extruder_x_pos; - inactive_extruder_x_pos = destination[X_AXIS]; - } - else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) - { - active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position - if (active_extruder == 0 || active_extruder_parked) - current_position[X_AXIS] = inactive_extruder_x_pos; - else - current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset; - inactive_extruder_x_pos = destination[X_AXIS]; - extruder_duplication_enabled = false; - } - else - { - // record raised toolhead position for use by unpark - memcpy(raised_parked_position, current_position, sizeof(raised_parked_position)); - raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT; - active_extruder_parked = true; - delayed_move_time = 0; - } - #else - // Offset extruder (only by XY) - int i; - for(i = 0; i < 2; i++) { - current_position[i] = current_position[i] - - extruder_offset[i][active_extruder] + - extruder_offset[i][tmp_extruder]; - } - // Set the new active extruder and position - active_extruder = tmp_extruder; - #endif //else DUAL_X_CARRIAGE -#ifdef DELTA - - calculate_delta(current_position); // change cartesian kinematic to delta kinematic; - //sent position to plan_set_position(); - plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]); - -#else - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - -#endif - // Move to the old position if 'F' was in the parameters - if(make_move && Stopped == false) { - prepare_move(); - } - } - -#ifdef EXT_SOLENOID - st_synchronize(); - disable_all_solenoids(); - enable_solenoid_on_active_extruder(); -#endif //EXT_SOLENOID - + case 218: // M218 - set hotend offset (in mm), T X Y + gcode_M218(); + break; #endif - SERIAL_ECHO_START; - SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); - SERIAL_PROTOCOLLN((int)active_extruder); + + case 220: // M220 S- set speed factor override percentage + gcode_M220(); + break; + + case 221: // M221 S- set extrude factor override percentage + gcode_M221(); + break; + + case 226: // M226 P S- Wait until the specified pin reaches the state required + gcode_M226(); + break; + + #if NUM_SERVOS > 0 + case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds + gcode_M280(); + break; + #endif // NUM_SERVOS > 0 + + #if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)) + case 300: // M300 - Play beep tone + gcode_M300(); + break; + #endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER) + + #ifdef PIDTEMP + case 301: // M301 + gcode_M301(); + break; + #endif // PIDTEMP + + #ifdef PIDTEMPBED + case 304: // M304 + gcode_M304(); + break; + #endif // PIDTEMPBED + + #if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1) + case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ + gcode_M240(); + break; + #endif // CHDK || PHOTOGRAPH_PIN + + #ifdef DOGLCD + case 250: // M250 Set LCD contrast value: C (value 0..63) + gcode_M250(); + break; + #endif // DOGLCD + + #ifdef PREVENT_DANGEROUS_EXTRUDE + case 302: // allow cold extrudes, or set the minimum extrude temperature + gcode_M302(); + break; + #endif // PREVENT_DANGEROUS_EXTRUDE + + case 303: // M303 PID autotune + gcode_M303(); + break; + + #ifdef SCARA + case 360: // M360 SCARA Theta pos1 + if (gcode_M360()) return; + break; + case 361: // M361 SCARA Theta pos2 + if (gcode_M361()) return; + break; + case 362: // M362 SCARA Psi pos1 + if (gcode_M362()) return; + break; + case 363: // M363 SCARA Psi pos2 + if (gcode_M363()) return; + break; + case 364: // M364 SCARA Psi pos3 (90 deg to Theta) + if (gcode_M364()) return; + break; + case 365: // M365 Set SCARA scaling for X Y Z + gcode_M365(); + break; + #endif // SCARA + + case 400: // M400 finish all moves + gcode_M400(); + break; + + #if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED) + case 401: + gcode_M401(); + break; + case 402: + gcode_M402(); + break; + #endif + + #ifdef FILAMENT_SENSOR + case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width + gcode_M404(); + break; + case 405: //M405 Turn on filament sensor for control + gcode_M405(); + break; + case 406: //M406 Turn off filament sensor for control + gcode_M406(); + break; + case 407: //M407 Display measured filament diameter + gcode_M407(); + break; + #endif // FILAMENT_SENSOR + + case 500: // M500 Store settings in EEPROM + gcode_M500(); + break; + case 501: // M501 Read settings from EEPROM + gcode_M501(); + break; + case 502: // M502 Revert to default settings + gcode_M502(); + break; + case 503: // M503 print settings currently in memory + gcode_M503(); + break; + + #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + case 540: + gcode_M540(); + break; + #endif + + #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET + case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET: + gcode_SET_Z_PROBE_OFFSET(); + break; + #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET + + #ifdef FILAMENTCHANGEENABLE + case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal] + gcode_M600(); + break; + #endif // FILAMENTCHANGEENABLE + + #ifdef DUAL_X_CARRIAGE + case 605: + gcode_M605(); + break; + #endif // DUAL_X_CARRIAGE + + case 907: // M907 Set digital trimpot motor current using axis codes. + gcode_M907(); + break; + + #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 + case 908: // M908 Control digital trimpot directly. + gcode_M908(); + break; + #endif // DIGIPOTSS_PIN + + case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. + gcode_M350(); + break; + + case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low. + gcode_M351(); + break; + + case 999: // M999: Restart after being Stopped + gcode_M999(); + break; } } - else - { + else if (code_seen('T')) { + gcode_T(); + } + + else { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); SERIAL_ECHO(cmdbuffer[bufindr]); @@ -4260,13 +4845,13 @@ void clamp_to_software_endstops(float target[3]) #ifdef DELTA void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower1_x= -SIN_60*radius; // front left tower - delta_tower1_y= -COS_60*radius; - delta_tower2_x= SIN_60*radius; // front right tower - delta_tower2_y= -COS_60*radius; - delta_tower3_x= 0.0; // back middle tower - delta_tower3_y= radius; - delta_diagonal_rod_2= sq(diagonal_rod); + delta_tower1_x= -SIN_60*radius; // front left tower + delta_tower1_y= -COS_60*radius; + delta_tower2_x= SIN_60*radius; // front right tower + delta_tower2_y= -COS_60*radius; + delta_tower3_x= 0.0; // back middle tower + delta_tower3_y= radius; + delta_diagonal_rod_2= sq(diagonal_rod); } void calculate_delta(float cartesian[3]) @@ -4304,12 +4889,12 @@ void prepare_move() float difference[NUM_AXIS]; for (int8_t i=0; i < NUM_AXIS; i++) { - difference[i] = destination[i] - current_position[i]; + difference[i] = destination[i] - current_position[i]; } -float cartesian_mm = sqrt( sq(difference[X_AXIS]) + - sq(difference[Y_AXIS]) + - sq(difference[Z_AXIS])); +float cartesian_mm = sqrt( sq(difference[X_AXIS]) + + sq(difference[Y_AXIS]) + + sq(difference[Z_AXIS])); if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } if (cartesian_mm < 0.000001) { return; } float seconds = 6000 * cartesian_mm / feedrate / feedmultiply; @@ -4318,13 +4903,13 @@ int steps = max(1, int(scara_segments_per_second * seconds)); //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); for (int s = 1; s <= steps; s++) { - float fraction = float(s) / float(steps); - for(int8_t i=0; i < NUM_AXIS; i++) { - destination[i] = current_position[i] + difference[i] * fraction; - } + float fraction = float(s) / float(steps); + for(int8_t i=0; i < NUM_AXIS; i++) { + destination[i] = current_position[i] + difference[i] * fraction; + } - - calculate_delta(destination); + + calculate_delta(destination); //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]); @@ -4332,9 +4917,9 @@ for (int s = 1; s <= steps; s++) { //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]); - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], - destination[E_AXIS], feedrate*feedmultiply/60/100.0, - active_extruder); + plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], + destination[E_AXIS], feedrate*feedmultiply/60/100.0, + active_extruder); } #endif // SCARA @@ -4507,7 +5092,7 @@ void calculate_SCARA_forward_Transform(float f_scara[3]) delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi - + //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); } @@ -4597,9 +5182,9 @@ void handle_status_leds(void) { void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument set in Marlin.h { - + #if defined(KILL_PIN) && KILL_PIN > -1 - static int killCount = 0; // make the inactivity button a bit less responsive + static int killCount = 0; // make the inactivity button a bit less responsive const int KILL_DELAY = 10000; #endif @@ -4608,7 +5193,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s const int HOME_DEBOUNCE_DELAY = 10000; #endif - + if(buflen < (BUFSIZE-1)) get_command(); @@ -4744,7 +5329,7 @@ void kill() sei(); // enable interrupts for ( int i=5; i--; lcd_update()) { - delay(200); + delay(200); } cli(); // disable interrupts suicide(); @@ -4875,43 +5460,3 @@ void calculate_volumetric_multipliers() { for (int i=0; i -1 - case 1: - OUT_WRITE(SOL1_PIN, HIGH); - break; - #endif - #if defined(SOL2_PIN) && SOL2_PIN > -1 - case 2: - OUT_WRITE(SOL2_PIN, HIGH); - break; - #endif - #if defined(SOL3_PIN) && SOL3_PIN > -1 - case 3: - OUT_WRITE(SOL3_PIN, HIGH); - break; - #endif - default: - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID); - break; - } -} - -void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } - -void disable_all_solenoids() { - OUT_WRITE(SOL0_PIN, LOW); - OUT_WRITE(SOL1_PIN, LOW); - OUT_WRITE(SOL2_PIN, LOW); - OUT_WRITE(SOL3_PIN, LOW); -} - -#endif //EXT_SOLENOID