diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 79e091dc51de0dc99cbc076a5d3055586d0fdfd9..b4e19d90d1efe40f570807eda58d6a0a16568d19 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -86,7 +86,7 @@
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
-#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
+#define STRING_CONFIG_H_AUTHOR "Bob Kuhn, G2/G3 radius testing" // Who made the changes.
#define SHOW_BOOTSCREEN
#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
#define STRING_SPLASH_LINE2 WEBSITE_URL // will be shown during bootup in line 2
@@ -105,24 +105,15 @@
//#define SHOW_CUSTOM_BOOTSCREEN
// @section machine
-/**
- * Select which serial port on the board will be used for communication with the host.
- * This allows the connection of wireless adapters (for instance) to non-default port pins.
- * Serial port 0 is always used by the Arduino bootloader regardless of this setting.
- *
- * :[0,1,2,3,4,5,6,7]
- */
+// SERIAL_PORT selects which serial port should be used for communication with the host.
+// This allows the connection of wireless adapters (for instance) to non-default port pins.
+// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
+// :[0,1,2,3,4,5,6,7]
#define SERIAL_PORT 0
-#define BAUDRATE 250000
-/**
- * This setting determines the communication speed of the printer.
- *
- * 250000 works in most cases, but you might try a lower speed if
- * you commonly experience drop-outs during host printing.
- *
- * :[2400,9600,19200,38400,57600,115200,250000]
- */
+// This determines the communication speed of the printer
+// :[2400,9600,19200,38400,57600,115200,250000]
+#define BAUDRATE 115200
// Enable the Bluetooth serial interface on AT90USB devices
//#define BLUETOOTH
@@ -130,7 +121,7 @@
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
- #define MOTHERBOARD BOARD_RAMPS_14_EFB
+ #define MOTHERBOARD BOARD_AZTEEG_X3_PRO
#endif
// Optional custom name for your RepStrap or other custom machine
@@ -178,22 +169,14 @@
//#define HOTEND_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
//#define HOTEND_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
-/**
- * Select your power supply here. Use 0 if you haven't connected the PS_ON_PIN
- *
- * 0 = No Power Switch
- * 1 = ATX
- * 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
- *
- * :{0:'No power switch',1:'ATX',2:'X-Box 360'}
- */
-#define POWER_SUPPLY 0
+//// The following define selects which power supply you have. Please choose the one that matches your setup
+// 1 = ATX
+// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
+// :{1:'ATX',2:'X-Box 360'}
+#define POWER_SUPPLY 1
-#if POWER_SUPPLY > 0
- // Enable this option to leave the PSU off at startup.
- // Power to steppers and heaters will need to be turned on with M80.
- //#define PS_DEFAULT_OFF
-#endif
+// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
+//#define PS_DEFAULT_OFF
// @section temperature
@@ -239,10 +222,10 @@
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
-//#define DUMMY_THERMISTOR_998_VALUE 25
+#define DUMMY_THERMISTOR_998_VALUE 25
//#define DUMMY_THERMISTOR_999_VALUE 100
// :{ '0': "Not used",'1':"100k / 4.7k - EPCOS",'2':"200k / 4.7k - ATC Semitec 204GT-2",'3':"Mendel-parts / 4.7k",'4':"10k !! do not use for a hotend. Bad resolution at high temp. !!",'5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)",'6':"100k / 4.7k EPCOS - Not as accurate as Table 1",'7':"100k / 4.7k Honeywell 135-104LAG-J01",'8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT",'9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1",'10':"100k / 4.7k RS 198-961",'11':"100k / 4.7k beta 3950 1%",'12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)",'13':"100k Hisens 3950 1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'",'20':"PT100 (Ultimainboard V2.x)",'51':"100k / 1k - EPCOS",'52':"200k / 1k - ATC Semitec 204GT-2",'55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)",'60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950",'66':"Dyze Design 4.7M High Temperature thermistor",'70':"the 100K thermistor found in the bq Hephestos 2",'71':"100k / 4.7k Honeywell 135-104LAF-J01",'147':"Pt100 / 4.7k",'1047':"Pt1000 / 4.7k",'110':"Pt100 / 1k (non-standard)",'1010':"Pt1000 / 1k (non standard)",'-3':"Thermocouple + MAX31855 (only for sensor 0)",'-2':"Thermocouple + MAX6675 (only for sensor 0)",'-1':"Thermocouple + AD595",'998':"Dummy 1",'999':"Dummy 2" }
-#define TEMP_SENSOR_0 1
+#define TEMP_SENSOR_0 998
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
@@ -372,9 +355,8 @@
#define EXTRUDE_MINTEMP 170
// This option prevents a single extrusion longer than EXTRUDE_MAXLENGTH.
-// Note that for Bowden Extruders a too-small value here may prevent loading.
#define PREVENT_LENGTHY_EXTRUDE
-#define EXTRUDE_MAXLENGTH 200
+#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH)
//===========================================================================
//======================== Thermal Runaway Protection =======================
@@ -421,9 +403,9 @@
#define USE_XMIN_PLUG
#define USE_YMIN_PLUG
#define USE_ZMIN_PLUG
-//#define USE_XMAX_PLUG
-//#define USE_YMAX_PLUG
-//#define USE_ZMAX_PLUG
+#define USE_XMAX_PLUG
+#define USE_YMAX_PLUG
+#define USE_ZMAX_PLUG
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@@ -440,13 +422,13 @@
#endif
// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
-#define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Z_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
-#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
+#define X_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define Y_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define X_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define Y_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
+#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
//=============================================================================
@@ -454,56 +436,20 @@
//=============================================================================
// @section motion
-/**
- * Default Settings
- *
- * These settings can be reset by M502
- *
- * Note that if EEPROM is enabled, saved values will override these.
- */
-
-/**
- * Default Axis Steps Per Unit (steps/mm)
- * Override with M92
- */
-#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 500 }
-
-/**
- * Default Max Feed Rate (mm/s)
- * Override with M203
- */
-#define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 }
-
-/**
- * Default Max Acceleration (change/s) change = mm/s
- * Override with M201
- *
- * Maximum start speed for accelerated moves: { X, Y, Z, E }
- */
-#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 }
+#define DEFAULT_AXIS_STEPS_PER_UNIT {8*24.8139,8*24.8139,8*24.8139,100}
+#define DEFAULT_MAX_FEEDRATE {35, 35, 25, 25} // (mm/sec)
+#define DEFAULT_MAX_ACCELERATION {3000,3000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
-/**
- * Default Acceleration (change/s) change = mm/s
- * Override with M204
- *
- * M204 P Acceleration
- * M204 R Retract Acceleration
- * M204 T Travel Acceleration
- */
-#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration for printing moves
-#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration for retracts
-#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration for travel (non printing) moves
+#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
+#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
+#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
-/**
- * Defult Jerk (mm/s)
- *
- * "Jerk" specifies the minimum speed change that requires acceleration.
- * When changing speed and direction, if the difference is less than the
- * value set here, it may happen instantaneously.
- */
-#define DEFAULT_XYJERK 20.0
-#define DEFAULT_ZJERK 0.4
-#define DEFAULT_EJERK 5.0
+// "Jerk" specifies the minimum speed change that requires acceleration.
+// When changing speed and direction, if the difference is less than the
+// value set here, it may happen instantaneously.
+#define DEFAULT_XYJERK 20.0 // (mm/sec)
+#define DEFAULT_ZJERK 0.4 // (mm/sec)
+#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
@@ -528,7 +474,6 @@
//#define FIX_MOUNTED_PROBE
// The BLTouch probe emulates a servo probe.
-// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
//#define BLTOUCH
// Z Servo Probe, such as an endstop switch on a rotating arm.
@@ -665,9 +610,9 @@
// @section machine
// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
-#define INVERT_X_DIR false
-#define INVERT_Y_DIR true
-#define INVERT_Z_DIR false
+#define INVERT_X_DIR true // positive is away from the motor
+#define INVERT_Y_DIR false // positive is towards the motor
+#define INVERT_Z_DIR true // positive is away from the motor
// @section extruder
@@ -695,12 +640,12 @@
// @section machine
// Travel limits after homing (units are in mm)
-#define X_MIN_POS 0
-#define Y_MIN_POS 0
-#define Z_MIN_POS 0
-#define X_MAX_POS 200
-#define Y_MAX_POS 200
-#define Z_MAX_POS 200
+#define X_MIN_POS -100
+#define Y_MIN_POS -100
+#define Z_MIN_POS -100
+#define X_MAX_POS 375
+#define Y_MAX_POS 450
+#define Z_MAX_POS 450
//===========================================================================
//========================= Filament Runout Sensor ==========================
@@ -1060,7 +1005,7 @@
// SD Card support is disabled by default. If your controller has an SD slot,
// you must uncomment the following option or it won't work.
//
-//#define SDSUPPORT
+#define SDSUPPORT
//
// SD CARD: SPI SPEED
@@ -1077,7 +1022,7 @@
//
// Use CRC checks and retries on the SD communication.
//
-//#define SD_CHECK_AND_RETRY
+#define SD_CHECK_AND_RETRY
//
// ENCODER SETTINGS
diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h
index ceec7e69ba773fe032a066e0220b25014045f182..751da7fb828e2e2fb1bb360110c813049f434a2b 100644
--- a/Marlin/Configuration_adv.h
+++ b/Marlin/Configuration_adv.h
@@ -244,16 +244,16 @@
// Dual Y Steppers
// Uncomment this option to drive two Y axis motors.
// The next unused E driver will be assigned to the second Y stepper.
-//#define Y_DUAL_STEPPER_DRIVERS
+#define Y_DUAL_STEPPER_DRIVERS
#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
// Set true if the two Y motors need to rotate in opposite directions
- #define INVERT_Y2_VS_Y_DIR true
+ #define INVERT_Y2_VS_Y_DIR false
#endif
// A single Z stepper driver is usually used to drive 2 stepper motors.
// Uncomment this option to use a separate stepper driver for each Z axis motor.
// The next unused E driver will be assigned to the second Z stepper.
-//#define Z_DUAL_STEPPER_DRIVERS
+#define Z_DUAL_STEPPER_DRIVERS
#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 1daefe76231eb69a2c030f8d91cb57d5cf696bc2..bebc91cf89634e5880993dea8c15b5483d7e9f33 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -209,6 +209,12 @@ void manage_inactivity(bool ignore_stepper_queue = false);
#endif // !MIXING_EXTRUDER
+#define G38_2_3
+#ifdef G38_2_3
+extern bool G38_flag ; //flag to tell the interrupt handler that a G38 command is being run
+extern bool G38_flag_pass ; //flag from the interrupt handler to indicate if the endstop went active
+#endif
+
/**
* The axis order in all axis related arrays is X, Y, Z, E
*/
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index f334341061a3fa93cf5c0dc775da53337615163e..98993c8ccf7750a156566c4badb4abc95b81822f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -117,6 +117,7 @@
* G30 - Single Z probe, probes bed at current XY location.
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
+ * G38 - Probe target - similar to G28 except it uses the Z_Probe for all three axis
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
@@ -276,6 +277,11 @@
TWIBus i2c;
#endif
+#ifdef G38_2_3
+bool G38_flag = false; // init G38 flags
+bool G38_flag_pass = false;
+#endif
+
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE;
@@ -2325,6 +2331,146 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // AUTO_BED_LEVELING_BILINEAR
+
+#ifdef G38_2_3
+
+#define G38_minimum_move 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
+
+bool check_move() //checks that at least one of the axis in the command line has an actual move
+ // motion planner only does moves of 0.001mm and larger
+{
+
+ bool move_flag = false;
+ for(int8_t i=0; i < 3; i++) {
+/* debug used to determine prints
+ SERIAL_PROTOCOLPGM("axis: ");
+ SERIAL_PROTOCOL(axis_codes[i]);
+ SERIAL_PROTOCOLPGM(" code_seen : ");
+ SERIAL_PROTOCOL(code_seen(axis_codes[i]));
+ SERIAL_PROTOCOLPGM(" destination : ");
+ SERIAL_PROTOCOL(destination[i]);
+ SERIAL_PROTOCOLPGM(" current : ");
+ SERIAL_PROTOCOL(current_position[i]);
+ SERIAL_PROTOCOLPGM(" dif x 1000 : ");
+ SERIAL_PROTOCOLLN((destination[i] - current_position[i]) * 1000);
+ */
+ if (code_seen(axis_codes[i]) && (fabs(destination[i] - current_position[i]) >= G38_minimum_move)) move_flag = true ;
+/*
+ ?? 0.0275mm produced a move on my machine along with an updated current position.
+ 0.0265mm did NOT produce a move and did NOT change the current position
+ this is very different than the 0.001 in the planner.
+ 0.001" is .0254mm so maybe the 0.0275 observed comes from digital storage limitations/conversion/rounding
+ */
+ }
+ return move_flag;
+}
+
+
+static void G38_run_probe(bool *G38_pass_fail) {
+
+ G38_flag = true; //tell the interrupt handler that we're doing a G38 probe
+ *G38_pass_fail = false;
+
+#ifdef X_HOME_BUMP_MM
+#ifdef Y_HOME_BUMP_MM
+#ifdef Z_HOME_BUMP_MM
+ float G38_X_retract_mm = home_bump_mm(X_AXIS);
+ float G38_Y_retract_mm = home_bump_mm(Y_AXIS);
+ float G38_Z_retract_mm = home_bump_mm(Z_AXIS);
+
+#else
+
+ float G38_X_retract_mm = 5;
+ float G38_Y_retract_mm = 5;
+ float G38_Z_retract_mm = 2;
+
+#endif
+#endif
+#endif
+
+ // only retract the axis if the axis is in the command
+ if( (!code_seen('X') || (code_value_axis_units(X_AXIS) == 0))) G38_X_retract_mm = 0;
+ if( (!code_seen('Y') || (code_value_axis_units(Y_AXIS) == 0))) G38_Y_retract_mm = 0;
+ if( (!code_seen('Z') || (code_value_axis_units(Z_AXIS) == 0))) G38_Z_retract_mm = 0;
+
+ // change the direction of the retract if needed
+ if ((destination[X_AXIS] - current_position[X_AXIS])>0) G38_X_retract_mm = -G38_X_retract_mm;
+ if ((destination[Y_AXIS] - current_position[Y_AXIS])>0) G38_Y_retract_mm = -G38_Y_retract_mm;
+ if ((destination[Z_AXIS] - current_position[Z_AXIS])>0) G38_Z_retract_mm = -G38_Z_retract_mm;
+
+
+ stepper.synchronize(); // wait until the machine is idle
+
+ bool save_endstops = endstops.enabled; //remember state of endstops so we can retore them at the end
+ endstops.enable(true);
+
+ // move until you reach the destination or hit an endstop or hit the target
+ // it's an error unless have hit the target
+ G38_flag_pass = false;
+ *G38_pass_fail = false;
+
+ planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate_mm_s, active_extruder);
+ stepper.synchronize();
+
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ // and we need to update current_position[axis]
+ current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+ current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+ current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+ planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
+
+ *G38_pass_fail = G38_flag_pass ; // only care if hit target on the first move
+
+ if (*G38_pass_fail) { // no sense in doing the remaining moves if we didn't hit the endstop
+ // move away the retract distance
+ float xPosition = current_position[X_AXIS] + G38_X_retract_mm;
+ float yPosition = current_position[Y_AXIS] + G38_Y_retract_mm;
+ float zPosition = current_position[Z_AXIS] + G38_Z_retract_mm;
+
+
+
+ // disable endstops on retract otherwise sometimes can't get away
+ endstops.enable(false);
+ G38_flag = false;
+
+ planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
+ stepper.synchronize();
+
+
+ // move back slowly
+ xPosition -= G38_X_retract_mm * 2;
+ yPosition -= G38_Y_retract_mm * 2;
+ zPosition -= G38_Z_retract_mm * 2;
+
+
+ // enable endstops on move back
+ endstops.enable(true);
+ G38_flag = true;
+
+ planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
+ stepper.synchronize();
+
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ // and we need to update current_position[axis]
+ current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
+ current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
+ current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
+ planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
+
+ }
+
+// clean_up_after_endstop_move();
+
+ endstops.enable(save_endstops); //restore endstops to same state as when we started
+
+ endstops.hit_on_purpose();
+ G38_flag = false; //tell the interrupt handler that we're done
+
+}
+
+#endif //G38_2_3
+
+
/**
* Home an individual linear axis
*/
@@ -4160,6 +4306,26 @@ inline void gcode_G28() {
#endif // HAS_BED_PROBE
+#ifdef G38_2_3
+ inline void gcode_G38(float code_num) {
+ #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) || ENABLED(Z_MIN_PROBE_ENDSTOP) //must have valid Z_MIN_PROBE definition for this command to work
+ if ((code_num == 38.2 || code_num == 38.3 ) && (code_seen('X') || code_seen('Y') || code_seen('Z'))) {
+ gcode_get_destination(); // For X Y Z E F
+ if (check_move()) { // see if the commanded movement will result in a physical movement
+ bool G38_pass_fail = false;
+ G38_run_probe(&G38_pass_fail);
+ if (!G38_pass_fail && (code_num == 38.2) ) SERIAL_PROTOCOLLNPGM(" ERROR - failed to reach target ");
+ }
+ }
+ }
+#else
+
+ SERIAL_PROTOCOLLNPGM(" ERROR - Z_MIN_PROBE must be enabled ");
+ }
+#endif
+#endif //G38_2_3
+
+
/**
* G92: Set current position to given X Y Z E
*/
@@ -7287,6 +7453,11 @@ void process_next_command() {
bool code_is_good = NUMERIC(*cmd_ptr);
if (!code_is_good) goto ExitUnknownCommand;
+#ifdef G38_2_3
+ double codenum_float;
+ codenum_float = atof(cmd_ptr); //allow for decimal point in command
+#endif
+
// Get and skip the code number
do {
codenum = (codenum * 10) + (*cmd_ptr - '0');
@@ -7393,6 +7564,12 @@ void process_next_command() {
#endif // Z_PROBE_SLED
#endif // HAS_BED_PROBE
+ #ifdef G38_2_3
+ case 38: //G38.2 & G38.3
+ gcode_G38(codenum_float);
+ break;
+ #endif
+
case 90: // G90
relative_mode = false;
break;
diff --git a/Marlin/endstops.cpp b/Marlin/endstops.cpp
index 1c50eb649233e6f7a6a3c63888ced6791afb421f..348d8edb65b2946f981a823cccdf972750a31102 100644
--- a/Marlin/endstops.cpp
+++ b/Marlin/endstops.cpp
@@ -243,6 +243,24 @@ void Endstops::update() {
// COPY_BIT: copy the value of COPY_BIT to BIT in bits
#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
+
+#if defined(G38_2_3) && defined(Z_MIN_PIN) && Z_MIN_PIN > -1 // If G38 command then check Z_MIN for every axis and every direction
+ #define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
+ UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
+ if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
+ _ENDSTOP_HIT(AXIS); \
+ stepper.endstop_triggered(_AXIS(AXIS)); \
+ } \
+ if (G38_flag) {\
+ UPDATE_ENDSTOP_BIT(Z, MIN); \
+ if (TEST_ENDSTOP(_ENDSTOP(Z, MIN)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
+ _ENDSTOP_HIT(AXIS); \
+ stepper.endstop_triggered(_AXIS(AXIS)); \
+ G38_flag_pass = true;\
+ } \
+ } \
+ } while(0)
+#else
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
@@ -250,6 +268,8 @@ void Endstops::update() {
stepper.endstop_triggered(_AXIS(AXIS)); \
} \
} while(0)
+
+#endif
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.