diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index d0b959cd79ae8d2639fc1a8db7214e5d7c6da09d..29ac686ef54118099957886df32211dcd3852a10 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1009,6 +1009,8 @@ inline void sync_plan_position() {
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
+inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
+inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
#ifdef ENABLE_AUTO_BED_LEVELING
@@ -1020,7 +1022,7 @@ inline void sync_plan_position() {
refresh_cmd_timeout();
calculate_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
- for (int i = 0; i < NUM_AXIS; i++) current_position[i] = destination[i];
+ set_current_to_destination();
}
#endif
@@ -1564,7 +1566,7 @@ static void homeaxis(int axis) {
float oldFeedrate = feedrate;
- for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
+ set_destination_to_current();
if (retracting) {
@@ -1769,7 +1771,7 @@ inline void gcode_G28() {
enable_endstops(true);
- for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; // includes E_AXIS
+ set_destination_to_current();
feedrate = 0.0;
@@ -1997,7 +1999,7 @@ inline void gcode_G28() {
if (mbl_was_active) {
current_position[X_AXIS] = mbl.get_x(0);
current_position[Y_AXIS] = mbl.get_y(0);
- for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
+ set_destination_to_current();
feedrate = homing_feedrate[X_AXIS];
line_to_destination();
st_synchronize();
@@ -4613,7 +4615,7 @@ inline void gcode_T() {
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
- memcpy(destination, current_position, sizeof(destination));
+ set_destination_to_current();
#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))) {
@@ -5338,9 +5340,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
{
if (!mbl.active) {
plan_buffer_line(x, y, z, e, feed_rate, extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
+ set_current_to_destination();
return;
}
int pix = mbl.select_x_index(current_position[X_AXIS]);
@@ -5354,9 +5354,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
if (pix == ix && piy == iy) {
// Start and end on same mesh square
plan_buffer_line(x, y, z, e, feed_rate, extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
+ set_current_to_destination();
return;
}
float nx, ny, ne, normalized_dist;
@@ -5387,9 +5385,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
} else {
// Already split on a border
plan_buffer_line(x, y, z, e, feed_rate, extruder);
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
+ set_current_to_destination();
return;
}
// Do the split and look for more borders
@@ -5477,64 +5473,58 @@ void prepare_move() {
#endif // DELTA
-#ifdef DUAL_X_CARRIAGE
- if (active_extruder_parked)
- {
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
- {
- // move duplicate extruder into correct duplication position.
- plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], max_feedrate[X_AXIS], 1);
- sync_plan_position();
- st_synchronize();
- extruder_duplication_enabled = true;
- active_extruder_parked = false;
- }
- else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
- {
- if (current_position[E_AXIS] == destination[E_AXIS])
- {
- // this is a travel move - skit it but keep track of current position (so that it can later
- // be used as start of first non-travel move)
- if (delayed_move_time != 0xFFFFFFFFUL)
- {
- memcpy(current_position, destination, sizeof(current_position));
- if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
- raised_parked_position[Z_AXIS] = destination[Z_AXIS];
- delayed_move_time = millis();
- return;
+ #ifdef DUAL_X_CARRIAGE
+ if (active_extruder_parked) {
+ if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
+ // move duplicate extruder into correct duplication position.
+ plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS], max_feedrate[X_AXIS], 1);
+ sync_plan_position();
+ st_synchronize();
+ extruder_duplication_enabled = true;
+ active_extruder_parked = false;
+ }
+ else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
+ if (current_position[E_AXIS] == destination[E_AXIS]) {
+ // this is a travel move - skit it but keep track of current position (so that it can later
+ // be used as start of first non-travel move)
+ if (delayed_move_time != 0xFFFFFFFFUL) {
+ set_current_to_destination();
+ if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
+ raised_parked_position[Z_AXIS] = destination[Z_AXIS];
+ delayed_move_time = millis();
+ return;
+ }
}
+ delayed_move_time = 0;
+ // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
+ plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
+ current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ active_extruder_parked = false;
}
- delayed_move_time = 0;
- // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
- plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
- current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- active_extruder_parked = false;
}
- }
-#endif //DUAL_X_CARRIAGE
+ #endif // DUAL_X_CARRIAGE
-#if !defined(DELTA) && !defined(SCARA)
- // Do not use feedmultiply for E or Z only moves
- if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- line_to_destination();
- } else {
-#ifdef MESH_BED_LEVELING
- mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
- return;
-#else
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
-#endif // MESH_BED_LEVELING
- }
-#endif // !(DELTA || SCARA)
+ #if !defined(DELTA) && !defined(SCARA)
+ // Do not use feedmultiply for E or Z only moves
+ if ( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
+ line_to_destination();
+ }
+ else {
+ #ifdef MESH_BED_LEVELING
+ mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
+ return;
+ #else
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
+ #endif // MESH_BED_LEVELING
+ }
+ #endif // !(DELTA || SCARA)
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
+ set_current_to_destination();
}
void prepare_arc_move(char isclockwise) {
@@ -5546,9 +5536,7 @@ void prepare_arc_move(char isclockwise) {
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
+ set_current_to_destination();
refresh_cmd_timeout();
}
@@ -5718,7 +5706,16 @@ void disable_all_steppers() {
}
/**
- *
+ * Manage several activities:
+ * - Check for Filament Runout
+ * - Keep the command buffer full
+ * - Check for maximum inactive time between commands
+ * - Check for maximum inactive time between stepper commands
+ * - Check if pin CHDK needs to go LOW
+ * - Check for KILL button held down
+ * - Check for HOME button held down
+ * - Check if cooling fan needs to be switched on
+ * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
*/
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
@@ -5737,7 +5734,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
&& !ignore_stepper_queue && !blocks_queued())
disable_all_steppers();
- #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
+ #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && ms > chdkHigh + CHDK_DELAY) {
chdkActive = false;
WRITE(CHDK, LOW);
@@ -5780,14 +5777,37 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#endif
#if HAS_CONTROLLERFAN
- controllerFan(); //Check if fan should be turned on to cool stepper drivers down
+ controllerFan(); // Check if fan should be turned on to cool stepper drivers down
#endif
#ifdef EXTRUDER_RUNOUT_PREVENT
if (ms > previous_millis_cmd + EXTRUDER_RUNOUT_SECONDS * 1000)
if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
- bool oldstatus = E0_ENABLE_READ;
- enable_e0();
+ bool oldstatus;
+ switch(active_extruder) {
+ case 0:
+ oldstatus = E0_ENABLE_READ;
+ enable_e0();
+ break;
+ #if EXTRUDERS > 1
+ case 1:
+ oldstatus = E1_ENABLE_READ;
+ enable_e1();
+ break;
+ #if EXTRUDERS > 2
+ case 2:
+ oldstatus = E2_ENABLE_READ;
+ enable_e2();
+ break;
+ #if EXTRUDERS > 3
+ case 3:
+ oldstatus = E3_ENABLE_READ;
+ enable_e3();
+ break;
+ #endif
+ #endif
+ #endif
+ }
float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS],
@@ -5797,7 +5817,26 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
plan_set_e_position(oldepos);
previous_millis_cmd = ms; // refresh_cmd_timeout()
st_synchronize();
- E0_ENABLE_WRITE(oldstatus);
+ switch(active_extruder) {
+ case 0:
+ E0_ENABLE_WRITE(oldstatus);
+ break;
+ #if EXTRUDERS > 1
+ case 1:
+ E1_ENABLE_WRITE(oldstatus);
+ break;
+ #if EXTRUDERS > 2
+ case 2:
+ E2_ENABLE_WRITE(oldstatus);
+ break;
+ #if EXTRUDERS > 3
+ case 3:
+ E3_ENABLE_WRITE(oldstatus);
+ break;
+ #endif
+ #endif
+ #endif
+ }
}
#endif
@@ -5806,7 +5845,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
if (delayed_move_time && ms > delayed_move_time + 1000 && !Stopped) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
- memcpy(destination, current_position, sizeof(destination));
+ set_destination_to_current();
prepare_move();
}
#endif