diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 2174eb8f39dd18923c2a9c6262947abd1368cb32..79416850be2a0e4323ccc8680a5a836f851a0508 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();
- }
- break;
-#ifndef SCARA //disable arc support
- case 2: // G2 - CW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(true);
- }
- 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
+/**
+ *
+ * G-Code Handler functions
+ *
+ */
- st_synchronize();
- codenum += millis(); // keep track of when we started waiting
- previous_millis_cmd = millis();
- while(millis() < codenum) {
- manage_heater();
- manage_inactivity();
- lcd_update();
+/**
+ * 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;
- #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
+ 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<seconds> or P<milliseconds>
+ */
+inline void gcode_G4() {
+ unsigned long codenum;
- saved_feedrate = feedrate;
- saved_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = millis();
+ 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();
+ }
+}
- enable_endstops(true);
+#ifdef FWRETRACT
- for(int8_t i=0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i];
+ /**
+ * 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
}
- feedrate = 0.0;
+ #endif
+ retract(doRetract
+ #if EXTRUDERS > 1
+ , retracted_swap[active_extruder]
+ #endif
+ );
+ }
-#ifdef DELTA
- // A delta can only safely home all axis at the same time
- // all axis have to home at the same time
+#endif //FWRETRACT
- // 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]);
+/**
+ * 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
- 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();
+ saved_feedrate = feedrate;
+ saved_feedmultiply = feedmultiply;
+ feedmultiply = 100;
+ previous_millis_cmd = millis();
- current_position[X_AXIS] = destination[X_AXIS];
- current_position[Y_AXIS] = destination[Y_AXIS];
- current_position[Z_AXIS] = destination[Z_AXIS];
+ enable_endstops(true);
- // 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] = current_position[i];
+
+ feedrate = 0.0;
+
+ #ifdef DELTA
+ // A delta can only safely home all axis at the same time
+ // all axis have to home at the same time
+
+ // Move all carriages up together until the first endstop is hit.
+ 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]);
+
+ 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();
+
+ // Destination reached
+ for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[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);
-#else // NOT DELTA
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
- home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
+ #else // NOT DELTA
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
+ home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
+
+ #if Z_HOME_DIR > 0 // If homing away from BED do Z first
+ if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
HOMEAXIS(Z);
}
- #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]<feedrate)
- feedrate = homing_feedrate[Y_AXIS];
+ if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
if (max_length(X_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[X_AXIS])) {
+ if (code_value_long() != 0) {
+ current_position[X_AXIS] = code_value()
+ #ifndef SCARA
+ + 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 (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) * (-1); // Set destination away from bed
- feedrate = max_feedrate[Z_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
- st_synchronize();
- #endif
- 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 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
+ else {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ }
+ }
+ #endif // Z_SAFE_HOMING
+ #endif // Z_HOME_DIR < 0
- if(code_seen(axis_codes[Z_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
- }
- }
- #ifdef ENABLE_AUTO_BED_LEVELING
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
- }
- #endif
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-#endif // else DELTA
-#ifdef SCARA
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-#endif // SCARA
+ if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
+ current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
+ #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]);
- feedrate = saved_feedrate;
- feedmultiply = saved_feedmultiply;
- previous_millis_cmd = millis();
- endstops_hit_on_purpose();
- break;
+ #endif // else DELTA
-#ifdef ENABLE_AUTO_BED_LEVELING
+ #ifdef SCARA
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ #endif
- #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
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+ #endif
- /**
- * 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"
- *
- */
-
- 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
-
- // 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
- }
+ feedrate = saved_feedrate;
+ feedmultiply = saved_feedmultiply;
+ previous_millis_cmd = millis();
+ endstops_hit_on_purpose();
+}
- bool enhanced_g29 = code_seen('E') || code_seen('e');
+#ifdef ENABLE_AUTO_BED_LEVELING
- #ifdef AUTO_BED_LEVELING_GRID
+ /**
+ * G29: Detailed Z-Probe, probes the bed at 3 or more points.
+ * Will fail if the printer has not been homed with G28.
+ *
+ * Enhanced G29 Auto Bed Leveling Probe Routine
+ *
+ * Parameters With AUTO_BED_LEVELING_GRID:
+ *
+ * P Set the size of the grid that will be probed (P x P points).
+ * Example: "G29 P4"
+ *
+ * V Set the verbose level (0-4). Example: "G29 V3"
+ *
+ * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
+ * This is useful for manual bed leveling and finding flaws in the bed (to
+ * assist with part placement).
+ *
+ * F Set the Front limit of the probing grid
+ * B Set the Back limit of the probing grid
+ * L Set the Left limit of the probing grid
+ * R Set the Right limit of the probing grid
+ *
+ * Global Parameters:
+ *
+ * E/e By default G29 engages / disengages the probe for each point.
+ * Include "E" to engage and disengage the probe just once.
+ * There's no extra effect if you have a fixed probe.
+ * Usage: "G29 E" or "G29 e"
+ *
+ */
+
+ // Use one of these defines to specify the origin
+ // for a topographical map to be printed for your bed.
+ enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
+ #define TOPO_ORIGIN OriginFrontLeft
+
+ inline void gcode_G29() {
+
+ 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;
+ }
- // Example Syntax: G29 N4 V2 E T
- int verbose_level = 1;
+ bool enhanced_g29 = code_seen('E') || code_seen('e');
- bool topo_flag = code_seen('T') || code_seen('t');
+ #ifdef AUTO_BED_LEVELING_GRID
- 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;
- }
- }
+ // Example Syntax: G29 N4 V2 E T
+ int verbose_level = 1;
- 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;
+ 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;
+ }
+ }
- // 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;
+ 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;
+ }
+
+ // 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;
+ }
+ 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();
+ st_synchronize();
- feedrate = homing_feedrate[Z_AXIS];
+ // 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
+ #ifdef AUTO_BED_LEVELING_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);
+ // 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
+ // 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;
+ 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;
+ 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;
+ int probePointCounter = 0;
+ bool zig = true;
- for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
- int xProbe, xInc;
+ 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;
- }
+ 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 = ProbeEngageRetract;
+ act = ProbeStay;
+ }
+ else
+ act = ProbeEngageRetract;
- measured_z = probe_pt(xProbe, yProbe, z_before, act);
+ measured_z = probe_pt(xProbe, yProbe, z_before, act);
- mean += measured_z;
+ mean += measured_z;
- eqnBVector[probePointCounter] = measured_z;
- eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
- eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
- eqnAMatrix[probePointCounter + 2 * abl2] = 1;
+ eqnBVector[probePointCounter] = measured_z;
+ eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
+ eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
+ eqnAMatrix[probePointCounter + 2 * abl2] = 1;
- probePointCounter++;
- xProbe += xInc;
+ probePointCounter++;
+ xProbe += xInc;
- } //xProbe
+ } //xProbe
- } //yProbe
+ } //yProbe
- clean_up_after_endstop_move();
+ clean_up_after_endstop_move();
- // solve lsq problem
- double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
+ // solve lsq problem
+ double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
- mean /= abl2;
+ 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 (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;
+ if (topo_flag) {
- SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
- #if TOPO_ORIGIN == ORIGIN_FRONT_LEFT
- 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 == ORIGIN_BACK_RIGHT
- 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 == 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");
-
- } //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);
+ int xx, yy;
- #endif // !AUTO_BED_LEVELING_GRID
+ 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);
- st_synchronize();
+ #endif // !AUTO_BED_LEVELING_GRID
- if (verbose_level > 0)
- plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
+ st_synchronize();
- // 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];
+ if (verbose_level > 0)
+ plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
- 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]);
+ // 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];
- #ifdef Z_PROBE_SLED
- dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
- #endif
- }
- break;
+ 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]);
-#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();
-
- 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
- }
- break;
-#else
- case 31: // dock the sled
- dock_sled(true);
- break;
- case 32: // undock the sled
- dock_sled(false);
- 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]);
- }
- }
- }
- break;
- }
+ #ifdef Z_PROBE_SLED
+ dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
+ #endif
}
- 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;
+ #ifndef Z_PROBE_SLED
- codenum = 0;
+ inline void gcode_G30() {
+ engage_z_probe(); // Engage Z Servo endstop if available
+ st_synchronize();
+ // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
+ setup_for_endstop_move();
- 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);
- }
+ feedrate = homing_feedrate[Z_AXIS];
- 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);
+ 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
}
- break;
-#endif
- case 17:
- LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- enable_e3();
- 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 //!Z_PROBE_SLED
- card.initsd();
+#endif //ENABLE_AUTO_BED_LEVELING
- break;
- case 22: //M22 - release SD card
- card.release();
+/**
+ * G92: Set current position to given X Y Z E
+ */
+inline void gcode_G92() {
+ if (!code_seen(axis_codes[E_AXIS]))
+ st_synchronize();
- 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';
+ for (int i=0;i<NUM_AXIS;i++) {
+ if (code_seen(axis_codes[i])) {
+ if (i == E_AXIS) {
+ current_position[i] = code_value();
+ plan_set_e_position(current_position[E_AXIS]);
}
- card.openFile(strchr_pointer+4,false);
- break;
- case 29: //M29 - Stop SD write
- //processed in write to file routine above
- //card,saving = false;
- break;
- case 30: //M30 <filename> Delete File
- if (card.cardOK){
- card.closefile();
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.removeFile(strchr_pointer + 4);
+ else {
+ current_position[i] = code_value() +
+ #ifdef SCARA
+ ((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0)
+ #else
+ add_homing[i]
+ #endif
+ ;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
- break;
- case 32: //M32 - Select file and start SD print
- {
- if(card.sdprinting) {
- st_synchronize();
+ }
+ }
+}
- }
- starpos = (strchr(strchr_pointer + 4,'*'));
+#ifdef ULTIPANEL
- 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
+ /**
+ * M0: // M0 - Unconditional stop - Wait for user button press on LCD
+ * M1: // M1 - Conditional stop - Wait for user button press on LCD
+ */
+ inline void gcode_M0_M1() {
+ char *src = strchr_pointer + 2;
+
+ unsigned long codenum = 0;
+ bool hasP = false, hasS = false;
+ if (code_seen('P')) {
+ codenum = code_value(); // milliseconds to wait
+ hasP = codenum > 0;
+ }
+ if (code_seen('S')) {
+ codenum = code_value() * 1000; // seconds to wait
+ hasS = codenum > 0;
+ }
+ char* starpos = strchr(src, '*');
+ if (starpos != NULL) *(starpos) = '\0';
+ while (*src == ' ') ++src;
+ if (!hasP && !hasS && *src != '\0')
+ lcd_setstatus(src);
+ else
+ LCD_MESSAGEPGM(MSG_USERWAIT);
+
+ lcd_ignore_click();
+ st_synchronize();
+ previous_millis_cmd = millis();
+ if (codenum > 0) {
+ codenum += previous_millis_cmd; // keep track of when we started waiting
+ while(millis() < codenum && !lcd_clicked()) {
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
}
- else
- namestartpos++; //to skip the '!'
+ 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);
+ }
- if(starpos!=NULL)
- *(starpos)='\0';
+#endif // ULTIPANEL
- bool call_procedure=(code_seen('P'));
+/**
+ * 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();
+}
- if(strchr_pointer>namestartpos)
- call_procedure=false; //false alert, 'P' found within filename
+#ifdef SDSUPPORT
- if( card.cardOK )
- {
- card.openFile(namestartpos,true,!call_procedure);
- if(code_seen('S'))
- if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
- card.setIndex(code_value_long());
- card.startFileprint();
- if(!call_procedure)
- starttime=millis(); //procedure calls count as normal print time.
- }
- } break;
- case 928: //M928 - Start SD write
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos) = '\0';
- }
- card.openLogFile(strchr_pointer+5);
- break;
+ /**
+ * 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);
+ }
-#endif //SDSUPPORT
+ /**
+ * M21: Init SD Card
+ */
+ inline void gcode_M21() {
+ card.initsd();
+ }
- 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;
+ /**
+ * M22: Release SD Card
+ */
+ inline void gcode_M22() {
+ card.release();
+ }
-// M48 Z-Probe repeatability measurement function.
-//
-// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
-//
-// This function assumes the bed has been homed. Specificaly, that a G28 command
-// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
-// Any information generated by a prior G29 Bed leveling command will be lost and need to be
-// regenerated.
-//
-// The number of samples will default to 10 if not specified. You can use upper or lower case
-// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
-// N for its communication protocol and will get horribly confused if you send it a capital N.
-//
+ /**
+ * 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);
+ }
-#ifdef ENABLE_AUTO_BED_LEVELING
-#ifdef Z_PROBE_REPEATABILITY_TEST
+ /**
+ * M24: Start SD Print
+ */
+ inline void gcode_M24() {
+ card.startFileprint();
+ starttime = millis();
+ }
- 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
+ /**
+ * M25: Pause SD Print
+ */
+ inline void gcode_M25() {
+ card.pauseSDPrint();
+ }
- double sum=0.0;
- double mean=0.0;
- double sigma=0.0;
- double sample_set[50];
- int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
- double X_current, Y_current, Z_current;
- double X_probe_location, Y_probe_location, Z_start_location, ext_position;
-
- if (code_seen('V') || code_seen('v')) {
- verbose_level = code_value();
- if (verbose_level<0 || verbose_level>4 ) {
- SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
- goto Sigma_Exit;
- }
- }
-
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
- SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
- }
-
- if (code_seen('n')) {
- n_samples = code_value();
- if (n_samples<4 || n_samples>50 ) {
- SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
- goto Sigma_Exit;
- }
- }
-
- X_current = X_probe_location = st_get_position_mm(X_AXIS);
- Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
- Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- ext_position = st_get_position_mm(E_AXIS);
-
- if (code_seen('E') || code_seen('e') )
- engage_probe_for_each_reading++;
-
- if (code_seen('X') || code_seen('x') ) {
- X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
- if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
- goto Sigma_Exit;
- }
- }
-
- if (code_seen('Y') || code_seen('y') ) {
- Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
- if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
- SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
- goto Sigma_Exit;
- }
- }
-
- if (code_seen('L') || code_seen('l') ) {
- n_legs = code_value();
- if ( n_legs==1 )
- n_legs = 2;
- if ( n_legs<0 || n_legs>15 ) {
- SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
- goto Sigma_Exit;
- }
- }
+ /**
+ * M26: Set SD Card file index
+ */
+ inline void gcode_M26() {
+ if (card.cardOK && code_seen('S'))
+ card.setIndex(code_value_long());
+ }
-//
-// Do all the preliminary setup work. First raise the probe.
-//
+ /**
+ * M27: Get SD Card status
+ */
+ inline void gcode_M27() {
+ card.getStatus();
+ }
- 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();
+ /**
+ * 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);
+ }
-//
-// 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");
+ /**
+ * M29: Stop SD Write
+ * Processed in write to file routine above
+ */
+ inline void gcode_M29() {
+ // card.saving = false;
+ }
- plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
- ext_position,
- homing_feedrate[X_AXIS]/60,
- active_extruder);
- st_synchronize();
+ /**
+ * M30 <filename>: Delete SD Card file
+ */
+ inline void gcode_M30() {
+ if (card.cardOK) {
+ card.closefile();
+ char* starpos = strchr(strchr_pointer + 4, '*');
+ if (starpos) {
+ char* npos = strchr(cmdbuffer[bufindr], 'N');
+ strchr_pointer = strchr(npos, ' ') + 1;
+ *(starpos) = '\0';
+ }
+ card.removeFile(strchr_pointer + 4);
+ }
+ }
- 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);
+#endif
-//
-// OK, do the inital probe to get us close to the bed.
-// Then retrace the right amount and use that in subsequent probes
-//
+/**
+ * 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();
+}
- engage_z_probe();
+#ifdef SDSUPPORT
- setup_for_endstop_move();
- run_z_probe();
+ /**
+ * M32: Select file and start SD Print
+ */
+ inline void gcode_M32() {
+ if (card.sdprinting)
+ st_synchronize();
- 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;
+ char* codepos = strchr_pointer + 4;
- 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);
+ 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 '!'
- if (engage_probe_for_each_reading)
- retract_z_probe();
+ char* starpos = strchr(codepos, '*');
+ if (starpos) *(starpos) = '\0';
- for( n=0; n<n_samples; n++) {
+ bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos);
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
+ if (card.cardOK) {
+ card.openFile(namestartpos, true, !call_procedure);
- if ( n_legs) {
- double radius=0.0, theta=0.0, x_sweep, y_sweep;
- int rotational_direction, l;
+ if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!)
+ card.setIndex(code_value_long());
- rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
- radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
- theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
+ card.startFileprint();
+ if (!call_procedure)
+ starttime = millis(); //procedure calls count as normal print time.
+ }
+ }
-//SERIAL_ECHOPAIR("starting radius: ",radius);
-//SERIAL_ECHOPAIR(" theta: ",theta);
-//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
-//SERIAL_PROTOCOLLNPGM("");
+ /**
+ * 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);
+ }
- for( l=0; l<n_legs-1; l++) {
- if (rotational_direction==1)
- theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
- else
- theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
+#endif // SDSUPPORT
- radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
- if ( radius<0.0 )
- radius = -radius;
+/**
+ * M42: Change pin status via GCode
+ */
+inline void gcode_M42() {
+ if (code_seen('S')) {
+ int pin_status = code_value(),
+ pin_number = LED_PIN;
- X_current = X_probe_location + cos(theta) * radius;
- Y_current = Y_probe_location + sin(theta) * radius;
+ if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
+ pin_number = code_value();
- if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
- X_current = X_MIN_POS;
- if ( X_current>X_MAX_POS)
- X_current = X_MAX_POS;
+ 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 ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
- Y_current = Y_MIN_POS;
- if ( Y_current>Y_MAX_POS)
- Y_current = Y_MAX_POS;
+ #if defined(FAN_PIN) && FAN_PIN > -1
+ if (pin_number == FAN_PIN) fanSpeed = pin_status;
+ #endif
- if (verbose_level>3 ) {
- SERIAL_ECHOPAIR("x: ", X_current);
- SERIAL_ECHOPAIR("y: ", Y_current);
- SERIAL_PROTOCOLLNPGM("");
- }
+ if (pin_number > -1) {
+ pinMode(pin_number, OUTPUT);
+ digitalWrite(pin_number, pin_status);
+ analogWrite(pin_number, pin_status);
+ }
+ } // code_seen('S')
+}
- 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);
- }
+#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
- setup_for_endstop_move();
- run_z_probe();
+ #if Z_MIN_PIN == -1
+ #error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
+ #endif
- sample_set[n] = current_position[Z_AXIS];
+ /**
+ * M48: Z-Probe repeatability measurement function.
+ *
+ * Usage:
+ * M48 <n#> <X#> <Y#> <V#> <E> <L#>
+ * n = Number of samples (4-50, default 10)
+ * X = Sample X position
+ * Y = Sample Y position
+ * V = Verbose level (0-4, default=1)
+ * E = Engage probe for each reading
+ * L = Number of legs of movement before probe
+ *
+ * This function assumes the bed has been homed. Specificaly, that a G28 command
+ * as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
+ * Any information generated by a prior G29 Bed leveling command will be lost and need to be
+ * regenerated.
+ *
+ * The number of samples will default to 10 if not specified. You can use upper or lower case
+ * letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
+ * N for its communication protocol and will get horribly confused if you send it a capital N.
+ */
+ inline void gcode_M48() {
+
+ double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
+ int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
+ double X_current, Y_current, Z_current;
+ double X_probe_location, Y_probe_location, Z_start_location, ext_position;
+
+ if (code_seen('V') || code_seen('v')) {
+ verbose_level = code_value();
+ if (verbose_level < 0 || verbose_level > 4 ) {
+ SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
+ return;
+ }
+ }
-//
-// 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
-//
+ 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");
+ }
- 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 (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;
+ }
+ }
- 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);
- }
+ 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 (verbose_level > 2) {
- SERIAL_PROTOCOL(" mean: ");
- SERIAL_PROTOCOL_F(mean,6);
+ if (code_seen('E') || code_seen('e'))
+ engage_probe_for_each_reading++;
- SERIAL_PROTOCOL(" sigma: ");
- SERIAL_PROTOCOL_F(sigma,6);
- }
+ 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 (verbose_level > 0)
- SERIAL_PROTOCOLPGM("\n");
+ 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;
+ }
+ }
- 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 (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;
+ }
+ }
- if (engage_probe_for_each_reading) {
- retract_z_probe();
- delay(1000);
- }
- }
+ //
+ // Do all the preliminary setup work. First raise the probe.
+ //
- retract_z_probe();
- delay(1000);
+ 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();
- clean_up_after_endstop_move();
+ //
+ // 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();
-// enable_endstops(true);
+ 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);
- if (verbose_level > 0) {
- SERIAL_PROTOCOLPGM("Mean: ");
- SERIAL_PROTOCOL_F(mean, 6);
- SERIAL_PROTOCOLPGM("\n");
- }
+ //
+ // OK, do the inital probe to get us close to the bed.
+ // Then retrace the right amount and use that in subsequent probes
+ //
-SERIAL_PROTOCOLPGM("Standard Deviation: ");
-SERIAL_PROTOCOL_F(sigma, 6);
-SERIAL_PROTOCOLPGM("\n\n");
+ engage_z_probe();
-Sigma_Exit:
- break;
- }
-#endif // Z_PROBE_REPEATABILITY_TEST
-#endif // ENABLE_AUTO_BED_LEVELING
+ setup_for_endstop_move();
+ run_z_probe();
- 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
+ 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;
- SERIAL_PROTOCOLPGM(" @:");
- #ifdef EXTRUDER_WATTS
- SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
- #endif
+ 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);
- SERIAL_PROTOCOLPGM(" B@:");
- #ifdef BED_WATTS
- SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
- SERIAL_PROTOCOLPGM("W");
- #else
- SERIAL_PROTOCOL(getHeaterPower(-1));
- #endif
+ if (engage_probe_for_each_reading) retract_z_probe();
- #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
+ for (n=0; n < n_samples; n++) {
- 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
+ do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
- setWatch();
- codenum = millis();
+ 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
- /* See if we are heating up or cooling down */
- target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
+ //SERIAL_ECHOPAIR("starting radius: ",radius);
+ //SERIAL_ECHOPAIR(" theta: ",theta);
+ //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
+ //SERIAL_PROTOCOLLNPGM("");
- cancel_heatup = false;
+ 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
- #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
+ radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
+ if (radius < 0.0) radius = -radius;
- 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;
+ X_current = X_probe_location + cos(theta) * radius;
+ Y_current = Y_probe_location + sin(theta) * radius;
- #if defined(FAN_PIN) && FAN_PIN > -1
- case 106: //M106 Fan On
- if (code_seen('S')){
- fanSpeed=constrain(code_value(),0,255);
- }
- else {
- fanSpeed=255;
- }
- break;
- case 107: //M107 Fan Off
- fanSpeed = 0;
- break;
- #endif //FAN_PIN
- #ifdef BARICUDA
- // PWM for HEATER_1_PIN
- #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
- case 126: //M126 valve open
- if (code_seen('S')){
- ValvePressure=constrain(code_value(),0,255);
- }
- else {
- ValvePressure=255;
- }
- break;
- case 127: //M127 valve closed
- ValvePressure = 0;
- break;
- #endif //HEATER_1_PIN
+ // 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);
- // 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;
+ if (verbose_level > 3) {
+ SERIAL_ECHOPAIR("x: ", X_current);
+ SERIAL_ECHOPAIR("y: ", Y_current);
+ SERIAL_PROTOCOLLNPGM("");
}
- 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
+ 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 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
+ if (engage_probe_for_each_reading) {
+ engage_z_probe();
+ delay(1000);
+ }
- #ifdef ULTIPANEL
- powersupply = true;
- LCD_MESSAGEPGM(WELCOME_MSG);
- lcd_update();
- #endif
- break;
- #endif
-
- 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
- }
+ 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);
}
- break;
- case 85: // M85
- if(code_seen('S')) {
- max_inactive_time = code_value() * 1000;
+
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOL(" mean: ");
+ SERIAL_PROTOCOL_F(mean,6);
+ SERIAL_PROTOCOL(" sigma: ");
+ SERIAL_PROTOCOL_F(sigma,6);
}
- 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();
- }
- }
+
+ 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);
}
- 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]);
+ retract_z_probe();
+ delay(1000);
- 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;
+ clean_up_after_endstop_move();
- if(code_seen('R')) red = code_value();
- if(code_seen('U')) grn = code_value();
- if(code_seen('B')) blu = code_value();
+ // enable_endstops(true);
- SendColors(red,grn,blu);
- }
- break;
- #endif //BLINKM
- case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
- {
+ if (verbose_level > 0) {
+ SERIAL_PROTOCOLPGM("Mean: ");
+ SERIAL_PROTOCOL_F(mean, 6);
+ SERIAL_PROTOCOLPGM("\n");
+ }
- 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;
- }
- }
+ SERIAL_PROTOCOLPGM("Standard Deviation: ");
+ SERIAL_PROTOCOL_F(sigma, 6);
+ SERIAL_PROTOCOLPGM("\n\n");
+ }
- float area = .0;
- if(code_seen('D')) {
- float diameter = code_value();
- // setting any extruder filament size disables volumetric on the assumption that
- // slicers either generate in extruder values as cubic mm or as as filament feeds
- // for all extruders
- volumetric_enabled = (diameter != 0.0);
- if (volumetric_enabled) {
- filament_size[tmp_extruder] = diameter;
- // make sure all extruders have some sane value for the filament size
- for (int i=0; i<EXTRUDERS; i++)
- if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
- }
- } else {
- //reserved for setting filament diameter via UFID or filament measuring device
- break;
- }
- calculate_volumetric_multipliers();
- }
- break;
- case 201: // M201
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- max_acceleration_units_per_sq_second[i] = code_value();
- }
- }
- // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
- reset_acceleration_rates();
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- break;
- #endif
- case 203: // M203 max feedrate mm/sec
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
- }
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- {
- if(code_seen('S')) acceleration = code_value() ;
- if(code_seen('T')) retract_acceleration = code_value() ;
- }
- break;
- case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
- {
- if(code_seen('S')) minimumfeedrate = code_value();
- if(code_seen('T')) mintravelfeedrate = code_value();
- if(code_seen('B')) minsegmenttime = code_value() ;
- if(code_seen('X')) max_xy_jerk = code_value() ;
- if(code_seen('Z')) max_z_jerk = code_value() ;
- if(code_seen('E')) max_e_jerk = code_value() ;
+#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);
}
- break;
- case 206: // M206 additional homing offset
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) add_homing[i] = code_value();
- }
- #ifdef SCARA
- if(code_seen('T')) // Theta
- {
- add_homing[X_AXIS] = code_value() ;
- }
- if(code_seen('P')) // Psi
- {
- add_homing[Y_AXIS] = code_value() ;
- }
- #endif
- break;
- #ifdef DELTA
- case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
- if(code_seen('L')) {
- delta_diagonal_rod= code_value();
- }
- if(code_seen('R')) {
- delta_radius= code_value();
- }
- if(code_seen('S')) {
- delta_segments_per_second= code_value();
- }
-
- recalc_delta_settings(delta_radius, delta_diagonal_rod);
- break;
- case 666: // M666 set delta endstop adjustemnt
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
- }
- break;
- #endif
- #ifdef FWRETRACT
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
- {
- if(code_seen('S'))
- {
- retract_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_feedrate = code_value()/60 ;
- }
- if(code_seen('Z'))
- {
- retract_zlift = code_value() ;
- }
- }break;
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
- {
- if(code_seen('S'))
- {
- retract_recover_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_recover_feedrate = code_value()/60 ;
- }
- }break;
- case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- {
- if(code_seen('S'))
- {
- int t= code_value() ;
- switch(t)
- {
- case 0:
- case 1:
- {
- autoretract_enabled = (t == 1);
- for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
- }break;
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(cmdbuffer[bufindr]);
- SERIAL_ECHOLNPGM("\"");
- }
- }
+ #else
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
+ #endif
- }break;
- #endif // FWRETRACT
- #if EXTRUDERS > 1
- case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- {
- if(setTargetedHotend(218)){
- break;
- }
- 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;
+ 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
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- {
- if(code_seen('S'))
- {
- feedmultiply = code_value() ;
- }
- }
- break;
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- {
- if(code_seen('S'))
- {
- int tmp_code = code_value();
- if (code_seen('T'))
- {
- if(setTargetedHotend(221)){
- break;
- }
- extruder_multiply[tmp_extruder] = tmp_code;
- }
- else
- {
- extrudemultiply = tmp_code ;
- }
- }
+ 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);
}
- break;
+ #endif
- case 226: // M226 P<pin number> S<pin state>- 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
+ SERIAL_PROTOCOLLN("");
+}
- if(code_seen('S')) pin_state = code_value(); // required pin state
+#if defined(FAN_PIN) && FAN_PIN > -1
- if(pin_state >= -1 && pin_state <= 1){
+ /**
+ * M106: Set Fan Speed
+ */
+ inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
- for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
+ /**
+ * M107: Fan Off
+ */
+ inline void gcode_M107() { fanSpeed = 0; }
- if (pin_number > -1)
- {
- int target = LOW;
+#endif //FAN_PIN
- st_synchronize();
+/**
+ * M109: Wait for extruder(s) to reach temperature
+ */
+inline void gcode_M109() {
+ if (setTargetedHotend(109)) return;
- pinMode(pin_number, INPUT);
+ LCD_MESSAGEPGM(MSG_HEATING);
- switch(pin_state){
- case 1:
- target = HIGH;
- break;
+ 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
+ }
- case 0:
- target = LOW;
- break;
+ #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
- case -1:
- target = !digitalRead(pin_number);
- break;
- }
+ setWatch();
- while(digitalRead(pin_number) != target){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }
- }
- }
- }
- break;
+ unsigned long timetemp = millis();
- #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
+ /* 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_ECHO_START;
- SERIAL_ECHO("Servo ");
- SERIAL_ECHO(servo_index);
- SERIAL_ECHOLN(" out of range");
+ SERIAL_PROTOCOLLN( "?" );
}
- }
- else if (servo_index >= 0) {
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" Servo ");
- SERIAL_PROTOCOL(servo_index);
- SERIAL_PROTOCOL(": ");
- SERIAL_PROTOCOL(servos[servo_index].read());
+ #else
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
+ timetemp = millis();
}
- else
- {
- delay(beepP);
- }
+ 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
}
- 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));
+ 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("");
}
- 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> (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);
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
}
- 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);
+ 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();
}
- 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();
-
+ else {
+ st_synchronize();
+ if (code_seen('X')) disable_x();
+ if (code_seen('Y')) disable_y();
+ if (code_seen('Z')) disable_z();
+ #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
+ if (code_seen('E')) {
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ disable_e3();
}
+ #endif
+ }
+ }
+}
+
+/**
+ * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+ */
+inline void gcode_M85() {
+ if (code_seen('S')) max_inactive_time = code_value() * 1000;
+}
+
+/**
+ * M92: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+ */
+inline void gcode_M92() {
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) {
+ if (i == E_AXIS) {
+ float value = code_value();
+ if (value < 20.0) {
+ float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
+ max_e_jerk *= factor;
+ max_feedrate[i] *= factor;
+ axis_steps_per_sqr_second[i] *= factor;
+ }
+ axis_steps_per_unit[i] = value;
}
- break;
- #endif
+ 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("");
-#ifdef EXT_SOLENOID
- case 380:
- enable_solenoid_on_active_extruder();
- break;
+ 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
+}
- case 381:
- disable_all_solenoids();
- break;
-#endif //EXT_SOLENOID
+/**
+ * M115: Capabilities string
+ */
+inline void gcode_M115() {
+ SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
+}
- case 400: // M400 finish all moves
- {
- st_synchronize();
+/**
+ * M117: Set LCD Status Message
+ */
+inline void gcode_M117() {
+ char* codepos = strchr_pointer + 5;
+ char* starpos = strchr(codepos, '*');
+ if (starpos) *starpos = '\0';
+ lcd_setstatus(codepos);
+}
+
+/**
+ * M119: Output endstop states to serial output
+ */
+inline void gcode_M119() {
+ SERIAL_PROTOCOLLN(MSG_M119_REPORT);
+ #if defined(X_MIN_PIN) && X_MIN_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_X_MIN);
+ SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if defined(X_MAX_PIN) && X_MAX_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_X_MAX);
+ SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_Y_MIN);
+ SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_Y_MAX);
+ SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_Z_MIN);
+ SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
+ SERIAL_PROTOCOLPGM(MSG_Z_MAX);
+ SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+}
+
+/**
+ * M120: Enable endstops
+ */
+inline void gcode_M120() { enable_endstops(false); }
+
+/**
+ * M121: Disable endstops
+ */
+inline void gcode_M121() { enable_endstops(true); }
+
+#ifdef BLINKM
+
+ /**
+ * M150: Set Status LED Color - Use R-U-B for R-G-B
+ */
+ inline void gcode_M150() {
+ SendColors(
+ code_seen('R') ? (byte)code_value() : 0,
+ code_seen('U') ? (byte)code_value() : 0,
+ code_seen('B') ? (byte)code_value() : 0
+ );
+ }
+
+#endif // BLINKM
+
+/**
+ * M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
+ * T<extruder>
+ * D<millimeters>
+ */
+inline void gcode_M200() {
+ tmp_extruder = active_extruder;
+ if (code_seen('T')) {
+ tmp_extruder = code_value();
+ if (tmp_extruder >= EXTRUDERS) {
+ SERIAL_ECHO_START;
+ SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
+ return;
}
- 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
+ }
+
+ float area = .0;
+ if (code_seen('D')) {
+ float diameter = code_value();
+ // setting any extruder filament size disables volumetric on the assumption that
+ // slicers either generate in extruder values as cubic mm or as as filament feeds
+ // for all extruders
+ volumetric_enabled = (diameter != 0.0);
+ if (volumetric_enabled) {
+ filament_size[tmp_extruder] = diameter;
+ // make sure all extruders have some sane value for the filament size
+ for (int i=0; i<EXTRUDERS; i++)
+ if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
+ }
+ }
+ else {
+ //reserved for setting filament diameter via UFID or filament measuring device
+ return;
+ }
+ calculate_volumetric_multipliers();
+}
+
+/**
+ * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+ */
+inline void gcode_M201() {
+ for (int8_t i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) {
+ max_acceleration_units_per_sq_second[i] = code_value();
}
- break;
+ }
+ // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
+ reset_acceleration_rates();
+}
- case 402:
- {
- retract_z_probe(); // Retract Z Servo endstop if enabled
+#if 0 // Not used for Sprinter/grbl gen6
+ inline void gcode_M202() {
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
- 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);
+
+/**
+ * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+ */
+inline void gcode_M203() {
+ for (int8_t i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) {
+ max_feedrate[i] = code_value();
}
- #endif
+ }
+}
+
+/**
+ * M204: Set Default Acceleration and/or Default Filament Acceleration in mm/sec^2 (M204 S3000 T7000)
+ *
+ * S = normal moves
+ * T = filament only moves
+ *
+ * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
+ */
+inline void gcode_M204() {
+ if (code_seen('S')) acceleration = code_value();
+ if (code_seen('T')) retract_acceleration = code_value();
+}
+
+/**
+ * M205: Set Advanced Settings
+ *
+ * S = Min Feed Rate (mm/s)
+ * T = Min Travel Feed Rate (mm/s)
+ * B = Min Segment Time (µs)
+ * X = Max XY Jerk (mm/s/s)
+ * Z = Max Z Jerk (mm/s/s)
+ * E = Max E Jerk (mm/s/s)
+ */
+inline void gcode_M205() {
+ if (code_seen('S')) minimumfeedrate = code_value();
+ if (code_seen('T')) mintravelfeedrate = code_value();
+ if (code_seen('B')) minsegmenttime = code_value();
+ if (code_seen('X')) max_xy_jerk = code_value();
+ if (code_seen('Z')) max_z_jerk = code_value();
+ if (code_seen('E')) max_e_jerk = code_value();
+}
+
+/**
+ * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
+ */
+inline void gcode_M206() {
+ for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
+ if (code_seen(axis_codes[i])) {
+ add_homing[i] = code_value();
}
- 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;
+ }
+ #ifdef SCARA
+ if (code_seen('T')) add_homing[X_AXIS] = code_value(); // Theta
+ if (code_seen('P')) add_homing[Y_AXIS] = code_value(); // Psi
+ #endif
+}
+
+#ifdef DELTA
+ /**
+ * M665: Set delta configurations
+ *
+ * L = diagonal rod
+ * R = delta radius
+ * S = segments per second
+ */
+ inline void gcode_M665() {
+ if (code_seen('L')) delta_diagonal_rod = code_value();
+ if (code_seen('R')) delta_radius = code_value();
+ if (code_seen('S')) delta_segments_per_second = code_value();
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
+ }
+ /**
+ * M666: Set delta endstop adjustment
+ */
+ inline void gcode_M666() {
+ for (int8_t i = 0; i < 3; i++) {
+ if (code_seen(axis_codes[i])) {
+ endstop_adj[i] = code_value();
+ }
+ }
+ }
+#endif // DELTA
+
+#ifdef FWRETRACT
+
+ /**
+ * M207: Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
+ */
+ inline void gcode_M207() {
+ if (code_seen('S')) retract_length = code_value();
+ if (code_seen('F')) retract_feedrate = code_value() / 60;
+ if (code_seen('Z')) retract_zlift = code_value();
+ }
+
+ /**
+ * M208: Set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
+ */
+ inline void gcode_M208() {
+ if (code_seen('S')) retract_recover_length = code_value();
+ if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
+ }
+
+ /**
+ * M209: Enable automatic retract (M209 S1)
+ * detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+ */
+ inline void gcode_M209() {
+ if (code_seen('S')) {
+ int t = code_value();
+ switch(t) {
+ case 0:
+ autoretract_enabled = false;
+ break;
+ case 1:
+ autoretract_enabled = true;
+ break;
+ default:
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
+ SERIAL_ECHO(cmdbuffer[bufindr]);
+ SERIAL_ECHOLNPGM("\"");
+ return;
+ }
+ for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
+ }
+ }
+
+#endif // FWRETRACT
+
+#if EXTRUDERS > 1
+
+ /**
+ * M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+ */
+ inline void gcode_M218() {
+ if (setTargetedHotend(218)) return;
+
+ if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
+ if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
+
+ #ifdef DUAL_X_CARRIAGE
+ if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
#endif
-
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+ for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
+ SERIAL_ECHO(" ");
+ SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
+ SERIAL_ECHO(",");
+ SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
+ #ifdef DUAL_X_CARRIAGE
+ SERIAL_ECHO(",");
+ SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
+ #endif
+ }
+ SERIAL_EOL;
+ }
+
+#endif // EXTRUDERS > 1
+
+/**
+ * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
+ */
+inline void gcode_M220() {
+ if (code_seen('S')) feedmultiply = code_value();
+}
+
+/**
+ * M221: Set extrusion percentage (M221 T0 S95)
+ */
+inline void gcode_M221() {
+ if (code_seen('S')) {
+ int sval = code_value();
+ if (code_seen('T')) {
+ if (setTargetedHotend(221)) return;
+ extruder_multiply[tmp_extruder] = sval;
+ }
+ else {
+ extrudemultiply = sval;
+ }
+ }
+}
+
+/**
+ * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
+ */
+inline void gcode_M226() {
+ if (code_seen('P')) {
+ int pin_number = code_value();
+
+ int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
+
+ if (pin_state >= -1 && pin_state <= 1) {
+
+ for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) {
+ if (sensitive_pins[i] == pin_number) {
+ pin_number = -1;
+ break;
+ }
+ }
+
+ if (pin_number > -1) {
+ int target = LOW;
+
+ st_synchronize();
+
+ pinMode(pin_number, INPUT);
+
+ switch(pin_state){
+ case 1:
+ target = HIGH;
+ break;
+
+ case 0:
+ target = LOW;
+ break;
+
+ case -1:
+ target = !digitalRead(pin_number);
+ break;
+ }
+
+ while(digitalRead(pin_number) != target) {
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ }
+
+ } // pin_number > -1
+ } // pin_state -1 0 1
+ } // code_seen('P')
+}
+
+#if NUM_SERVOS > 0
+
+ /**
+ * M280: Set servo position absolute. P: servo index, S: angle or microseconds
+ */
+ inline void gcode_M280() {
+ int servo_index = code_seen('P') ? code_value() : -1;
+ int servo_position = 0;
+ if (code_seen('S')) {
+ servo_position = code_value();
+ if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
+ #if 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<frequency Hz> P<duration ms>
+ */
+ inline void gcode_M300() {
+ int beepS = code_seen('S') ? code_value() : 110;
+ int beepP = code_seen('P') ? code_value() : 1000;
+ if (beepS > 0) {
+ #if BEEPER > 0
+ tone(BEEPER, beepS);
+ delay(beepP);
+ noTone(BEEPER);
+ #elif defined(ULTRALCD)
+ lcd_buzz(beepS, beepP);
+ #elif defined(LCD_USE_I2C_BUZZER)
+ lcd_buzz(beepP, beepS);
+ #endif
+ }
+ else {
+ delay(beepP);
+ }
+ }
+
+#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
+
+#ifdef PIDTEMP
+
+ /**
+ * M301: Set PID parameters P I D (and optionally C)
+ */
+ inline void gcode_M301() {
+
+ // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
+ // default behaviour (omitting E parameter) is to update for extruder 0 only
+ int e = code_seen('E') ? code_value() : 0; // extruder being updated
+
+ if (e < EXTRUDERS) { // catch bad input value
+ if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
+ if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
+ if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
+ #ifdef PID_ADD_EXTRUSION_RATE
+ if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
+ #endif
+
+ updatePID();
+ SERIAL_PROTOCOL(MSG_OK);
+ #ifdef PID_PARAMS_PER_EXTRUDER
+ SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
+ SERIAL_PROTOCOL(e);
+ #endif // PID_PARAMS_PER_EXTRUDER
+ SERIAL_PROTOCOL(" p:");
+ SERIAL_PROTOCOL(PID_PARAM(Kp, e));
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e)));
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e)));
+ #ifdef PID_ADD_EXTRUSION_RATE
+ SERIAL_PROTOCOL(" c:");
+ //Kc does not have scaling applied above, or in resetting defaults
+ SERIAL_PROTOCOL(PID_PARAM(Kc, e));
+ #endif
+ SERIAL_PROTOCOLLN("");
+ }
+ else {
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
+ }
+ }
+
+#endif // PIDTEMP
+
+#ifdef PIDTEMPBED
+
+ inline void gcode_M304() {
+ if (code_seen('P')) bedKp = code_value();
+ if (code_seen('I')) bedKi = scalePID_i(code_value());
+ if (code_seen('D')) bedKd = scalePID_d(code_value());
+
+ updatePID();
+ SERIAL_PROTOCOL(MSG_OK);
+ SERIAL_PROTOCOL(" p:");
+ SERIAL_PROTOCOL(bedKp);
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(unscalePID_i(bedKi));
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(unscalePID_d(bedKd));
+ SERIAL_PROTOCOLLN("");
+ }
+
+#endif // PIDTEMPBED
+
+#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
+
+ /**
+ * M240: Trigger a camera by emulating a Canon RC-1
+ * See http://www.doc-diy.net/photo/rc-1_hacked/
+ */
+ inline void gcode_M240() {
+ #ifdef CHDK
+
+ OUT_WRITE(CHDK, HIGH);
+ chdkHigh = millis();
+ chdkActive = true;
+
+ #elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
+
+ const uint8_t NUM_PULSES = 16;
+ const float PULSE_LENGTH = 0.01524;
+ for (int i = 0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+ delay(7.33);
+ for (int i = 0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+
+ #endif // !CHDK && PHOTOGRAPH_PIN > -1
+ }
+
+#endif // CHDK || PHOTOGRAPH_PIN
+
+#ifdef DOGLCD
+
+ /**
+ * M250: Read and optionally set the LCD contrast
+ */
+ inline void gcode_M250() {
+ if (code_seen('C')) lcd_setcontrast(code_value_long() & 0x3F);
+ SERIAL_PROTOCOLPGM("lcd contrast value: ");
+ SERIAL_PROTOCOL(lcd_contrast);
+ SERIAL_PROTOCOLLN("");
+ }
+
+#endif // DOGLCD
+
+#ifdef PREVENT_DANGEROUS_EXTRUDE
+
+ /**
+ * M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
+ */
+ inline void gcode_M302() {
+ set_extrude_min_temp(code_seen('S') ? code_value() : 0);
+ }
+
+#endif // PREVENT_DANGEROUS_EXTRUDE
+
+/**
+ * M303: PID relay autotune
+ * S<temperature> sets the target temperature. (default target temperature = 150C)
+ * E<extruder> (-1 for the bed)
+ * C<cycles>
+ */
+inline void gcode_M303() {
+ int e = code_seen('E') ? code_value_long() : 0;
+ int c = code_seen('C') ? code_value_long() : 5;
+ float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
+ PID_autotune(temp, e, c);
+}
+
+#ifdef SCARA
+
+ /**
+ * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ */
+ inline bool gcode_M360() {
+ SERIAL_ECHOLN(" Cal: Theta 0 ");
+ //SoftEndsEnabled = false; // Ignore soft endstops during calibration
+ //SERIAL_ECHOLN(" Soft endstops disabled ");
+ if (! Stopped) {
+ //get_coordinates(); // For X Y Z E F
+ delta[X_AXIS] = 0;
+ delta[Y_AXIS] = 120;
+ calculate_SCARA_forward_Transform(delta);
+ destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
+ destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
+ prepare_move();
+ //ClearToSend();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+ */
+ inline bool gcode_M361() {
+ SERIAL_ECHOLN(" Cal: Theta 90 ");
+ //SoftEndsEnabled = false; // Ignore soft endstops during calibration
+ //SERIAL_ECHOLN(" Soft endstops disabled ");
+ if (! Stopped) {
+ //get_coordinates(); // For X Y Z E F
+ delta[X_AXIS] = 90;
+ delta[Y_AXIS] = 130;
+ calculate_SCARA_forward_Transform(delta);
+ destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
+ destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
+ prepare_move();
+ //ClearToSend();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+ */
+ inline bool gcode_M362() {
+ SERIAL_ECHOLN(" Cal: Psi 0 ");
+ //SoftEndsEnabled = false; // Ignore soft endstops during calibration
+ //SERIAL_ECHOLN(" Soft endstops disabled ");
+ if (! Stopped) {
+ //get_coordinates(); // For X Y Z E F
+ delta[X_AXIS] = 60;
+ delta[Y_AXIS] = 180;
+ calculate_SCARA_forward_Transform(delta);
+ destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
+ destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
+ prepare_move();
+ //ClearToSend();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+ */
+ inline bool gcode_M363() {
+ SERIAL_ECHOLN(" Cal: Psi 90 ");
+ //SoftEndsEnabled = false; // Ignore soft endstops during calibration
+ //SERIAL_ECHOLN(" Soft endstops disabled ");
+ if (! Stopped) {
+ //get_coordinates(); // For X Y Z E F
+ delta[X_AXIS] = 50;
+ delta[Y_AXIS] = 90;
+ calculate_SCARA_forward_Transform(delta);
+ destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
+ destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
+ prepare_move();
+ //ClearToSend();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
+ */
+ inline bool gcode_M364() {
+ SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
+ // SoftEndsEnabled = false; // Ignore soft endstops during calibration
+ //SERIAL_ECHOLN(" Soft endstops disabled ");
+ if (! Stopped) {
+ //get_coordinates(); // For X Y Z E F
+ delta[X_AXIS] = 45;
+ delta[Y_AXIS] = 135;
+ calculate_SCARA_forward_Transform(delta);
+ destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
+ destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
+ prepare_move();
+ //ClearToSend();
+ return true;
+ }
+ return false;
+ }
+
+ /**
+ * M365: SCARA calibration: Scaling factor, X, Y, Z axis
+ */
+ inline void gcode_M365() {
+ for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
+ if (code_seen(axis_codes[i])) {
+ axis_scaling[i] = code_value();
+ }
+ }
+ }
+
+#endif // SCARA
+
+#ifdef EXT_SOLENOID
+
+ void enable_solenoid(uint8_t num) {
+ switch(num) {
+ case 0:
+ OUT_WRITE(SOL0_PIN, HIGH);
+ break;
+ #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;
+ }
+ }
+
+ void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
+
+ void disable_all_solenoids() {
+ OUT_WRITE(SOL0_PIN, LOW);
+ OUT_WRITE(SOL1_PIN, LOW);
+ OUT_WRITE(SOL2_PIN, LOW);
+ OUT_WRITE(SOL3_PIN, LOW);
+ }
+
+ /**
+ * M380: Enable solenoid on the active extruder
+ */
+ inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
+
+ /**
+ * M381: Disable all solenoids
+ */
+ inline void gcode_M381() { disable_all_solenoids(); }
+
+#endif // EXT_SOLENOID
+
+/**
+ * M400: Finish all moves
+ */
+inline void gcode_M400() { st_synchronize(); }
+
+#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
+
+ /**
+ * M401: Engage Z Servo endstop if available
+ */
+ inline void gcode_M401() { engage_z_probe(); }
+ /**
+ * M402: Retract Z Servo endstop if enabled
+ */
+ inline void gcode_M402() { retract_z_probe(); }
+
+#endif
+
+#ifdef FILAMENT_SENSOR
+
+ /**
+ * M404: Display or set the nominal filament width (3mm, 1.75mm ) N<3.0>
+ */
+ inline void gcode_M404() {
+ #if FILWIDTH_PIN > -1
+ if (code_seen('N')) {
+ filament_width_nominal = code_value();
+ }
+ else {
+ SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
+ SERIAL_PROTOCOLLN(filament_width_nominal);
+ }
+ #endif
+ }
+
+ /**
+ * M405: Turn on filament sensor for control
+ */
+ inline void gcode_M405() {
+ if (code_seen('D')) meas_delay_cm = code_value();
+ if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY;
+
+ if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup
+ int temp_ratio = widthFil_to_size_ratio();
+
+ for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1)
+ measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte
+
+ delay_index1 = delay_index2 = 0;
+ }
+
+ filament_sensor = true;
+
+ //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
+ //SERIAL_PROTOCOL(filament_width_meas);
+ //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
+ //SERIAL_PROTOCOL(extrudemultiply);
+ }
+
+ /**
+ * M406: Turn off filament sensor for control
+ */
+ inline void gcode_M406() { filament_sensor = false; }
+
+ /**
+ * M407: Get measured filament diameter on serial output
+ */
+ inline void gcode_M407() {
+ SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
+ SERIAL_PROTOCOLLN(filament_width_meas);
+ }
+
+#endif // FILAMENT_SENSOR
+
+/**
+ * M500: Store settings in EEPROM
+ */
+inline void gcode_M500() {
+ Config_StoreSettings();
+}
+
+/**
+ * M501: Read settings from EEPROM
+ */
+inline void gcode_M501() {
+ Config_RetrieveSettings();
+}
+
+/**
+ * M502: Revert to default settings
+ */
+inline void gcode_M502() {
+ Config_ResetDefault();
+}
+
+/**
+ * M503: print settings currently in memory
+ */
+inline void gcode_M503() {
+ Config_PrintSettings(code_seen('S') && code_value == 0);
+}
+
+#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+ /**
+ * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
+ */
+ inline void gcode_M540() {
+ if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
+ }
+
+#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+
+#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
+
+ inline void gcode_SET_Z_PROBE_OFFSET() {
+ float value;
+ if (code_seen('Z')) {
+ value = code_value();
+ if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
+ zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
+ SERIAL_PROTOCOLLN("");
+ }
+ else {
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
+ SERIAL_ECHOPGM(MSG_Z_MIN);
+ SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
+ SERIAL_ECHOPGM(MSG_Z_MAX);
+ SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
+ SERIAL_PROTOCOLLN("");
+ }
+ }
+ else {
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
+ SERIAL_ECHO(-zprobe_zoffset);
+ SERIAL_PROTOCOLLN("");
+ }
+ }
+
+#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
+
+#ifdef FILAMENTCHANGEENABLE
+
+ /**
+ * M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+ */
+ inline void gcode_M600() {
+ float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60;
+ for (int i=0; i<NUM_AXIS; i++)
+ target[i] = lastpos[i] = current_position[i];
+
+ #define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
+ #ifdef DELTA
+ #define RUNPLAN calculate_delta(target); BASICPLAN
+ #else
+ #define RUNPLAN BASICPLAN
+ #endif
+
+ //retract by E
+ if (code_seen('E')) target[E_AXIS] += code_value();
+ #ifdef FILAMENTCHANGE_FIRSTRETRACT
+ else target[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
+ #endif
+
+ RUNPLAN;
+
+ //lift Z
+ if (code_seen('Z')) target[Z_AXIS] += code_value();
+ #ifdef FILAMENTCHANGE_ZADD
+ else target[Z_AXIS] += FILAMENTCHANGE_ZADD;
+ #endif
+
+ RUNPLAN;
+
+ //move xy
+ if (code_seen('X')) target[X_AXIS] = code_value();
+ #ifdef FILAMENTCHANGE_XPOS
+ else target[X_AXIS] = FILAMENTCHANGE_XPOS;
+ #endif
+
+ if (code_seen('Y')) target[Y_AXIS] = code_value();
+ #ifdef FILAMENTCHANGE_YPOS
+ else target[Y_AXIS] = FILAMENTCHANGE_YPOS;
+ #endif
+
+ RUNPLAN;
+
+ if (code_seen('L')) target[E_AXIS] += code_value();
+ #ifdef FILAMENTCHANGE_FINALRETRACT
+ else target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
+ #endif
+
+ RUNPLAN;
+
+ //finish moves
+ st_synchronize();
+ //disable extruder steppers so filament can be removed
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ disable_e3();
+ delay(100);
+ LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
+ uint8_t cnt = 0;
+ while (!lcd_clicked()) {
+ cnt++;
+ manage_heater();
+ manage_inactivity(true);
+ lcd_update();
+ if (cnt == 0) {
+ #if BEEPER > 0
+ OUT_WRITE(BEEPER,HIGH);
+ delay(3);
+ WRITE(BEEPER,LOW);
+ delay(3);
+ #else
+ #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
+ lcd_buzz(1000/6, 100);
+ #else
+ lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
+ #endif
+ #endif
+ }
+ } // while(!lcd_clicked)
+
+ //return to normal
+ if (code_seen('L')) target[E_AXIS] -= code_value();
+ #ifdef FILAMENTCHANGE_FINALRETRACT
+ else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
+ #endif
+
+ current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
+ plan_set_e_position(current_position[E_AXIS]);
+
+ RUNPLAN; //should do nothing
+
+ lcd_reset_alert_level();
+
+ #ifdef DELTA
+ calculate_delta(lastpos);
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
+ #else
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
+ #endif
+ }
+
+#endif // FILAMENTCHANGEENABLE
+
+#ifdef DUAL_X_CARRIAGE
+
+ /**
+ * M605: Set dual x-carriage movement mode
+ *
+ * M605 S0: Full control mode. The slicer has full control over x-carriage movement
+ * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
+ * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
+ * millimeters x-offset and an optional differential hotend temperature of
+ * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
+ * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
+ *
+ * Note: the X axis should be homed after changing dual x-carriage mode.
+ */
+ inline void gcode_M605() {
+ st_synchronize();
+ if (code_seen('S')) dual_x_carriage_mode = code_value();
+ switch(dual_x_carriage_mode) {
+ case DXC_DUPLICATION_MODE:
+ if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
+ if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+ SERIAL_ECHO(" ");
+ SERIAL_ECHO(extruder_offset[X_AXIS][0]);
+ SERIAL_ECHO(",");
+ SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
+ SERIAL_ECHO(" ");
+ SERIAL_ECHO(duplicate_extruder_x_offset);
+ SERIAL_ECHO(",");
+ SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
+ break;
+ 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<NUM_AXIS;i++)
+ if (code_seen(axis_codes[i])) digipot_current(i, code_value());
+ if (code_seen('B')) digipot_current(4, code_value());
+ if (code_seen('S')) for (int i=0; i<=4; i++) digipot_current(i, code_value());
+ #endif
+ #ifdef MOTOR_CURRENT_PWM_XY_PIN
+ if (code_seen('X')) digipot_current(0, code_value());
+ #endif
+ #ifdef MOTOR_CURRENT_PWM_Z_PIN
+ if (code_seen('Z')) digipot_current(1, code_value());
+ #endif
+ #ifdef MOTOR_CURRENT_PWM_E_PIN
+ if (code_seen('E')) digipot_current(2, code_value());
+ #endif
+ #ifdef DIGIPOT_I2C
+ // this one uses actual amps in floating point
+ for (int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
+ // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
+ for (int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
+ #endif
+}
+
+#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+
+ /**
+ * M908: Control digital trimpot directly (M908 P<pin> S<current>)
+ */
+ inline void gcode_M908() {
+ digitalPotWrite(
+ code_seen('P') ? code_value() : 0,
+ code_seen('S') ? code_value() : 0
+ );
+ }
+
+#endif // DIGIPOTSS_PIN
+
+// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+inline void gcode_M350() {
+ #if defined(X_MS1_PIN) && X_MS1_PIN > -1
+ if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
+ for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
+ if(code_seen('B')) microstep_mode(4,code_value());
+ microstep_readings();
+ #endif
+}
+
+/**
+ * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
+ * S# determines MS1 or MS2, X# sets the pin high/low.
+ */
+inline void gcode_M351() {
+ #if defined(X_MS1_PIN) && X_MS1_PIN > -1
+ if (code_seen('S')) switch((int)code_value()) {
+ case 1:
+ for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
+ if (code_seen('B')) microstep_ms(4, code_value(), -1);
+ break;
+ case 2:
+ for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
+ if (code_seen('B')) microstep_ms(4, -1, code_value());
+ break;
+ }
+ microstep_readings();
+ #endif
+}
+
+/**
+ * M999: Restart after being stopped
+ */
+inline void gcode_M999() {
+ Stopped = false;
+ lcd_reset_alert_level();
+ gcode_LastN = Stopped_gcode_LastN;
+ FlushSerialRequestResend();
+}
+
+inline void gcode_T() {
+ tmp_extruder = code_value();
+ if (tmp_extruder >= EXTRUDERS) {
+ SERIAL_ECHO_START;
+ SERIAL_ECHO("T");
+ SERIAL_ECHO(tmp_extruder);
+ SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
+ }
+ else {
+ boolean make_move = false;
+ if (code_seen('F')) {
+ make_move = true;
+ next_feedrate = code_value();
+ if (next_feedrate > 0.0) feedrate = next_feedrate;
+ }
+ #if EXTRUDERS > 1
+ if (tmp_extruder != active_extruder) {
+ // Save current position to return to after applying extruder offset
+ memcpy(destination, current_position, sizeof(destination));
+ #ifdef DUAL_X_CARRIAGE
+ if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
+ (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) {
+ // Park old head: 1) raise 2) move to park position 3) lower
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+ current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
+ current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
+ plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
+ st_synchronize();
+ }
+
+ // apply Y & Z extruder offset (x offset is already used in determining home pos)
+ current_position[Y_AXIS] = current_position[Y_AXIS] -
+ extruder_offset[Y_AXIS][active_extruder] +
+ extruder_offset[Y_AXIS][tmp_extruder];
+ current_position[Z_AXIS] = current_position[Z_AXIS] -
+ extruder_offset[Z_AXIS][active_extruder] +
+ extruder_offset[Z_AXIS][tmp_extruder];
+
+ active_extruder = tmp_extruder;
+
+ // This function resets the max/min values - the current position may be overwritten below.
+ axis_is_at_home(X_AXIS);
+
+ if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
+ current_position[X_AXIS] = inactive_extruder_x_pos;
+ inactive_extruder_x_pos = destination[X_AXIS];
+ }
+ else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
+ active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
+ if (active_extruder == 0 || active_extruder_parked)
+ current_position[X_AXIS] = inactive_extruder_x_pos;
+ else
+ current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
+ inactive_extruder_x_pos = destination[X_AXIS];
+ extruder_duplication_enabled = false;
+ }
+ else {
+ // record raised toolhead position for use by unpark
+ memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
+ raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
+ active_extruder_parked = true;
+ delayed_move_time = 0;
+ }
+ #else // !DUAL_X_CARRIAGE
+ // Offset extruder (only by XY)
+ for (int i=X_AXIS; i<=Y_AXIS; i++)
+ current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
+ // Set the new active extruder and position
+ active_extruder = tmp_extruder;
+ #endif // !DUAL_X_CARRIAGE
+ #ifdef DELTA
+ calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
+ //sent position to plan_set_position();
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
+ #else
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ #endif
+ // Move to the old position if 'F' was in the parameters
+ if (make_move && !Stopped) prepare_move();
+ }
+
+ #ifdef EXT_SOLENOID
+ st_synchronize();
+ disable_all_solenoids();
+ enable_solenoid_on_active_extruder();
+ #endif // EXT_SOLENOID
+
+ #endif // EXTRUDERS > 1
+ SERIAL_ECHO_START;
+ SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
+ SERIAL_PROTOCOLLN((int)active_extruder);
+ }
+}
+
+/**
+ * Process Commands and dispatch them to handlers
+ */
+void process_commands() {
+ if (code_seen('G')) {
+
+ int gCode = code_value_long();
+
+ switch(gCode) {
+
+ // G0, G1
+ case 0:
+ case 1:
+ gcode_G0_G1();
+ break;
+
+ // G2, G3
+ #ifndef SCARA
+ case 2: // G2 - CW ARC
+ case 3: // G3 - CCW ARC
+ gcode_G2_G3(gCode == 2);
+ break;
+ #endif
+
+ // G4 Dwell
+ case 4:
+ gcode_G4();
+ break;
+
+ #ifdef FWRETRACT
+
+ case 10: // G10: retract
+ case 11: // G11: retract_recover
+ gcode_G10_G11(gCode == 10);
+ break;
+
+ #endif //FWRETRACT
+
+ case 28: // G28: Home all axes, one at a time
+ gcode_G28();
+ break;
+
+ #ifdef ENABLE_AUTO_BED_LEVELING
+
+ case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
+ gcode_G29();
+ break;
+
+ #ifndef Z_PROBE_SLED
+
+ case 30: // G30 Single Z Probe
+ gcode_G30();
+ break;
+
+ #else // Z_PROBE_SLED
+
+ case 31: // G31: dock the sled
+ case 32: // G32: undock the sled
+ dock_sled(gCode == 31);
+ break;
+
+ #endif // Z_PROBE_SLED
+
+ #endif // ENABLE_AUTO_BED_LEVELING
+
+ case 90: // G90
+ relative_mode = false;
+ break;
+ case 91: // G91
+ relative_mode = true;
+ break;
+
+ case 92: // G92
+ 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
+ gcode_M0_M1();
+ break;
+ #endif // ULTIPANEL
+
+ case 17:
+ gcode_M17();
+ break;
+
+ #ifdef SDSUPPORT
+
+ case 20: // M20 - list SD card
+ gcode_M20(); break;
+ case 21: // M21 - init SD card
+ gcode_M21(); break;
+ case 22: //M22 - release SD card
+ gcode_M22(); break;
+ case 23: //M23 - Select file
+ gcode_M23(); break;
+ case 24: //M24 - Start SD print
+ gcode_M24(); break;
+ case 25: //M25 - Pause SD print
+ gcode_M25(); break;
+ case 26: //M26 - Set SD index
+ gcode_M26(); break;
+ case 27: //M27 - Get SD status
+ gcode_M27(); break;
+ case 28: //M28 - Start SD write
+ gcode_M28(); break;
+ case 29: //M29 - Stop SD write
+ gcode_M29(); break;
+ case 30: //M30 <filename> 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;
+
+ #endif //SDSUPPORT
+
+ case 31: //M31 take time since the start of the SD print or an M109 command
+ gcode_M31();
+ break;
+
+ case 42: //M42 -Change pin status via gcode
+ gcode_M42();
+ break;
+
+ #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
+
+ case 104: // M104
+ gcode_M104();
+ break;
+
+ case 112: // M112 Emergency Stop
+ gcode_M112();
+ break;
+
+ case 140: // M140 Set bed temp
+ gcode_M140();
+ break;
+
+ case 105: // M105 Read current temperature
+ gcode_M105();
+ return;
+ break;
+
+ case 109: // M109 Wait for temperature
+ gcode_M109();
+ break;
+
+ #if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
+ case 190: // M190 - Wait for bed heater to reach target.
+ gcode_M190();
+ break;
+ #endif //TEMP_BED_PIN
+
+ #if defined(FAN_PIN) && FAN_PIN > -1
+ case 106: //M106 Fan On
+ gcode_M106();
+ break;
+ case 107: //M107 Fan Off
+ gcode_M107();
+ 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
+ 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;
+
+ #endif // PS_ON_PIN
+
+ case 81: // M81 - Turn off Power Supply
+ gcode_M81();
+ break;
+
+ case 82:
+ gcode_M82();
+ break;
+ 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
+
+ #ifdef BLINKM
+ case 150: // M150
+ gcode_M150();
+ break;
+ #endif //BLINKM
- 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
+ case 200: // M200 D<millimeters> 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 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 DELTA
+ case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
+ gcode_M665();
+ break;
+ case 666: // M666 set delta endstop adjustment
+ gcode_M666();
+ break;
+ #endif // DELTA
- #ifdef FILAMENTCHANGEENABLE
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- {
- float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate/60;
- for (int i=0; i<NUM_AXIS; i++)
- target[i] = lastpos[i] = current_position[i];
+ #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
- #define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
- #ifdef DELTA
- #define RUNPLAN calculate_delta(target); BASICPLAN
- #else
- #define RUNPLAN BASICPLAN
- #endif
+ #if EXTRUDERS > 1
+ case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+ gcode_M218();
+ break;
+ #endif
- //retract by E
- if(code_seen('E'))
- {
- target[E_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FIRSTRETRACT
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
- #endif
- }
- RUNPLAN;
+ case 220: // M220 S<factor in percent>- set speed factor override percentage
+ gcode_M220();
+ break;
- //lift Z
- if(code_seen('Z'))
- {
- target[Z_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_ZADD
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- #endif
- }
- RUNPLAN;
+ case 221: // M221 S<factor in percent>- set extrude factor override percentage
+ gcode_M221();
+ break;
- //move xy
- if(code_seen('X'))
- {
- target[X_AXIS]= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_XPOS
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
- #endif
- }
- if(code_seen('Y'))
- {
- target[Y_AXIS]= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_YPOS
- target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
- #endif
- }
+ case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
+ gcode_M226();
+ break;
- RUNPLAN;
+ #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(code_seen('L'))
- {
- target[E_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FINALRETRACT
- target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
- #endif
- }
+ #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)
- RUNPLAN;
+ #ifdef PIDTEMP
+ case 301: // M301
+ gcode_M301();
+ break;
+ #endif // PIDTEMP
- //finish moves
- st_synchronize();
- //disable extruder steppers so filament can be removed
- disable_e0();
- disable_e1();
- disable_e2();
- disable_e3();
- delay(100);
- LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
- uint8_t cnt=0;
- while(!lcd_clicked()){
- cnt++;
- manage_heater();
- manage_inactivity(true);
- lcd_update();
- if(cnt==0)
- {
- #if BEEPER > 0
- OUT_WRITE(BEEPER,HIGH);
- delay(3);
- WRITE(BEEPER,LOW);
- delay(3);
- #else
- #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
- lcd_buzz(1000/6,100);
- #else
- lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
- #endif
- #endif
- }
- }
+ #ifdef PIDTEMPBED
+ case 304: // M304
+ gcode_M304();
+ break;
+ #endif // PIDTEMPBED
- //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]);
+ #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
- RUNPLAN; //should do nothing
+ #ifdef DOGLCD
+ case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
+ gcode_M250();
+ break;
+ #endif // DOGLCD
- //reset LCD alert message
- lcd_reset_alert_level();
+ #ifdef PREVENT_DANGEROUS_EXTRUDE
+ case 302: // allow cold extrudes, or set the minimum extrude temperature
+ gcode_M302();
+ break;
+ #endif // PREVENT_DANGEROUS_EXTRUDE
- #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();
+ case 303: // M303 PID autotune
+ gcode_M303();
+ break;
- if (code_seen('S'))
- dual_x_carriage_mode = code_value();
+ #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
- 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));
+ case 400: // M400 finish all moves
+ gcode_M400();
+ break;
- if (code_seen('R'))
- duplicate_extruder_temp_offset = code_value();
+ #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
- 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;
- }
+ #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
- active_extruder_parked = false;
- extruder_duplication_enabled = false;
- delayed_move_time = 0;
- }
- break;
- #endif //DUAL_X_CARRIAGE
+ 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;
- case 907: // M907 Set digital trimpot motor current using axis codes.
- {
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
- if(code_seen('B')) digipot_current(4,code_value());
- if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_XY_PIN
- if(code_seen('X')) digipot_current(0, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_Z_PIN
- if(code_seen('Z')) digipot_current(1, code_value());
- #endif
- #ifdef MOTOR_CURRENT_PWM_E_PIN
- if(code_seen('E')) digipot_current(2, code_value());
- #endif
- #ifdef DIGIPOT_I2C
- // this one uses actual amps in floating point
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
- // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
- for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
- #endif
- }
- break;
- case 908: // M908 Control digital trimpot directly.
- {
- #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
- uint8_t channel,current;
- if(code_seen('P')) channel=code_value();
- if(code_seen('S')) current=code_value();
- digitalPotWrite(channel, current);
- #endif
- }
- break;
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- {
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
- if(code_seen('B')) microstep_mode(4,code_value());
- microstep_readings();
- #endif
- }
- break;
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- {
- #if defined(X_MS1_PIN) && X_MS1_PIN > -1
- if(code_seen('S')) switch((int)code_value())
- {
- case 1:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
- if(code_seen('B')) microstep_ms(4,code_value(),-1);
+ #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+ case 540:
+ gcode_M540();
break;
- case 2:
- for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
- if(code_seen('B')) microstep_ms(4,-1,code_value());
- break;
- }
- microstep_readings();
#endif
- }
- break;
- case 999: // M999: Restart after being stopped
- Stopped = false;
- lcd_reset_alert_level();
- gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- break;
- }
- }
-
- else if(code_seen('T'))
- {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHO("T");
- SERIAL_ECHO(tmp_extruder);
- SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
- }
- else {
- boolean make_move = false;
- if(code_seen('F')) {
- make_move = true;
- next_feedrate = code_value();
- if(next_feedrate > 0.0) {
- feedrate = next_feedrate;
- }
- }
- #if EXTRUDERS > 1
- if(tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- memcpy(destination, current_position, sizeof(destination));
- #ifdef DUAL_X_CARRIAGE
- if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
- (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
- {
- // Park old head: 1) raise 2) move to park position 3) lower
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
- current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
- plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
- st_synchronize();
- }
- // apply Y & Z extruder offset (x offset is already used in determining home pos)
- current_position[Y_AXIS] = current_position[Y_AXIS] -
- extruder_offset[Y_AXIS][active_extruder] +
- extruder_offset[Y_AXIS][tmp_extruder];
- current_position[Z_AXIS] = current_position[Z_AXIS] -
- extruder_offset[Z_AXIS][active_extruder] +
- extruder_offset[Z_AXIS][tmp_extruder];
+ #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
- active_extruder = tmp_extruder;
+ #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
- // This function resets the max/min values - the current position may be overwritten below.
- axis_is_at_home(X_AXIS);
+ #ifdef DUAL_X_CARRIAGE
+ case 605:
+ gcode_M605();
+ break;
+ #endif // DUAL_X_CARRIAGE
- 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
+ case 907: // M907 Set digital trimpot motor current using axis codes.
+ gcode_M907();
+ break;
- 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]);
+ #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
+ case 908: // M908 Control digital trimpot directly.
+ gcode_M908();
+ break;
+ #endif // DIGIPOTSS_PIN
-#endif
- // Move to the old position if 'F' was in the parameters
- if(make_move && Stopped == false) {
- prepare_move();
- }
- }
+ case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+ gcode_M350();
+ break;
-#ifdef EXT_SOLENOID
- st_synchronize();
- disable_all_solenoids();
- enable_solenoid_on_active_extruder();
-#endif //EXT_SOLENOID
+ case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
+ gcode_M351();
+ break;
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
+ 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<EXTRUDERS; i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
-
-#ifdef EXT_SOLENOID
-
-void enable_solenoid(uint8_t num) {
- switch(num) {
- case 0:
- OUT_WRITE(SOL0_PIN, HIGH);
- break;
- #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;
- }
-}
-
-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