diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index a432eead00a3b28c8c2b55c1f7719c9030e3c99d..6eb0ee164d4ce8db4f9d5d0d11e2acaea63ba27a 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -25,220 +25,7 @@
*
* This firmware is a mashup between Sprinter and grbl.
* - https://github.com/kliment/Sprinter
- * - https://github.com/simen/grbl/tree
- */
-
-/**
- * -----------------
- * G-Codes in Marlin
- * -----------------
- *
- * Helpful G-code references:
- * - http://linuxcnc.org/handbook/gcode/g-code.html
- * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
- *
- * Help to document Marlin's G-codes online:
- * - http://reprap.org/wiki/G-code
- * - https://github.com/MarlinFirmware/MarlinDocumentation
- *
- * -----------------
- *
- * "G" Codes
- *
- * G0 -> G1
- * G1 - Coordinated Movement X Y Z E
- * G2 - CW ARC
- * G3 - CCW ARC
- * G4 - Dwell S<seconds> or P<milliseconds>
- * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
- * G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
- * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
- * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
- * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
- * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
- * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
- * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
- * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
- * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
- * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
- * G28 - Home one or more axes
- * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
- * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
- * G31 - Dock sled (Z_PROBE_SLED only)
- * G32 - Undock sled (Z_PROBE_SLED only)
- * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
- * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
- * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL)
- * G90 - Use Absolute Coordinates
- * G91 - Use Relative Coordinates
- * G92 - Set current position to coordinates given
- *
- * "M" Codes
- *
- * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
- * M1 -> M0
- * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
- * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
- * M5 - Turn laser/spindle off
- * M17 - Enable/Power all stepper motors
- * M18 - Disable all stepper motors; same as M84
- * M20 - List SD card. (Requires SDSUPPORT)
- * M21 - Init SD card. (Requires SDSUPPORT)
- * M22 - Release SD card. (Requires SDSUPPORT)
- * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
- * M24 - Start/resume SD print. (Requires SDSUPPORT)
- * M25 - Pause SD print. (Requires SDSUPPORT)
- * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
- * M27 - Report SD print status. (Requires SDSUPPORT)
- * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
- * M29 - Stop SD write. (Requires SDSUPPORT)
- * M30 - Delete file from SD: "M30 /path/file.gco"
- * M31 - Report time since last M109 or SD card start to serial.
- * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
- * Use P to run other files as sub-programs: "M32 P !filename#"
- * The '#' is necessary when calling from within sd files, as it stops buffer prereading
- * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
- * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
- * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
- * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
- * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
- * M75 - Start the print job timer.
- * M76 - Pause the print job timer.
- * M77 - Stop the print job timer.
- * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
- * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
- * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
- * M82 - Set E codes absolute (default).
- * M83 - Set E codes relative while in Absolute (G90) mode.
- * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
- * duration after which steppers should turn off. S0 disables the timeout.
- * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- * M92 - Set planner.axis_steps_per_mm for one or more axes.
- * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
- * M104 - Set extruder target temp.
- * M105 - Report current temperatures.
- * M106 - Fan on.
- * M107 - Fan off.
- * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
- * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
- * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
- * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
- * M110 - Set the current line number. (Used by host printing)
- * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
- * M112 - Emergency stop.
- * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
- * M114 - Report current position.
- * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
- * M117 - Display a message on the controller screen. (Requires an LCD)
- * M118 - Display a message in the host console.
- * M119 - Report endstops status.
- * M120 - Enable endstops detection.
- * M121 - Disable endstops detection.
- * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
- * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
- * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
- * M128 - EtoP Open. (Requires BARICUDA)
- * M129 - EtoP Closed. (Requires BARICUDA)
- * M140 - Set bed target temp. S<temp>
- * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
- * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
- * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632)
- * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
- * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
- * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
- * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
- * 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 for heating or cooling. **
- * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
- * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
- * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
- * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
- * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
- * M205 - Set advanced settings. Current units apply:
- S<print> T<travel> minimum speeds
- B<minimum segment time>
- X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
- * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
- * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
- * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
- * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
- Every normal extrude-only move will be classified as retract depending on the direction.
- * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
- * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
- * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
- * M221 - Set Flow Percentage: "M221 S<percent>"
- * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
- * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
- * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
- * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
- * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
- * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
- * M300 - Play beep sound S<frequency Hz> P<duration ms>
- * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
- * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
- * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
- * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
- * M350 - Set microstepping mode. (Requires digital microstepping pins.)
- * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
- * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
- * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
- * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
- * M400 - Finish all moves.
- * M401 - Lower Z probe. (Requires a probe)
- * M402 - Raise Z probe. (Requires a probe)
- * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
- * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
- * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
- * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
- * M410 - Quickstop. Abort all planned moves.
- * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
- * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
- * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
- * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
- * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
- * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
- * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
- * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
- * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
- * M666 - Set delta endstop adjustment. (Requires DELTA)
- * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
- * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
- * M860 - Report the position of position encoder modules.
- * M861 - Report the status of position encoder modules.
- * M862 - Perform an axis continuity test for position encoder modules.
- * M863 - Perform steps-per-mm calibration for position encoder modules.
- * M864 - Change position encoder module I2C address.
- * M865 - Check position encoder module firmware version.
- * M866 - Report or reset position encoder module error count.
- * M867 - Enable/disable or toggle error correction for position encoder modules.
- * M868 - Report or set position encoder module error correction threshold.
- * M869 - Report position encoder module error.
- * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
- * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
- * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
- * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
- * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
- * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
- * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
- * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
- * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
- * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
- *
- * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
- * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
- * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
- * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
- * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
- *
- * ************ Custom codes - This can change to suit future G-code regulations
- * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
- * M999 - Restart after being stopped by error
- *
- * "T" Codes
- *
- * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
- *
+ * - https://github.com/simen/grbl
*/
#include "Marlin.h"
@@ -316,7 +103,6 @@
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
- void gcode_M100();
void M100_dump_routine(const char * const title, const char *start, const char *end);
#endif
@@ -344,6 +130,10 @@
|| isnan(ubl.z_values[0][0]))
#endif
+#if ENABLED(SENSORLESS_HOMING)
+ #include "feature/tmc2130.h"
+#endif
+
bool Running = true;
/**
@@ -3328,7 +3118,7 @@ void dwell(millis_t time) {
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
- #include "gcode/feature/clean/G17-G19.h"
+ #include "gcode/geometry/G17-G19.h"
#endif
#if ENABLED(INCH_MODE_SUPPORT)
@@ -3732,11 +3522,11 @@ void report_current_position() {
#endif
#if defined(CHDK) || HAS_PHOTOGRAPH
- #include "gcode/control/M240.h"
+ #include "gcode/feature/camera/M240.h"
#endif
#if HAS_LCD_CONTRAST
- #include "gcode/control/M250.h"
+ #include "gcode/lcd/M250.h"
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h
index 53b2eb9aba321feb135b4ea486d87ce0be985e04..fa8160e17c4ae8d35a6d8f94bd27db69d66e97d0 100644
--- a/Marlin/src/Marlin.h
+++ b/Marlin/src/Marlin.h
@@ -194,8 +194,6 @@ inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
*/
extern int16_t feedrate_percentage;
-#define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
-#define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
extern bool axis_relative_modes[];
diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h
index 95154bc8c5fb37e023163c4f5872ace98ce802c3..e2f25eed4b58b1b0a5bfddf60db057c3f28e80b3 100644
--- a/Marlin/src/core/macros.h
+++ b/Marlin/src/core/macros.h
@@ -172,6 +172,9 @@
#define PENDING(NOW,SOON) ((long)(NOW-(SOON))<0)
#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON))
+#define MMM_TO_MMS(MM_M) ((MM_M)/60.0)
+#define MMS_TO_MMM(MM_S) ((MM_S)*60.0)
+
#define NOOP do{} while(0)
#define CEILING(x,y) (((x) + (y) - 1) / (y))
diff --git a/Marlin/src/feature/I2CPositionEncoder.h b/Marlin/src/feature/I2CPositionEncoder.h
index ee4305fdaa6f1c8942bdbe72b6f4ba6866f7c09c..436b0ea2adbb38969f280ca60a97061ea25ee62e 100644
--- a/Marlin/src/feature/I2CPositionEncoder.h
+++ b/Marlin/src/feature/I2CPositionEncoder.h
@@ -341,15 +341,4 @@ class I2CPositionEncodersMgr {
extern I2CPositionEncodersMgr I2CPEM;
-FORCE_INLINE static void gcode_M860() { I2CPEM.M860(); }
-FORCE_INLINE static void gcode_M861() { I2CPEM.M861(); }
-FORCE_INLINE static void gcode_M862() { I2CPEM.M862(); }
-FORCE_INLINE static void gcode_M863() { I2CPEM.M863(); }
-FORCE_INLINE static void gcode_M864() { I2CPEM.M864(); }
-FORCE_INLINE static void gcode_M865() { I2CPEM.M865(); }
-FORCE_INLINE static void gcode_M866() { I2CPEM.M866(); }
-FORCE_INLINE static void gcode_M867() { I2CPEM.M867(); }
-FORCE_INLINE static void gcode_M868() { I2CPEM.M868(); }
-FORCE_INLINE static void gcode_M869() { I2CPEM.M869(); }
-
#endif //I2CPOSENC_H
diff --git a/Marlin/src/feature/tmc2130.cpp b/Marlin/src/feature/tmc2130.cpp
index 59e44a5f287d24fd4ef9b4169d8fa5c6bc402c30..082d6e7f5958f648ab6b9d224e5e2fd2ee96fe2b 100644
--- a/Marlin/src/feature/tmc2130.cpp
+++ b/Marlin/src/feature/tmc2130.cpp
@@ -30,8 +30,6 @@
#include "../libs/duration_t.h"
#include "../module/stepper_indirection.h"
-#include <TMC2130Stepper.h>
-
#ifdef AUTOMATIC_CURRENT_CONTROL
bool auto_current_control = 0;
#endif
diff --git a/Marlin/src/feature/tmc2130.h b/Marlin/src/feature/tmc2130.h
index bcaa78f9e3aa4931fbbc21c2fd0efd2eaee198ca..0b9c8bc25c2f1c822570c3e348f16e52f8ea2d89 100644
--- a/Marlin/src/feature/tmc2130.h
+++ b/Marlin/src/feature/tmc2130.h
@@ -23,8 +23,16 @@
#ifndef _TMC2130_H_
#define _TMC2130_H_
+#include <TMC2130Stepper.h>
+
+#include "../inc/MarlinConfig.h"
+
extern bool auto_current_control;
void tmc2130_checkOverTemp(void);
+#if ENABLED(SENSORLESS_HOMING)
+ void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true);
+#endif
+
#endif // _TMC2130_H_
diff --git a/Marlin/src/gcode/calibrate/G26.h b/Marlin/src/gcode/calibrate/G26.h
new file mode 100644
index 0000000000000000000000000000000000000000..f90cb22d1fc123cffbf47b863d0c082ce65ca31a
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G26.h
@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_G26() {
+
+ ubl.G26();
+
+}
diff --git a/Marlin/src/gcode/calibrate/G28.h b/Marlin/src/gcode/calibrate/G28.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c344b6ea1f1a0dbe28e4ca89c05906ca5a0c2b5
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G28.h
@@ -0,0 +1,324 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+#if HOTENDS > 1
+ #include "../control/tool_change.h"
+#endif
+
+#if ENABLED(QUICK_HOME)
+
+ static void quick_home_xy() {
+
+ // Pretend the current position is 0,0
+ current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+ sync_plan_position();
+
+ const int x_axis_home_dir =
+ #if ENABLED(DUAL_X_CARRIAGE)
+ x_home_dir(active_extruder)
+ #else
+ home_dir(X_AXIS)
+ #endif
+ ;
+
+ const float mlx = max_length(X_AXIS),
+ mly = max_length(Y_AXIS),
+ mlratio = mlx > mly ? mly / mlx : mlx / mly,
+ fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0);
+
+ do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
+ endstops.hit_on_purpose(); // clear endstop hit flags
+ current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+ }
+
+#endif // QUICK_HOME
+
+#if ENABLED(Z_SAFE_HOMING)
+
+ inline void home_z_safely() {
+
+ // Disallow Z homing if X or Y are unknown
+ if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
+ LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
+ return;
+ }
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
+ #endif
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ /**
+ * Move the Z probe (or just the nozzle) to the safe homing point
+ */
+ destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
+ destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
+ destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
+
+ #if HOMING_Z_WITH_PROBE
+ destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
+ destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
+ #endif
+
+ if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) {
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
+ #endif
+
+ // This causes the carriage on Dual X to unpark
+ #if ENABLED(DUAL_X_CARRIAGE)
+ active_extruder_parked = false;
+ #endif
+
+ do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
+ HOMEAXIS(Z);
+ }
+ else {
+ LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
+ }
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
+ #endif
+ }
+
+#endif // Z_SAFE_HOMING
+
+/**
+ * G28: Home all axes according to settings
+ *
+ * Parameters
+ *
+ * None Home to all axes with no parameters.
+ * With QUICK_HOME enabled XY will home together, then Z.
+ *
+ * Cartesian parameters
+ *
+ * X Home to the X endstop
+ * Y Home to the Y endstop
+ * Z Home to the Z endstop
+ *
+ */
+void gcode_G28(const bool always_home_all) {
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPGM(">>> gcode_G28");
+ log_machine_info();
+ }
+ #endif
+
+ // Wait for planner moves to finish!
+ stepper.synchronize();
+
+ // Cancel the active G29 session
+ #if ENABLED(PROBE_MANUALLY)
+ g29_in_progress = false;
+ #endif
+
+ // Disable the leveling matrix before homing
+ #if HAS_LEVELING
+ #if ENABLED(AUTO_BED_LEVELING_UBL)
+ const bool ubl_state_at_entry = leveling_is_active();
+ #endif
+ set_bed_leveling_enabled(false);
+ #endif
+
+ #if ENABLED(CNC_WORKSPACE_PLANES)
+ workspace_plane = PLANE_XY;
+ #endif
+
+ // Always home with tool 0 active
+ #if HOTENDS > 1
+ const uint8_t old_tool_index = active_extruder;
+ tool_change(0, 0, true);
+ #endif
+
+ #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+ extruder_duplication_enabled = false;
+ #endif
+
+ setup_for_endstop_or_probe_move();
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
+ #endif
+ endstops.enable(true); // Enable endstops for next homing move
+
+ #if ENABLED(DELTA)
+
+ home_delta();
+ UNUSED(always_home_all);
+
+ #else // NOT DELTA
+
+ const bool homeX = always_home_all || parser.seen('X'),
+ homeY = always_home_all || parser.seen('Y'),
+ homeZ = always_home_all || parser.seen('Z'),
+ home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
+
+ set_destination_to_current();
+
+ #if Z_HOME_DIR > 0 // If homing away from BED do Z first
+
+ if (home_all || homeZ) {
+ HOMEAXIS(Z);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
+ #endif
+ }
+
+ #else
+
+ if (home_all || homeX || homeY) {
+ // Raise Z before homing any other axes and z is not already high enough (never lower z)
+ destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
+ if (destination[Z_AXIS] > current_position[Z_AXIS]) {
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING))
+ SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
+ #endif
+
+ do_blocking_move_to_z(destination[Z_AXIS]);
+ }
+ }
+
+ #endif
+
+ #if ENABLED(QUICK_HOME)
+
+ if (home_all || (homeX && homeY)) quick_home_xy();
+
+ #endif
+
+ #if ENABLED(HOME_Y_BEFORE_X)
+
+ // Home Y
+ if (home_all || homeY) {
+ HOMEAXIS(Y);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
+ #endif
+ }
+
+ #endif
+
+ // Home X
+ if (home_all || homeX) {
+
+ #if ENABLED(DUAL_X_CARRIAGE)
+
+ // Always home the 2nd (right) extruder first
+ active_extruder = 1;
+ HOMEAXIS(X);
+
+ // Remember this extruder's position for later tool change
+ inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
+
+ // Home the 1st (left) extruder
+ active_extruder = 0;
+ HOMEAXIS(X);
+
+ // Consider the active extruder to be parked
+ COPY(raised_parked_position, current_position);
+ delayed_move_time = 0;
+ active_extruder_parked = true;
+
+ #else
+
+ HOMEAXIS(X);
+
+ #endif
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
+ #endif
+ }
+
+ #if DISABLED(HOME_Y_BEFORE_X)
+ // Home Y
+ if (home_all || homeY) {
+ HOMEAXIS(Y);
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
+ #endif
+ }
+ #endif
+
+ // Home Z last if homing towards the bed
+ #if Z_HOME_DIR < 0
+ if (home_all || homeZ) {
+ #if ENABLED(Z_SAFE_HOMING)
+ home_z_safely();
+ #else
+ HOMEAXIS(Z);
+ #endif
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position);
+ #endif
+ } // home_all || homeZ
+ #endif // Z_HOME_DIR < 0
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ #endif // !DELTA (gcode_G28)
+
+ endstops.not_homing();
+
+ #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+ // move to a height where we can use the full xy-area
+ do_blocking_move_to_z(delta_clip_start_height);
+ #endif
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL)
+ set_bed_leveling_enabled(ubl_state_at_entry);
+ #endif
+
+ clean_up_after_endstop_or_probe_move();
+
+ // Restore the active tool after homing
+ #if HOTENDS > 1
+ tool_change(old_tool_index, 0,
+ #if ENABLED(PARKING_EXTRUDER)
+ false // fetch the previous toolhead
+ #else
+ true
+ #endif
+ );
+ #endif
+
+ lcd_refresh();
+
+ report_current_position();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
+ #endif
+}
diff --git a/Marlin/src/gcode/calibrate/G29-abl.h b/Marlin/src/gcode/calibrate/G29-abl.h
new file mode 100644
index 0000000000000000000000000000000000000000..476cbfae33a5e6737ec7f43f5162b1233e4f88e6
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G29-abl.h
@@ -0,0 +1,946 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ABL_GRID
+ #if ENABLED(PROBE_Y_FIRST)
+ #define PR_OUTER_VAR xCount
+ #define PR_OUTER_END abl_grid_points_x
+ #define PR_INNER_VAR yCount
+ #define PR_INNER_END abl_grid_points_y
+ #else
+ #define PR_OUTER_VAR yCount
+ #define PR_OUTER_END abl_grid_points_y
+ #define PR_INNER_VAR xCount
+ #define PR_INNER_END abl_grid_points_x
+ #endif
+#endif
+
+/**
+ * G29: Detailed Z probe, probes the bed at 3 or more points.
+ * Will fail if the printer has not been homed with G28.
+ *
+ * Enhanced G29 Auto Bed Leveling Probe Routine
+ *
+ * D Dry-Run mode. Just evaluate the bed Topology - Don't apply
+ * or alter the bed level data. Useful to check the topology
+ * after a first run of G29.
+ *
+ * J Jettison current bed leveling data
+ *
+ * V Set the verbose level (0-4). Example: "G29 V3"
+ *
+ * Parameters With LINEAR leveling only:
+ *
+ * P Set the size of the grid that will be probed (P x P points).
+ * Example: "G29 P4"
+ *
+ * X Set the X size of the grid that will be probed (X x Y points).
+ * Example: "G29 X7 Y5"
+ *
+ * Y Set the Y size of the grid that will be probed (X x Y points).
+ *
+ * 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).
+ * Not supported by non-linear delta printer bed leveling.
+ *
+ * Parameters With LINEAR and BILINEAR leveling only:
+ *
+ * S Set the XY travel speed between probe points (in units/min)
+ *
+ * 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
+ *
+ * Parameters with DEBUG_LEVELING_FEATURE only:
+ *
+ * C Make a totally fake grid with no actual probing.
+ * For use in testing when no probing is possible.
+ *
+ * Parameters with BILINEAR leveling only:
+ *
+ * Z Supply an additional Z probe offset
+ *
+ * Extra parameters with PROBE_MANUALLY:
+ *
+ * To do manual probing simply repeat G29 until the procedure is complete.
+ * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
+ *
+ * Q Query leveling and G29 state
+ *
+ * A Abort current leveling procedure
+ *
+ * Extra parameters with BILINEAR only:
+ *
+ * W Write a mesh point. (If G29 is idle.)
+ * I X index for mesh point
+ * J Y index for mesh point
+ * X X for mesh point, overrides I
+ * Y Y for mesh point, overrides J
+ * Z Z for mesh point. Otherwise, raw current Z.
+ *
+ * Without PROBE_MANUALLY:
+ *
+ * E By default G29 will engage the Z probe, test the bed, then disengage.
+ * Include "E" to engage/disengage the Z probe for each sample.
+ * There's no extra effect if you have a fixed Z probe.
+ *
+ */
+void gcode_G29() {
+
+ // G29 Q is also available if debugging
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ const bool query = parser.seen('Q');
+ const uint8_t old_debug_flags = marlin_debug_flags;
+ if (query) marlin_debug_flags |= DEBUG_LEVELING;
+ if (DEBUGGING(LEVELING)) {
+ DEBUG_POS(">>> gcode_G29", current_position);
+ log_machine_info();
+ }
+ marlin_debug_flags = old_debug_flags;
+ #if DISABLED(PROBE_MANUALLY)
+ if (query) return;
+ #endif
+ #endif
+
+ #if ENABLED(PROBE_MANUALLY)
+ const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ;
+ #endif
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY)
+ const bool faux = parser.boolval('C');
+ #elif ENABLED(PROBE_MANUALLY)
+ const bool faux = no_action;
+ #else
+ bool constexpr faux = false;
+ #endif
+
+ // Don't allow auto-leveling without homing first
+ if (axis_unhomed_error()) return;
+
+ // Define local vars 'static' for manual probing, 'auto' otherwise
+ #if ENABLED(PROBE_MANUALLY)
+ #define ABL_VAR static
+ #else
+ #define ABL_VAR
+ #endif
+
+ ABL_VAR int verbose_level;
+ ABL_VAR float xProbe, yProbe, measured_z;
+ ABL_VAR bool dryrun, abl_should_enable;
+
+ #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
+ ABL_VAR int abl_probe_index;
+ #endif
+
+ #if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY)
+ ABL_VAR bool enable_soft_endstops = true;
+ #endif
+
+ #if ABL_GRID
+
+ #if ENABLED(PROBE_MANUALLY)
+ ABL_VAR uint8_t PR_OUTER_VAR;
+ ABL_VAR int8_t PR_INNER_VAR;
+ #endif
+
+ ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position;
+ ABL_VAR float xGridSpacing = 0, yGridSpacing = 0;
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+ ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X,
+ abl_grid_points_y = GRID_MAX_POINTS_Y;
+ ABL_VAR bool do_topography_map;
+ #else // Bilinear
+ uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X,
+ abl_grid_points_y = GRID_MAX_POINTS_Y;
+ #endif
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY)
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+ ABL_VAR int abl2;
+ #else // Bilinear
+ int constexpr abl2 = GRID_MAX_POINTS;
+ #endif
+ #endif
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ ABL_VAR float zoffset;
+
+ #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+ ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
+
+ ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
+ eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
+ mean;
+ #endif
+
+ #elif ENABLED(AUTO_BED_LEVELING_3POINT)
+
+ int constexpr abl2 = 3;
+
+ // Probe at 3 arbitrary points
+ ABL_VAR vector_3 points[3] = {
+ vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
+ vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
+ vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
+ };
+
+ #endif // AUTO_BED_LEVELING_3POINT
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+ struct linear_fit_data lsf_results;
+ incremental_LSF_reset(&lsf_results);
+ #endif
+
+ /**
+ * On the initial G29 fetch command parameters.
+ */
+ if (!g29_in_progress) {
+
+ #if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR)
+ abl_probe_index = -1;
+ #endif
+
+ abl_should_enable = leveling_is_active();
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ if (parser.seen('W')) {
+ if (!leveling_is_valid()) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("No bilinear grid");
+ return;
+ }
+
+ const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z));
+ if (!WITHIN(z, -10, 10)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("Bad Z value");
+ return;
+ }
+
+ const float x = parser.floatval('X', NAN),
+ y = parser.floatval('Y', NAN);
+ int8_t i = parser.byteval('I', -1),
+ j = parser.byteval('J', -1);
+
+ if (!isnan(x) && !isnan(y)) {
+ // Get nearest i / j from x / y
+ i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing;
+ j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing;
+ i = constrain(i, 0, GRID_MAX_POINTS_X - 1);
+ j = constrain(j, 0, GRID_MAX_POINTS_Y - 1);
+ }
+ if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) {
+ set_bed_leveling_enabled(false);
+ z_values[i][j] = z;
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ bed_level_virt_interpolate();
+ #endif
+ set_bed_leveling_enabled(abl_should_enable);
+ }
+ return;
+ } // parser.seen('W')
+
+ #endif
+
+ #if HAS_LEVELING
+
+ // Jettison bed leveling data
+ if (parser.seen('J')) {
+ reset_bed_level();
+ return;
+ }
+
+ #endif
+
+ verbose_level = parser.intval('V');
+ if (!WITHIN(verbose_level, 0, 4)) {
+ SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
+ return;
+ }
+
+ dryrun = parser.boolval('D')
+ #if ENABLED(PROBE_MANUALLY)
+ || no_action
+ #endif
+ ;
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+ do_topography_map = verbose_level > 2 || parser.boolval('T');
+
+ // X and Y specify points in each direction, overriding the default
+ // These values may be saved with the completed mesh
+ abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X);
+ abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y);
+ if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int();
+
+ if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
+ SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
+ return;
+ }
+
+ abl2 = abl_grid_points_x * abl_grid_points_y;
+ mean = 0;
+
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ zoffset = parser.linearval('Z');
+
+ #endif
+
+ #if ABL_GRID
+
+ xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED));
+
+ left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION));
+ right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION));
+ front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION));
+ back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION));
+
+ const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X),
+ left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE),
+ right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X),
+ right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
+ front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y),
+ front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE),
+ back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y),
+ back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
+
+ if (left_out || right_out || front_out || back_out) {
+ if (left_out) {
+ out_of_range_error(PSTR("(L)eft"));
+ left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE);
+ }
+ if (right_out) {
+ out_of_range_error(PSTR("(R)ight"));
+ right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE;
+ }
+ if (front_out) {
+ out_of_range_error(PSTR("(F)ront"));
+ front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE);
+ }
+ if (back_out) {
+ out_of_range_error(PSTR("(B)ack"));
+ back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
+ }
+ return;
+ }
+
+ // probe at the points of a lattice grid
+ xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1);
+ yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
+
+ #endif // ABL_GRID
+
+ if (verbose_level > 0) {
+ SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
+ if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
+ }
+
+ stepper.synchronize();
+
+ // Disable auto bed leveling during G29
+ planner.abl_enabled = false;
+
+ if (!dryrun) {
+ // Re-orient the current position without leveling
+ // based on where the steppers are positioned.
+ set_current_from_steppers_for_axis(ALL_AXES);
+
+ // Sync the planner to where the steppers stopped
+ SYNC_PLAN_POSITION_KINEMATIC();
+ }
+
+ #if HAS_BED_PROBE
+ // Deploy the probe. Probe will raise if needed.
+ if (DEPLOY_PROBE()) {
+ planner.abl_enabled = abl_should_enable;
+ return;
+ }
+ #endif
+
+ if (!faux) setup_for_endstop_or_probe_move();
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ #if ENABLED(PROBE_MANUALLY)
+ if (!no_action)
+ #endif
+ if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
+ || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
+ || left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS])
+ || front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS])
+ ) {
+ if (dryrun) {
+ // Before reset bed level, re-enable to correct the position
+ planner.abl_enabled = abl_should_enable;
+ }
+ // Reset grid to 0.0 or "not probed". (Also disables ABL)
+ reset_bed_level();
+
+ // Initialize a grid with the given dimensions
+ bilinear_grid_spacing[X_AXIS] = xGridSpacing;
+ bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
+ bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
+ bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
+
+ // Can't re-enable (on error) until the new grid is written
+ abl_should_enable = false;
+ }
+
+ #endif // AUTO_BED_LEVELING_BILINEAR
+
+ #if ENABLED(AUTO_BED_LEVELING_3POINT)
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
+ #endif
+
+ // Probe at 3 arbitrary points
+ points[0].z = points[1].z = points[2].z = 0;
+
+ #endif // AUTO_BED_LEVELING_3POINT
+
+ } // !g29_in_progress
+
+ #if ENABLED(PROBE_MANUALLY)
+
+ // For manual probing, get the next index to probe now.
+ // On the first probe this will be incremented to 0.
+ if (!no_action) {
+ ++abl_probe_index;
+ g29_in_progress = true;
+ }
+
+ // Abort current G29 procedure, go back to idle state
+ if (seenA && g29_in_progress) {
+ SERIAL_PROTOCOLLNPGM("Manual G29 aborted");
+ #if HAS_SOFTWARE_ENDSTOPS
+ soft_endstops_enabled = enable_soft_endstops;
+ #endif
+ planner.abl_enabled = abl_should_enable;
+ g29_in_progress = false;
+ #if ENABLED(LCD_BED_LEVELING)
+ lcd_wait_for_move = false;
+ #endif
+ }
+
+ // Query G29 status
+ if (verbose_level || seenQ) {
+ SERIAL_PROTOCOLPGM("Manual G29 ");
+ if (g29_in_progress) {
+ SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2));
+ SERIAL_PROTOCOLLNPAIR(" of ", abl2);
+ }
+ else
+ SERIAL_PROTOCOLLNPGM("idle");
+ }
+
+ if (no_action) return;
+
+ if (abl_probe_index == 0) {
+ // For the initial G29 save software endstop state
+ #if HAS_SOFTWARE_ENDSTOPS
+ enable_soft_endstops = soft_endstops_enabled;
+ #endif
+ }
+ else {
+ // For G29 after adjusting Z.
+ // Save the previous Z before going to the next point
+ measured_z = current_position[Z_AXIS];
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+ mean += measured_z;
+ eqnBVector[abl_probe_index] = measured_z;
+ eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
+ eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
+ eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
+
+ incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
+
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ z_values[xCount][yCount] = measured_z + zoffset;
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_PROTOCOLPAIR("Save X", xCount);
+ SERIAL_PROTOCOLPAIR(" Y", yCount);
+ SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset);
+ }
+ #endif
+
+ #elif ENABLED(AUTO_BED_LEVELING_3POINT)
+
+ points[abl_probe_index].z = measured_z;
+
+ #endif
+ }
+
+ //
+ // If there's another point to sample, move there with optional lift.
+ //
+
+ #if ABL_GRID
+
+ // Skip any unreachable points
+ while (abl_probe_index < abl2) {
+
+ // Set xCount, yCount based on abl_probe_index, with zig-zag
+ PR_OUTER_VAR = abl_probe_index / PR_INNER_END;
+ PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END);
+
+ // Probe in reverse order for every other row/column
+ bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
+
+ if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR;
+
+ const float xBase = xCount * xGridSpacing + left_probe_bed_position,
+ yBase = yCount * yGridSpacing + front_probe_bed_position;
+
+ xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
+ yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+ indexIntoAB[xCount][yCount] = abl_probe_index;
+ #endif
+
+ // Keep looping till a reachable point is found
+ if (position_is_reachable_xy(xProbe, yProbe)) break;
+ ++abl_probe_index;
+ }
+
+ // Is there a next point to move to?
+ if (abl_probe_index < abl2) {
+ _manual_goto_xy(xProbe, yProbe); // Can be used here too!
+ #if HAS_SOFTWARE_ENDSTOPS
+ // Disable software endstops to allow manual adjustment
+ // If G29 is not completed, they will not be re-enabled
+ soft_endstops_enabled = false;
+ #endif
+ return;
+ }
+ else {
+
+ // Leveling done! Fall through to G29 finishing code below
+
+ SERIAL_PROTOCOLLNPGM("Grid probing done.");
+
+ // Re-enable software endstops, if needed
+ #if HAS_SOFTWARE_ENDSTOPS
+ soft_endstops_enabled = enable_soft_endstops;
+ #endif
+ }
+
+ #elif ENABLED(AUTO_BED_LEVELING_3POINT)
+
+ // Probe at 3 arbitrary points
+ if (abl_probe_index < 3) {
+ xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x);
+ yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y);
+ #if HAS_SOFTWARE_ENDSTOPS
+ // Disable software endstops to allow manual adjustment
+ // If G29 is not completed, they will not be re-enabled
+ soft_endstops_enabled = false;
+ #endif
+ return;
+ }
+ else {
+
+ SERIAL_PROTOCOLLNPGM("3-point probing done.");
+
+ // Re-enable software endstops, if needed
+ #if HAS_SOFTWARE_ENDSTOPS
+ soft_endstops_enabled = enable_soft_endstops;
+ #endif
+
+ if (!dryrun) {
+ vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
+ if (planeNormal.z < 0) {
+ planeNormal.x *= -1;
+ planeNormal.y *= -1;
+ planeNormal.z *= -1;
+ }
+ planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+
+ // Can't re-enable (on error) until the new grid is written
+ abl_should_enable = false;
+ }
+
+ }
+
+ #endif // AUTO_BED_LEVELING_3POINT
+
+ #else // !PROBE_MANUALLY
+ {
+ const bool stow_probe_after_each = parser.boolval('E');
+
+ measured_z = 0;
+
+ #if ABL_GRID
+
+ bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
+
+ // Outer loop is Y with PROBE_Y_FIRST disabled
+ for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) {
+
+ int8_t inStart, inStop, inInc;
+
+ if (zig) { // away from origin
+ inStart = 0;
+ inStop = PR_INNER_END;
+ inInc = 1;
+ }
+ else { // towards origin
+ inStart = PR_INNER_END - 1;
+ inStop = -1;
+ inInc = -1;
+ }
+
+ zig ^= true; // zag
+
+ // Inner loop is Y with PROBE_Y_FIRST enabled
+ for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
+
+ float xBase = left_probe_bed_position + xGridSpacing * xCount,
+ yBase = front_probe_bed_position + yGridSpacing * yCount;
+
+ xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5));
+ yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5));
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+ indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
+ #endif
+
+ #if IS_KINEMATIC
+ // Avoid probing outside the round or hexagonal area
+ if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue;
+ #endif
+
+ measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
+
+ if (isnan(measured_z)) {
+ planner.abl_enabled = abl_should_enable;
+ break;
+ }
+
+ #if ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+ mean += measured_z;
+ eqnBVector[abl_probe_index] = measured_z;
+ eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe;
+ eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe;
+ eqnAMatrix[abl_probe_index + 2 * abl2] = 1;
+
+ incremental_LSF(&lsf_results, xProbe, yProbe, measured_z);
+
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ z_values[xCount][yCount] = measured_z + zoffset;
+
+ #endif
+
+ abl_should_enable = false;
+ idle();
+
+ } // inner
+ } // outer
+
+ #elif ENABLED(AUTO_BED_LEVELING_3POINT)
+
+ // Probe at 3 arbitrary points
+
+ for (uint8_t i = 0; i < 3; ++i) {
+ // Retain the last probe position
+ xProbe = LOGICAL_X_POSITION(points[i].x);
+ yProbe = LOGICAL_Y_POSITION(points[i].y);
+ measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
+ if (isnan(measured_z)) {
+ planner.abl_enabled = abl_should_enable;
+ break;
+ }
+ points[i].z = measured_z;
+ }
+
+ if (!dryrun && !isnan(measured_z)) {
+ vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
+ if (planeNormal.z < 0) {
+ planeNormal.x *= -1;
+ planeNormal.y *= -1;
+ planeNormal.z *= -1;
+ }
+ planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+
+ // Can't re-enable (on error) until the new grid is written
+ abl_should_enable = false;
+ }
+
+ #endif // AUTO_BED_LEVELING_3POINT
+
+ // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
+ if (STOW_PROBE()) {
+ planner.abl_enabled = abl_should_enable;
+ measured_z = NAN;
+ }
+ }
+ #endif // !PROBE_MANUALLY
+
+ //
+ // G29 Finishing Code
+ //
+ // Unless this is a dry run, auto bed leveling will
+ // definitely be enabled after this point.
+ //
+ // If code above wants to continue leveling, it should
+ // return or loop before this point.
+ //
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
+ #endif
+
+ #if ENABLED(PROBE_MANUALLY)
+ g29_in_progress = false;
+ #if ENABLED(LCD_BED_LEVELING)
+ lcd_wait_for_move = false;
+ #endif
+ #endif
+
+ // Calculate leveling, print reports, correct the position
+ if (!isnan(measured_z)) {
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ if (!dryrun) extrapolate_unprobed_bed_level();
+ print_bilinear_leveling_grid();
+
+ refresh_bed_level();
+
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ print_bilinear_leveling_grid_virt();
+ #endif
+
+ #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
+
+ // For LINEAR leveling calculate matrix, print reports, correct the position
+
+ /**
+ * 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
+ */
+ float plane_equation_coefficients[3];
+
+ finish_incremental_LSF(&lsf_results);
+ plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
+ plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
+ plane_equation_coefficients[2] = -lsf_results.D;
+
+ mean /= abl2;
+
+ if (verbose_level) {
+ SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
+ SERIAL_PROTOCOLPGM(" b: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
+ SERIAL_PROTOCOLPGM(" d: ");
+ SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
+ SERIAL_EOL();
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM("Mean of sampled points: ");
+ SERIAL_PROTOCOL_F(mean, 8);
+ SERIAL_EOL();
+ }
+ }
+
+ // Create the matrix but don't correct the position yet
+ if (!dryrun)
+ planner.bed_level_matrix = matrix_3x3::create_look_at(
+ vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
+ );
+
+ // Show the Topography map if enabled
+ if (do_topography_map) {
+
+ SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
+ " +--- BACK --+\n"
+ " | |\n"
+ " L | (+) | R\n"
+ " E | | I\n"
+ " F | (-) N (+) | G\n"
+ " T | | H\n"
+ " | (-) | T\n"
+ " | |\n"
+ " O-- FRONT --+\n"
+ " (0,0)");
+
+ float min_diff = 999;
+
+ for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
+ for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
+ int ind = indexIntoAB[xx][yy];
+ float diff = eqnBVector[ind] - mean,
+ x_tmp = eqnAMatrix[ind + 0 * abl2],
+ y_tmp = eqnAMatrix[ind + 1 * abl2],
+ z_tmp = 0;
+
+ apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
+
+ NOMORE(min_diff, eqnBVector[ind] - z_tmp);
+
+ if (diff >= 0.0)
+ SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
+ else
+ SERIAL_PROTOCOLCHAR(' ');
+ SERIAL_PROTOCOL_F(diff, 5);
+ } // xx
+ SERIAL_EOL();
+ } // yy
+ SERIAL_EOL();
+
+ if (verbose_level > 3) {
+ SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
+
+ for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
+ for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
+ int ind = indexIntoAB[xx][yy];
+ float x_tmp = eqnAMatrix[ind + 0 * abl2],
+ y_tmp = eqnAMatrix[ind + 1 * abl2],
+ z_tmp = 0;
+
+ apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
+
+ float diff = eqnBVector[ind] - z_tmp - min_diff;
+ if (diff >= 0.0)
+ SERIAL_PROTOCOLPGM(" +");
+ // Include + for column alignment
+ else
+ SERIAL_PROTOCOLCHAR(' ');
+ SERIAL_PROTOCOL_F(diff, 5);
+ } // xx
+ SERIAL_EOL();
+ } // yy
+ SERIAL_EOL();
+ }
+ } //do_topography_map
+
+ #endif // AUTO_BED_LEVELING_LINEAR
+
+ #if ABL_PLANAR
+
+ // For LINEAR and 3POINT leveling correct the current position
+
+ if (verbose_level > 0)
+ planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:"));
+
+ if (!dryrun) {
+ //
+ // Correct the current XYZ position based on the tilted plane.
+ //
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
+ #endif
+
+ float converted[XYZ];
+ COPY(converted, current_position);
+
+ planner.abl_enabled = true;
+ planner.unapply_leveling(converted); // use conversion machinery
+ planner.abl_enabled = false;
+
+ // Use the last measured distance to the bed, if possible
+ if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
+ && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
+ ) {
+ const float simple_z = current_position[Z_AXIS] - measured_z;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR("Z from Probe:", simple_z);
+ SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]);
+ SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]);
+ }
+ #endif
+ converted[Z_AXIS] = simple_z;
+ }
+
+ // The rotated XY and corrected Z are now current_position
+ COPY(current_position, converted);
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
+ #endif
+ }
+
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+
+ if (!dryrun) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
+ #endif
+
+ // Unapply the offset because it is going to be immediately applied
+ // and cause compensation movement in Z
+ current_position[Z_AXIS] -= bilinear_z_offset(current_position);
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
+ #endif
+ }
+
+ #endif // ABL_PLANAR
+
+ #ifdef Z_PROBE_END_SCRIPT
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
+ #endif
+ enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
+ stepper.synchronize();
+ #endif
+
+ // Auto Bed Leveling is complete! Enable if possible.
+ planner.abl_enabled = dryrun ? abl_should_enable : true;
+ } // !isnan(measured_z)
+
+ // Restore state after probing
+ if (!faux) clean_up_after_endstop_or_probe_move();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
+ #endif
+
+ report_current_position();
+
+ KEEPALIVE_STATE(IN_HANDLER);
+
+ if (planner.abl_enabled)
+ SYNC_PLAN_POSITION_KINEMATIC();
+}
diff --git a/Marlin/src/gcode/calibrate/G29-mbl.h b/Marlin/src/gcode/calibrate/G29-mbl.h
new file mode 100644
index 0000000000000000000000000000000000000000..1694c21edb340ca3de58af9870017d6fcb01e98a
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G29-mbl.h
@@ -0,0 +1,200 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../libs/buzzer.h"
+#include "../../lcd/ultralcd.h"
+
+// Save 130 bytes with non-duplication of PSTR
+void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
+
+void mbl_mesh_report() {
+ SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y));
+ SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
+ SERIAL_PROTOCOLLNPGM("\nMeasured points:");
+ print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5,
+ [](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; }
+ );
+}
+
+void mesh_probing_done() {
+ mbl.set_has_mesh(true);
+ home_all_axes();
+ set_bed_leveling_enabled(true);
+ #if ENABLED(MESH_G28_REST_ORIGIN)
+ current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS);
+ set_destination_to_current();
+ line_to_destination(homing_feedrate(Z_AXIS));
+ stepper.synchronize();
+ #endif
+}
+
+/**
+ * G29: Mesh-based Z probe, probes a grid and produces a
+ * mesh to compensate for variable bed height
+ *
+ * Parameters With MESH_BED_LEVELING:
+ *
+ * S0 Produce a mesh report
+ * S1 Start probing mesh points
+ * S2 Probe the next mesh point
+ * S3 Xn Yn Zn.nn Manually modify a single point
+ * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed.
+ * S5 Reset and disable mesh
+ *
+ * The S0 report the points as below
+ *
+ * +----> X-axis 1-n
+ * |
+ * |
+ * v Y-axis 1-n
+ *
+ */
+void gcode_G29() {
+
+ static int mbl_probe_index = -1;
+ #if HAS_SOFTWARE_ENDSTOPS
+ static bool enable_soft_endstops;
+ #endif
+
+ const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport);
+ if (!WITHIN(state, 0, 5)) {
+ SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
+ return;
+ }
+
+ int8_t px, py;
+
+ switch (state) {
+ case MeshReport:
+ if (leveling_is_valid()) {
+ SERIAL_PROTOCOLLNPAIR("State: ", leveling_is_active() ? MSG_ON : MSG_OFF);
+ mbl_mesh_report();
+ }
+ else
+ SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data.");
+ break;
+
+ case MeshStart:
+ mbl.reset();
+ mbl_probe_index = 0;
+ enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
+ break;
+
+ case MeshNext:
+ if (mbl_probe_index < 0) {
+ SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
+ return;
+ }
+ // For each G29 S2...
+ if (mbl_probe_index == 0) {
+ #if HAS_SOFTWARE_ENDSTOPS
+ // For the initial G29 S2 save software endstop state
+ enable_soft_endstops = soft_endstops_enabled;
+ #endif
+ }
+ else {
+ // For G29 S2 after adjusting Z.
+ mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]);
+ #if HAS_SOFTWARE_ENDSTOPS
+ soft_endstops_enabled = enable_soft_endstops;
+ #endif
+ }
+ // If there's another point to sample, move there with optional lift.
+ if (mbl_probe_index < GRID_MAX_POINTS) {
+ mbl.zigzag(mbl_probe_index, px, py);
+ _manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]);
+
+ #if HAS_SOFTWARE_ENDSTOPS
+ // Disable software endstops to allow manual adjustment
+ // If G29 is not completed, they will not be re-enabled
+ soft_endstops_enabled = false;
+ #endif
+
+ mbl_probe_index++;
+ }
+ else {
+ // One last "return to the bed" (as originally coded) at completion
+ current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT;
+ line_to_current_position();
+ stepper.synchronize();
+
+ // After recording the last point, activate home and activate
+ mbl_probe_index = -1;
+ SERIAL_PROTOCOLLNPGM("Mesh probing done.");
+ BUZZ(100, 659);
+ BUZZ(100, 698);
+ mesh_probing_done();
+ }
+ break;
+
+ case MeshSet:
+ if (parser.seenval('X')) {
+ px = parser.value_int() - 1;
+ if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) {
+ SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ").");
+ return;
+ }
+ }
+ else {
+ SERIAL_CHAR('X'); echo_not_entered();
+ return;
+ }
+
+ if (parser.seenval('Y')) {
+ py = parser.value_int() - 1;
+ if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
+ SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ").");
+ return;
+ }
+ }
+ else {
+ SERIAL_CHAR('Y'); echo_not_entered();
+ return;
+ }
+
+ if (parser.seenval('Z')) {
+ mbl.z_values[px][py] = parser.value_linear_units();
+ }
+ else {
+ SERIAL_CHAR('Z'); echo_not_entered();
+ return;
+ }
+ break;
+
+ case MeshSetZOffset:
+ if (parser.seenval('Z')) {
+ mbl.z_offset = parser.value_linear_units();
+ }
+ else {
+ SERIAL_CHAR('Z'); echo_not_entered();
+ return;
+ }
+ break;
+
+ case MeshReset:
+ reset_bed_level();
+ break;
+
+ } // switch(state)
+
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/calibrate/G29-ubl.h b/Marlin/src/gcode/calibrate/G29-ubl.h
new file mode 100644
index 0000000000000000000000000000000000000000..5b941eaaac9fdacd918819ba4f033a31bd3b2a7c
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G29-ubl.h
@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_G29() {
+
+ ubl.G29();
+
+}
diff --git a/Marlin/src/gcode/calibrate/G29.h b/Marlin/src/gcode/calibrate/G29.h
new file mode 100644
index 0000000000000000000000000000000000000000..ed51d4b47b4da5f687181b93a5637b63d6300755
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G29.h
@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY)
+
+ #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
+ extern bool lcd_wait_for_move;
+ #endif
+
+ inline void _manual_goto_xy(const float &x, const float &y) {
+ const float old_feedrate_mm_s = feedrate_mm_s;
+ #if MANUAL_PROBE_HEIGHT > 0
+ const float prev_z = current_position[Z_AXIS];
+ feedrate_mm_s = homing_feedrate(Z_AXIS);
+ current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT);
+ line_to_current_position();
+ #endif
+
+ feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
+ current_position[X_AXIS] = LOGICAL_X_POSITION(x);
+ current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
+ line_to_current_position();
+
+ #if MANUAL_PROBE_HEIGHT > 0
+ feedrate_mm_s = homing_feedrate(Z_AXIS);
+ current_position[Z_AXIS] = prev_z; // move back to the previous Z.
+ line_to_current_position();
+ #endif
+
+ feedrate_mm_s = old_feedrate_mm_s;
+ stepper.synchronize();
+
+ #if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING)
+ lcd_wait_for_move = false;
+ #endif
+ }
+
+#endif
+
+#if ENABLED(MESH_BED_LEVELING)
+ #include "G29-mbl.h"
+#elif ENABLED(AUTO_BED_LEVELING_UBL)
+ #include "G29-ubl.h"
+#elif HAS_ABL
+ #include "G29-abl.h"
+#endif
diff --git a/Marlin/src/gcode/calibrate/G33.h b/Marlin/src/gcode/calibrate/G33.h
new file mode 100644
index 0000000000000000000000000000000000000000..f9c2bff4aa70cda0c34e0acfb2759d63375e1993
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/G33.h
@@ -0,0 +1,451 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+#if HOTENDS > 1
+ #include "../control/tool_change.h"
+#endif
+
+/**
+ * G33 - Delta '1-4-7-point' Auto-Calibration
+ * Calibrate height, endstops, delta radius, and tower angles.
+ *
+ * Parameters:
+ *
+ * Pn Number of probe points:
+ *
+ * P1 Probe center and set height only.
+ * P2 Probe center and towers. Set height, endstops, and delta radius.
+ * P3 Probe all positions: center, towers and opposite towers. Set all.
+ * P4-P7 Probe all positions at different locations and average them.
+ *
+ * T0 Don't calibrate tower angle corrections
+ *
+ * Cn.nn Calibration precision; when omitted calibrates to maximum precision
+ *
+ * Fn Force to run at least n iterations and takes the best result
+ *
+ * Vn Verbose level:
+ *
+ * V0 Dry-run mode. Report settings and probe results. No calibration.
+ * V1 Report settings
+ * V2 Report settings and probe results
+ *
+ * E Engage the probe for each point
+ */
+
+void print_signed_float(const char * const prefix, const float &f) {
+ SERIAL_PROTOCOLPGM(" ");
+ serialprintPGM(prefix);
+ SERIAL_PROTOCOLCHAR(':');
+ if (f >= 0) SERIAL_CHAR('+');
+ SERIAL_PROTOCOL_F(f, 2);
+}
+
+inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
+ SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]);
+ if (end_stops) {
+ print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]);
+ print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]);
+ print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]);
+ SERIAL_PROTOCOLPAIR(" Radius:", delta_radius);
+ }
+ SERIAL_EOL();
+ if (tower_angles) {
+ SERIAL_PROTOCOLPGM(".Tower angle : ");
+ print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]);
+ print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]);
+ SERIAL_PROTOCOLLNPGM(" Tz:+0.00");
+ }
+}
+
+void G33_cleanup(
+ #if HOTENDS > 1
+ const uint8_t old_tool_index
+ #endif
+) {
+ #if ENABLED(DELTA_HOME_TO_SAFE_ZONE)
+ do_blocking_move_to_z(delta_clip_start_height);
+ #endif
+ STOW_PROBE();
+ clean_up_after_endstop_or_probe_move();
+ #if HOTENDS > 1
+ tool_change(old_tool_index, 0, true);
+ #endif
+}
+
+void gcode_G33() {
+
+ const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS);
+ if (!WITHIN(probe_points, 1, 7)) {
+ SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1-7).");
+ return;
+ }
+
+ const int8_t verbose_level = parser.byteval('V', 1);
+ if (!WITHIN(verbose_level, 0, 2)) {
+ SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2).");
+ return;
+ }
+
+ const float calibration_precision = parser.floatval('C');
+ if (calibration_precision < 0) {
+ SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0).");
+ return;
+ }
+
+ const int8_t force_iterations = parser.intval('F', 0);
+ if (!WITHIN(force_iterations, 0, 30)) {
+ SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30).");
+ return;
+ }
+
+ const bool towers_set = parser.boolval('T', true),
+ stow_after_each = parser.boolval('E'),
+ _1p_calibration = probe_points == 1,
+ _4p_calibration = probe_points == 2,
+ _4p_towers_points = _4p_calibration && towers_set,
+ _4p_opposite_points = _4p_calibration && !towers_set,
+ _7p_calibration = probe_points >= 3,
+ _7p_half_circle = probe_points == 3,
+ _7p_double_circle = probe_points == 5,
+ _7p_triple_circle = probe_points == 6,
+ _7p_quadruple_circle = probe_points == 7,
+ _7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle,
+ _7p_intermed_points = _7p_calibration && !_7p_half_circle;
+ const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h";
+ const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER),
+ dy = (Y_PROBE_OFFSET_FROM_EXTRUDER);
+ int8_t iterations = 0;
+ float test_precision,
+ zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
+ zero_std_dev_old = zero_std_dev,
+ zero_std_dev_min = zero_std_dev,
+ e_old[XYZ] = {
+ endstop_adj[A_AXIS],
+ endstop_adj[B_AXIS],
+ endstop_adj[C_AXIS]
+ },
+ dr_old = delta_radius,
+ zh_old = home_offset[Z_AXIS],
+ alpha_old = delta_tower_angle_trim[A_AXIS],
+ beta_old = delta_tower_angle_trim[B_AXIS];
+
+ if (!_1p_calibration) { // test if the outer radius is reachable
+ const float circles = (_7p_quadruple_circle ? 1.5 :
+ _7p_triple_circle ? 1.0 :
+ _7p_double_circle ? 0.5 : 0),
+ r = (1 + circles * 0.1) * delta_calibration_radius;
+ for (uint8_t axis = 1; axis < 13; ++axis) {
+ const float a = RADIANS(180 + 30 * axis);
+ if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) {
+ SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible.");
+ return;
+ }
+ }
+ }
+ SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate");
+
+ stepper.synchronize();
+ #if HAS_LEVELING
+ reset_bed_level(); // After calibration bed-level data is no longer valid
+ #endif
+
+ #if HOTENDS > 1
+ const uint8_t old_tool_index = active_extruder;
+ tool_change(0, 0, true);
+ #define G33_CLEANUP() G33_cleanup(old_tool_index)
+ #else
+ #define G33_CLEANUP() G33_cleanup()
+ #endif
+
+ setup_for_endstop_or_probe_move();
+ endstops.enable(true);
+ if (!home_delta())
+ return;
+ endstops.not_homing();
+
+ // print settings
+
+ const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
+ serialprintPGM(checkingac);
+ if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)");
+ SERIAL_EOL();
+ lcd_setstatusPGM(checkingac);
+
+ print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+
+ #if DISABLED(PROBE_MANUALLY)
+ const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
+ if (isnan(measured_z)) return G33_CLEANUP();
+ home_offset[Z_AXIS] -= measured_z;
+ #endif
+
+ do {
+
+ float z_at_pt[13] = { 0.0 };
+
+ test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev;
+
+ iterations++;
+
+ // Probe the points
+
+ if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[0] += lcd_probe_pt(0, 0);
+ #else
+ z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false);
+ if (isnan(z_at_pt[0])) return G33_CLEANUP();
+ #endif
+ }
+ if (_7p_calibration) { // probe extra center points
+ for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) {
+ const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1;
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+ #else
+ z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+ if (isnan(z_at_pt[0])) return G33_CLEANUP();
+ #endif
+ }
+ z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points);
+ }
+ if (!_1p_calibration) { // probe the radius
+ bool zig_zag = true;
+ const uint8_t start = _4p_opposite_points ? 3 : 1,
+ step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1;
+ for (uint8_t axis = start; axis < 13; axis += step) {
+ const float zigadd = (zig_zag ? 0.5 : 0.0),
+ offset_circles = _7p_quadruple_circle ? zigadd + 1.0 :
+ _7p_triple_circle ? zigadd + 0.5 :
+ _7p_double_circle ? zigadd : 0;
+ for (float circles = -offset_circles ; circles <= offset_circles; circles++) {
+ const float a = RADIANS(180 + 30 * axis),
+ r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1));
+ #if ENABLED(PROBE_MANUALLY)
+ z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r);
+ #else
+ z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1);
+ if (isnan(z_at_pt[axis])) return G33_CLEANUP();
+ #endif
+ }
+ zig_zag = !zig_zag;
+ z_at_pt[axis] /= (2 * offset_circles + 1);
+ }
+ }
+ if (_7p_intermed_points) // average intermediates to tower and opposites
+ for (uint8_t axis = 1; axis < 13; axis += 2)
+ z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0;
+
+ float S1 = z_at_pt[0],
+ S2 = sq(z_at_pt[0]);
+ int16_t N = 1;
+ if (!_1p_calibration) // std dev from zero plane
+ for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) {
+ S1 += z_at_pt[axis];
+ S2 += sq(z_at_pt[axis]);
+ N++;
+ }
+ zero_std_dev_old = zero_std_dev;
+ zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001;
+
+ // Solve matrices
+
+ if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) {
+ if (zero_std_dev < zero_std_dev_min) {
+ COPY(e_old, endstop_adj);
+ dr_old = delta_radius;
+ zh_old = home_offset[Z_AXIS];
+ alpha_old = delta_tower_angle_trim[A_AXIS];
+ beta_old = delta_tower_angle_trim[B_AXIS];
+ }
+
+ float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0;
+ const float r_diff = delta_radius - delta_calibration_radius,
+ h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
+ r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
+ a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
+
+ #define ZP(N,I) ((N) * z_at_pt[I])
+ #define Z1000(I) ZP(1.00, I)
+ #define Z1050(I) ZP(h_factor, I)
+ #define Z0700(I) ZP(h_factor * 2.0 / 3.00, I)
+ #define Z0350(I) ZP(h_factor / 3.00, I)
+ #define Z0175(I) ZP(h_factor / 6.00, I)
+ #define Z2250(I) ZP(r_factor, I)
+ #define Z0750(I) ZP(r_factor / 3.00, I)
+ #define Z0375(I) ZP(r_factor / 6.00, I)
+ #define Z0444(I) ZP(a_factor * 4.0 / 9.0, I)
+ #define Z0888(I) ZP(a_factor * 8.0 / 9.0, I)
+
+ #if ENABLED(PROBE_MANUALLY)
+ test_precision = 0.00; // forced end
+ #endif
+
+ switch (probe_points) {
+ case 1:
+ test_precision = 0.00; // forced end
+ LOOP_XYZ(i) e_delta[i] = Z1000(0);
+ break;
+
+ case 2:
+ if (towers_set) {
+ e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9);
+ e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9);
+ e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9);
+ r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9);
+ }
+ else {
+ e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3);
+ e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3);
+ e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3);
+ r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3);
+ }
+ break;
+
+ default:
+ e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3);
+ e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3);
+ e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3);
+ r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3);
+
+ if (towers_set) {
+ t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3);
+ t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3);
+ }
+ break;
+ }
+
+ LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis];
+ delta_radius += r_delta;
+ delta_tower_angle_trim[A_AXIS] += t_alpha;
+ delta_tower_angle_trim[B_AXIS] += t_beta;
+
+ // adjust delta_height and endstops by the max amount
+ const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(i) endstop_adj[i] -= z_temp;
+
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
+ }
+ else if (zero_std_dev >= test_precision) { // step one back
+ COPY(endstop_adj, e_old);
+ delta_radius = dr_old;
+ home_offset[Z_AXIS] = zh_old;
+ delta_tower_angle_trim[A_AXIS] = alpha_old;
+ delta_tower_angle_trim[B_AXIS] = beta_old;
+
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
+ }
+ NOMORE(zero_std_dev_min, zero_std_dev);
+
+ // print report
+
+ if (verbose_level != 1) {
+ SERIAL_PROTOCOLPGM(". ");
+ print_signed_float(PSTR("c"), z_at_pt[0]);
+ if (_4p_towers_points || _7p_calibration) {
+ print_signed_float(PSTR(" x"), z_at_pt[1]);
+ print_signed_float(PSTR(" y"), z_at_pt[5]);
+ print_signed_float(PSTR(" z"), z_at_pt[9]);
+ }
+ if (!_4p_opposite_points) SERIAL_EOL();
+ if ((_4p_opposite_points) || _7p_calibration) {
+ if (_7p_calibration) {
+ SERIAL_CHAR('.');
+ SERIAL_PROTOCOL_SP(13);
+ }
+ print_signed_float(PSTR(" yz"), z_at_pt[7]);
+ print_signed_float(PSTR("zx"), z_at_pt[11]);
+ print_signed_float(PSTR("xy"), z_at_pt[3]);
+ SERIAL_EOL();
+ }
+ }
+ if (verbose_level != 0) { // !dry run
+ if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations
+ SERIAL_PROTOCOLPGM("Calibration OK");
+ SERIAL_PROTOCOL_SP(36);
+ #if DISABLED(PROBE_MANUALLY)
+ if (zero_std_dev >= test_precision && !_1p_calibration)
+ SERIAL_PROTOCOLPGM("rolling back.");
+ else
+ #endif
+ {
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev_min, 3);
+ }
+ SERIAL_EOL();
+ char mess[21];
+ sprintf_P(mess, PSTR("Calibration sd:"));
+ if (zero_std_dev_min < 1)
+ sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0));
+ else
+ sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min));
+ lcd_setstatus(mess);
+ print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+ serialprintPGM(save_message);
+ SERIAL_EOL();
+ }
+ else { // !end iterations
+ char mess[15];
+ if (iterations < 31)
+ sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations);
+ else
+ sprintf_P(mess, PSTR("No convergence"));
+ SERIAL_PROTOCOL(mess);
+ SERIAL_PROTOCOL_SP(36);
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev, 3);
+ SERIAL_EOL();
+ lcd_setstatus(mess);
+ print_G33_settings(!_1p_calibration, _7p_calibration && towers_set);
+ }
+ }
+ else { // dry run
+ const char *enddryrun = PSTR("End DRY-RUN");
+ serialprintPGM(enddryrun);
+ SERIAL_PROTOCOL_SP(39);
+ SERIAL_PROTOCOLPGM("std dev:");
+ SERIAL_PROTOCOL_F(zero_std_dev, 3);
+ SERIAL_EOL();
+
+ char mess[21];
+ sprintf_P(mess, enddryrun);
+ sprintf_P(&mess[11], PSTR(" sd:"));
+ if (zero_std_dev < 1)
+ sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0));
+ else
+ sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev));
+ lcd_setstatus(mess);
+ }
+
+ endstops.enable(true);
+ home_delta();
+ endstops.not_homing();
+
+ }
+ while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations);
+
+ G33_CLEANUP();
+}
diff --git a/Marlin/M100_Free_Mem_Chk.cpp b/Marlin/src/gcode/calibrate/M100.h
similarity index 94%
rename from Marlin/M100_Free_Mem_Chk.cpp
rename to Marlin/src/gcode/calibrate/M100.h
index 6620b0a16efb74dbe2e4a01bf5abbffdb8a84c6d..b206177f2b3489fdae56d517f554da8a294e4e88 100644
--- a/Marlin/M100_Free_Mem_Chk.cpp
+++ b/Marlin/src/gcode/calibrate/M100.h
@@ -20,6 +20,8 @@
*
*/
+#include "../../libs/hex_print_routines.h"
+
/**
* M100 Free Memory Watcher
*
@@ -48,10 +50,6 @@
#define M100_FREE_MEMORY_DUMPER // Enable for the `M110 D` Dump sub-command
#define M100_FREE_MEMORY_CORRUPTOR // Enable for the `M100 C` Corrupt sub-command
-#include "MarlinConfig.h"
-
-#if ENABLED(M100_FREE_MEMORY_WATCHER)
-
#define TEST_BYTE ((char) 0xE5)
extern char command_queue[BUFSIZE][MAX_CMD_SIZE];
@@ -60,16 +58,11 @@ extern char* __brkval;
extern size_t __heap_start, __heap_end, __flp;
extern char __bss_end;
-#include "Marlin.h"
-#include "gcode.h"
-#include "hex_print_routines.h"
-
//
// Utility functions
//
#define END_OF_HEAP() (__brkval ? __brkval : &__bss_end)
-int check_for_free_memory_corruption(const char * const title);
// Location of a variable on its stack frame. Returns a value above
// the stack (once the function returns to the caller).
@@ -137,18 +130,79 @@ int16_t count_test_bytes(const char * const ptr) {
}
}
-void M100_dump_routine(const char * const title, const char *start, const char *end) {
- SERIAL_ECHOLN(title);
- //
- // Round the start and end locations to produce full lines of output
- //
- start = (char*)((uint16_t) start & 0xFFF0);
- end = (char*)((uint16_t) end | 0x000F);
- dump_free_memory(start, end);
-}
+ void M100_dump_routine(const char * const title, const char *start, const char *end) {
+ SERIAL_ECHOLN(title);
+ //
+ // Round the start and end locations to produce full lines of output
+ //
+ start = (char*)((uint16_t) start & 0xFFF0);
+ end = (char*)((uint16_t) end | 0x000F);
+ dump_free_memory(start, end);
+ }
#endif // M100_FREE_MEMORY_DUMPER
+int check_for_free_memory_corruption(const char * const title) {
+ SERIAL_ECHO(title);
+
+ char *ptr = END_OF_HEAP(), *sp = top_of_stack();
+ int n = sp - ptr;
+
+ SERIAL_ECHOPAIR("\nfmc() n=", n);
+ SERIAL_ECHOPAIR("\n&__brkval: ", hex_address(&__brkval));
+ SERIAL_ECHOPAIR("=", hex_address(__brkval));
+ SERIAL_ECHOPAIR("\n__bss_end: ", hex_address(&__bss_end));
+ SERIAL_ECHOPAIR(" sp=", hex_address(sp));
+
+ if (sp < ptr) {
+ SERIAL_ECHOPGM(" sp < Heap ");
+ // SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board
+ // safe_delay(5); // this code can be enabled to pause the display as soon as the
+ // while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch
+ // idle(); // being on pin-63 which is unassigend and available on most controller
+ // safe_delay(20); // boards.
+ // while ( !READ(63))
+ // idle();
+ safe_delay(20);
+ #if ENABLED(M100_FREE_MEMORY_DUMPER)
+ M100_dump_routine(" Memory corruption detected with sp<Heap\n", (char*)0x1B80, (char*)0x21FF);
+ #endif
+ }
+
+ // Scan through the range looking for the biggest block of 0xE5's we can find
+ int block_cnt = 0;
+ for (int i = 0; i < n; i++) {
+ if (ptr[i] == TEST_BYTE) {
+ int16_t j = count_test_bytes(ptr + i);
+ if (j > 8) {
+ // SERIAL_ECHOPAIR("Found ", j);
+ // SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(ptr + i));
+ i += j;
+ block_cnt++;
+ SERIAL_ECHOPAIR(" (", block_cnt);
+ SERIAL_ECHOPAIR(") found=", j);
+ SERIAL_ECHOPGM(" ");
+ }
+ }
+ }
+ SERIAL_ECHOPAIR(" block_found=", block_cnt);
+
+ if (block_cnt != 1 || __brkval != 0x0000)
+ SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area.");
+
+ if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an
+ block_cnt = -1; // error to the calling code!
+
+ SERIAL_ECHOPGM(" return=");
+ if (block_cnt == 1) {
+ SERIAL_CHAR('0'); // if the block_cnt is 1, nothing has broken up the free memory
+ SERIAL_EOL(); // area and it is appropriate to say 'no corruption'.
+ return 0;
+ }
+ SERIAL_ECHOLNPGM("true");
+ return block_cnt;
+}
+
/**
* M100 F
* Return the number of free bytes in the memory pool,
@@ -266,68 +320,3 @@ void gcode_M100() {
#endif
}
-
-int check_for_free_memory_corruption(const char * const title) {
- SERIAL_ECHO(title);
-
- char *ptr = END_OF_HEAP(), *sp = top_of_stack();
- int n = sp - ptr;
-
- SERIAL_ECHOPAIR("\nfmc() n=", n);
- SERIAL_ECHOPAIR("\n&__brkval: ", hex_address(&__brkval));
- SERIAL_ECHOPAIR("=", hex_address(__brkval));
- SERIAL_ECHOPAIR("\n__bss_end: ", hex_address(&__bss_end));
- SERIAL_ECHOPAIR(" sp=", hex_address(sp));
-
- if (sp < ptr) {
- SERIAL_ECHOPGM(" sp < Heap ");
- // SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board
- // safe_delay(5); // this code can be enabled to pause the display as soon as the
- // while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch
- // idle(); // being on pin-63 which is unassigend and available on most controller
- // safe_delay(20); // boards.
- // while ( !READ(63))
- // idle();
- safe_delay(20);
- #ifdef M100_FREE_MEMORY_DUMPER
- M100_dump_routine(" Memory corruption detected with sp<Heap\n", (char*)0x1B80, (char*)0x21FF);
- #endif
- }
-
- // Scan through the range looking for the biggest block of 0xE5's we can find
- int block_cnt = 0;
- for (int i = 0; i < n; i++) {
- if (ptr[i] == TEST_BYTE) {
- int16_t j = count_test_bytes(ptr + i);
- if (j > 8) {
- // SERIAL_ECHOPAIR("Found ", j);
- // SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(ptr + i));
- i += j;
- block_cnt++;
- SERIAL_ECHOPAIR(" (", block_cnt);
- SERIAL_ECHOPAIR(") found=", j);
- SERIAL_ECHOPGM(" ");
- }
- }
- }
- SERIAL_ECHOPAIR(" block_found=", block_cnt);
-
- if (block_cnt != 1 || __brkval != 0x0000)
- SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area.");
-
- if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an
- block_cnt = -1; // error to the calling code!
-
- SERIAL_ECHOPGM(" return=");
- if (block_cnt == 1) {
- SERIAL_CHAR('0'); // if the block_cnt is 1, nothing has broken up the free memory
- SERIAL_EOL(); // area and it is appropriate to say 'no corruption'.
- return 0;
- }
- SERIAL_ECHOLNPGM("true");
- return block_cnt;
-}
-
-#endif // M100_FREE_MEMORY_WATCHER
-
-
diff --git a/Marlin/src/gcode/calibrate/M420.h b/Marlin/src/gcode/calibrate/M420.h
new file mode 100644
index 0000000000000000000000000000000000000000..6b3f6837c20417151511a9690c9e9984caba659a
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M420.h
@@ -0,0 +1,121 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
+ *
+ * S[bool] Turns leveling on or off
+ * Z[height] Sets the Z fade height (0 or none to disable)
+ * V[bool] Verbose - Print the leveling grid
+ *
+ * With AUTO_BED_LEVELING_UBL only:
+ *
+ * L[index] Load UBL mesh from index (0 is default)
+ */
+void gcode_M420() {
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL)
+
+ // L to load a mesh from the EEPROM
+ if (parser.seen('L')) {
+
+ #if ENABLED(EEPROM_SETTINGS)
+ const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.state.storage_slot;
+ const int16_t a = settings.calc_num_meshes();
+
+ if (!a) {
+ SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
+ return;
+ }
+
+ if (!WITHIN(storage_slot, 0, a - 1)) {
+ SERIAL_PROTOCOLLNPGM("?Invalid storage slot.");
+ SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1);
+ return;
+ }
+
+ settings.load_mesh(storage_slot);
+ ubl.state.storage_slot = storage_slot;
+
+ #else
+
+ SERIAL_PROTOCOLLNPGM("?EEPROM storage not available.");
+ return;
+
+ #endif
+ }
+
+ // L to load a mesh from the EEPROM
+ if (parser.seen('L') || parser.seen('V')) {
+ ubl.display_map(0); // Currently only supports one map type
+ SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID);
+ SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot);
+ }
+
+ #endif // AUTO_BED_LEVELING_UBL
+
+ // V to print the matrix or mesh
+ if (parser.seen('V')) {
+ #if ABL_PLANAR
+ planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:"));
+ #else
+ if (leveling_is_valid()) {
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ print_bilinear_leveling_grid();
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ print_bilinear_leveling_grid_virt();
+ #endif
+ #elif ENABLED(MESH_BED_LEVELING)
+ SERIAL_ECHOLNPGM("Mesh Bed Level data:");
+ mbl_mesh_report();
+ #endif
+ }
+ #endif
+ }
+
+ const bool to_enable = parser.boolval('S');
+ if (parser.seen('S'))
+ set_bed_leveling_enabled(to_enable);
+
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+ if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units());
+ #endif
+
+ const bool new_status = leveling_is_active();
+
+ if (to_enable && !new_status) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED);
+ }
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF);
+
+ #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM("Fade Height ");
+ if (planner.z_fade_height > 0.0)
+ SERIAL_ECHOLN(planner.z_fade_height);
+ else
+ SERIAL_ECHOLNPGM(MSG_OFF);
+ #endif
+}
diff --git a/Marlin/src/gcode/calibrate/M421-abl.h b/Marlin/src/gcode/calibrate/M421-abl.h
new file mode 100644
index 0000000000000000000000000000000000000000..a70dae618fbda1586393ddfaed95a820167f750c
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M421-abl.h
@@ -0,0 +1,51 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M421: Set a single Mesh Bed Leveling Z coordinate
+ *
+ * Usage:
+ * M421 I<xindex> J<yindex> Z<linear>
+ * M421 I<xindex> J<yindex> Q<offset>
+ */
+void gcode_M421() {
+ int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
+ const bool hasI = ix >= 0,
+ hasJ = iy >= 0,
+ hasZ = parser.seen('Z'),
+ hasQ = !hasZ && parser.seen('Q');
+
+ if (!hasI || !hasJ || !(hasZ || hasQ)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
+ }
+ else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
+ }
+ else {
+ z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ bed_level_virt_interpolate();
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/calibrate/M421-mbl.h b/Marlin/src/gcode/calibrate/M421-mbl.h
new file mode 100644
index 0000000000000000000000000000000000000000..2fda83e554b7635023ee347b6523e8e5c1bf30e0
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M421-mbl.h
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M421: Set a single Mesh Bed Leveling Z coordinate
+ *
+ * Usage:
+ * M421 X<linear> Y<linear> Z<linear>
+ * M421 X<linear> Y<linear> Q<offset>
+ * M421 I<xindex> J<yindex> Z<linear>
+ * M421 I<xindex> J<yindex> Q<offset>
+ */
+void gcode_M421() {
+ const bool hasX = parser.seen('X'), hasI = parser.seen('I');
+ const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1;
+ const bool hasY = parser.seen('Y'), hasJ = parser.seen('J');
+ const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1;
+ const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q');
+
+ if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
+ }
+ else if (ix < 0 || iy < 0) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
+ }
+ else
+ mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
+}
diff --git a/Marlin/src/gcode/calibrate/M421-ubl.h b/Marlin/src/gcode/calibrate/M421-ubl.h
new file mode 100644
index 0000000000000000000000000000000000000000..6732c3877a3ea8e309ee06be027df88e47b87015
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M421-ubl.h
@@ -0,0 +1,56 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M421: Set a single Mesh Bed Leveling Z coordinate
+ *
+ * Usage:
+ * M421 I<xindex> J<yindex> Z<linear>
+ * M421 I<xindex> J<yindex> Q<offset>
+ * M421 C Z<linear>
+ * M421 C Q<offset>
+ */
+void gcode_M421() {
+ int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
+ const bool hasI = ix >= 0,
+ hasJ = iy >= 0,
+ hasC = parser.seen('C'),
+ hasZ = parser.seen('Z'),
+ hasQ = !hasZ && parser.seen('Q');
+
+ if (hasC) {
+ const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
+ ix = location.x_index;
+ iy = location.y_index;
+ }
+
+ if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
+ }
+ else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
+ }
+ else
+ ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
+}
diff --git a/Marlin/src/gcode/calibrate/M48.h b/Marlin/src/gcode/calibrate/M48.h
new file mode 100644
index 0000000000000000000000000000000000000000..4ad990d75ecb6175a33c2819b2dfa416f7c941d6
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M48.h
@@ -0,0 +1,273 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M48: Z probe repeatability measurement function.
+ *
+ * Usage:
+ * M48 <P#> <X#> <Y#> <V#> <E> <L#>
+ * P = Number of sampled points (4-50, default 10)
+ * X = Sample X position
+ * Y = Sample Y position
+ * V = Verbose level (0-4, default=1)
+ * E = Engage Z probe for each reading
+ * L = Number of legs of movement before probe
+ * S = Schizoid (Or Star if you prefer)
+ *
+ * This function assumes the bed has been homed. Specifically, that a G28 command
+ * as been issued prior to invoking the M48 Z probe repeatability measurement function.
+ * Any information generated by a prior G29 Bed leveling command will be lost and need to be
+ * regenerated.
+ */
+void gcode_M48() {
+
+ if (axis_unhomed_error()) return;
+
+ const int8_t verbose_level = parser.byteval('V', 1);
+ if (!WITHIN(verbose_level, 0, 4)) {
+ SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4).");
+ return;
+ }
+
+ if (verbose_level > 0)
+ SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
+
+ const int8_t n_samples = parser.byteval('P', 10);
+ if (!WITHIN(n_samples, 4, 50)) {
+ SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
+ return;
+ }
+
+ const bool stow_probe_after_each = parser.boolval('E');
+
+ float X_current = current_position[X_AXIS],
+ Y_current = current_position[Y_AXIS];
+
+ const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER),
+ Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+ #if DISABLED(DELTA)
+ if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) {
+ out_of_range_error(PSTR("X"));
+ return;
+ }
+ if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) {
+ out_of_range_error(PSTR("Y"));
+ return;
+ }
+ #else
+ if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) {
+ SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
+ return;
+ }
+ #endif
+
+ bool seen_L = parser.seen('L');
+ uint8_t n_legs = seen_L ? parser.value_byte() : 0;
+ if (n_legs > 15) {
+ SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
+ return;
+ }
+ if (n_legs == 1) n_legs = 2;
+
+ const bool schizoid_flag = parser.boolval('S');
+ if (schizoid_flag && !seen_L) n_legs = 7;
+
+ /**
+ * Now get everything to the specified probe point So we can safely do a
+ * probe to get us close to the bed. If the Z-Axis is far from the bed,
+ * we don't want to use that as a starting point for each probe.
+ */
+ if (verbose_level > 2)
+ SERIAL_PROTOCOLLNPGM("Positioning the probe...");
+
+ // Disable bed level correction in M48 because we want the raw data when we probe
+
+ #if HAS_LEVELING
+ const bool was_enabled = leveling_is_active();
+ set_bed_leveling_enabled(false);
+ #endif
+
+ setup_for_endstop_or_probe_move();
+
+ double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
+
+ // Move to the first point, deploy, and probe
+ const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
+ bool probing_good = !isnan(t);
+
+ if (probing_good) {
+ randomSeed(millis());
+
+ for (uint8_t n = 0; n < n_samples; n++) {
+ if (n_legs) {
+ const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
+ float angle = random(0.0, 360.0);
+ const float radius = random(
+ #if ENABLED(DELTA)
+ 0.1250000000 * (DELTA_PROBEABLE_RADIUS),
+ 0.3333333333 * (DELTA_PROBEABLE_RADIUS)
+ #else
+ 5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE)
+ #endif
+ );
+
+ if (verbose_level > 3) {
+ SERIAL_ECHOPAIR("Starting radius: ", radius);
+ SERIAL_ECHOPAIR(" angle: ", angle);
+ SERIAL_ECHOPGM(" Direction: ");
+ if (dir > 0) SERIAL_ECHOPGM("Counter-");
+ SERIAL_ECHOLNPGM("Clockwise");
+ }
+
+ for (uint8_t l = 0; l < n_legs - 1; l++) {
+ double delta_angle;
+
+ if (schizoid_flag)
+ // The points of a 5 point star are 72 degrees apart. We need to
+ // skip a point and go to the next one on the star.
+ delta_angle = dir * 2.0 * 72.0;
+
+ else
+ // If we do this line, we are just trying to move further
+ // around the circle.
+ delta_angle = dir * (float) random(25, 45);
+
+ angle += delta_angle;
+
+ while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
+ angle -= 360.0; // Arduino documentation says the trig functions should not be given values
+ while (angle < 0.0) // outside of this range. It looks like they behave correctly with
+ angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
+
+ X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
+ Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
+
+ #if DISABLED(DELTA)
+ X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
+ Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
+ #else
+ // If we have gone out too far, we can do a simple fix and scale the numbers
+ // back in closer to the origin.
+ while (!position_is_reachable_by_probe_xy(X_current, Y_current)) {
+ X_current *= 0.8;
+ Y_current *= 0.8;
+ if (verbose_level > 3) {
+ SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
+ SERIAL_ECHOLNPAIR(", ", Y_current);
+ }
+ }
+ #endif
+ if (verbose_level > 3) {
+ SERIAL_PROTOCOLPGM("Going to:");
+ SERIAL_ECHOPAIR(" X", X_current);
+ SERIAL_ECHOPAIR(" Y", Y_current);
+ SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
+ }
+ do_blocking_move_to_xy(X_current, Y_current);
+ } // n_legs loop
+ } // n_legs
+
+ // Probe a single point
+ sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
+
+ // Break the loop if the probe fails
+ probing_good = !isnan(sample_set[n]);
+ if (!probing_good) break;
+
+ /**
+ * Get the current mean for the data points we have so far
+ */
+ double sum = 0.0;
+ for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
+ mean = sum / (n + 1);
+
+ NOMORE(min, sample_set[n]);
+ NOLESS(max, sample_set[n]);
+
+ /**
+ * Now, use that mean to calculate the standard deviation for the
+ * data points we have so far
+ */
+ sum = 0.0;
+ for (uint8_t j = 0; j <= n; j++)
+ sum += sq(sample_set[j] - mean);
+
+ sigma = SQRT(sum / (n + 1));
+ if (verbose_level > 0) {
+ if (verbose_level > 1) {
+ SERIAL_PROTOCOL(n + 1);
+ SERIAL_PROTOCOLPGM(" of ");
+ SERIAL_PROTOCOL((int)n_samples);
+ SERIAL_PROTOCOLPGM(": z: ");
+ SERIAL_PROTOCOL_F(sample_set[n], 3);
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM(" mean: ");
+ SERIAL_PROTOCOL_F(mean, 4);
+ SERIAL_PROTOCOLPGM(" sigma: ");
+ SERIAL_PROTOCOL_F(sigma, 6);
+ SERIAL_PROTOCOLPGM(" min: ");
+ SERIAL_PROTOCOL_F(min, 3);
+ SERIAL_PROTOCOLPGM(" max: ");
+ SERIAL_PROTOCOL_F(max, 3);
+ SERIAL_PROTOCOLPGM(" range: ");
+ SERIAL_PROTOCOL_F(max-min, 3);
+ }
+ SERIAL_EOL();
+ }
+ }
+
+ } // n_samples loop
+ }
+
+ STOW_PROBE();
+
+ if (probing_good) {
+ SERIAL_PROTOCOLLNPGM("Finished!");
+
+ if (verbose_level > 0) {
+ SERIAL_PROTOCOLPGM("Mean: ");
+ SERIAL_PROTOCOL_F(mean, 6);
+ SERIAL_PROTOCOLPGM(" Min: ");
+ SERIAL_PROTOCOL_F(min, 3);
+ SERIAL_PROTOCOLPGM(" Max: ");
+ SERIAL_PROTOCOL_F(max, 3);
+ SERIAL_PROTOCOLPGM(" Range: ");
+ SERIAL_PROTOCOL_F(max-min, 3);
+ SERIAL_EOL();
+ }
+
+ SERIAL_PROTOCOLPGM("Standard Deviation: ");
+ SERIAL_PROTOCOL_F(sigma, 6);
+ SERIAL_EOL();
+ SERIAL_EOL();
+ }
+
+ clean_up_after_endstop_or_probe_move();
+
+ // Re-enable bed level correction if it had been on
+ #if HAS_LEVELING
+ set_bed_leveling_enabled(was_enabled);
+ #endif
+
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/calibrate/M49.h b/Marlin/src/gcode/calibrate/M49.h
new file mode 100644
index 0000000000000000000000000000000000000000..d9d235b6a9529ef76debbc001f64a95334734317
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M49.h
@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M49() {
+ ubl.g26_debug_flag ^= true;
+ SERIAL_PROTOCOLPGM("UBL Debug Flag turned ");
+ serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off."));
+}
diff --git a/Marlin/src/gcode/calibrate/M665.h b/Marlin/src/gcode/calibrate/M665.h
new file mode 100644
index 0000000000000000000000000000000000000000..da682fc12d0a76a84b6e69d8e432f09e51ba9ad2
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M665.h
@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(DELTA)
+
+ /**
+ * M665: Set delta configurations
+ *
+ * H = delta height
+ * L = diagonal rod
+ * R = delta radius
+ * S = segments per second
+ * B = delta calibration radius
+ * X = Alpha (Tower 1) angle trim
+ * Y = Beta (Tower 2) angle trim
+ * Z = Rotate A and B by this angle
+ */
+ void gcode_M665() {
+ if (parser.seen('H')) {
+ home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT;
+ update_software_endstops(Z_AXIS);
+ }
+ if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units();
+ if (parser.seen('R')) delta_radius = parser.value_linear_units();
+ if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+ if (parser.seen('B')) delta_calibration_radius = parser.value_float();
+ if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float();
+ if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float();
+ if (parser.seen('Z')) { // rotate all 3 axis for Z = 0
+ delta_tower_angle_trim[A_AXIS] -= parser.value_float();
+ delta_tower_angle_trim[B_AXIS] -= parser.value_float();
+ }
+ recalc_delta_settings(delta_radius, delta_diagonal_rod);
+ }
+
+#elif IS_SCARA
+
+ /**
+ * M665: Set SCARA settings
+ *
+ * Parameters:
+ *
+ * S[segments-per-second] - Segments-per-second
+ * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle
+ * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle
+ *
+ * A, P, and X are all aliases for the shoulder angle
+ * B, T, and Y are all aliases for the elbow angle
+ */
+ void gcode_M665() {
+ if (parser.seen('S')) delta_segments_per_second = parser.value_float();
+
+ const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X');
+ const uint8_t sumAPX = hasA + hasP + hasX;
+ if (sumAPX == 1)
+ home_offset[A_AXIS] = parser.value_float();
+ else if (sumAPX > 1) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed.");
+ return;
+ }
+
+ const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y');
+ const uint8_t sumBTY = hasB + hasT + hasY;
+ if (sumBTY == 1)
+ home_offset[B_AXIS] = parser.value_float();
+ else if (sumBTY > 1) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed.");
+ return;
+ }
+ }
+
+#endif
diff --git a/Marlin/src/gcode/calibrate/M666.h b/Marlin/src/gcode/calibrate/M666.h
new file mode 100644
index 0000000000000000000000000000000000000000..5abe125a42c9e2df871d27595967ea60baa9b624
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/M666.h
@@ -0,0 +1,66 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(DELTA)
+
+ /**
+ * M666: Set delta endstop adjustment
+ */
+ void gcode_M666() {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPGM(">>> gcode_M666");
+ }
+ #endif
+ LOOP_XYZ(i) {
+ if (parser.seen(axis_codes[i])) {
+ endstop_adj[i] = parser.value_linear_units();
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
+ SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
+ }
+ #endif
+ }
+ }
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPGM("<<< gcode_M666");
+ }
+ #endif
+ // normalize endstops so all are <=0; set the residue to delta height
+ const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]);
+ home_offset[Z_AXIS] -= z_temp;
+ LOOP_XYZ(i) endstop_adj[i] -= z_temp;
+ }
+
+#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
+
+ /**
+ * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
+ */
+ void gcode_M666() {
+ if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units();
+ SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
+ }
+
+#endif
diff --git a/Marlin/src/gcode/calibrate/common.h b/Marlin/src/gcode/calibrate/common.h
new file mode 100644
index 0000000000000000000000000000000000000000..410af658b6d187872f1cf09250bc586364e79023
--- /dev/null
+++ b/Marlin/src/gcode/calibrate/common.h
@@ -0,0 +1,81 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef CALIBRATE_COMMON_H
+#define CALIBRATE_COMMON_H
+
+#if ENABLED(DELTA)
+
+ /**
+ * A delta can only safely home all axes at the same time
+ * This is like quick_home_xy() but for 3 towers.
+ */
+ inline bool home_delta() {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
+ #endif
+ // Init the current position of all carriages to 0,0,0
+ ZERO(current_position);
+ sync_plan_position();
+
+ // Move all carriages together linearly until an endstop is hit.
+ current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10);
+ feedrate_mm_s = homing_feedrate(X_AXIS);
+ line_to_current_position();
+ stepper.synchronize();
+
+ // If an endstop was not hit, then damage can occur if homing is continued.
+ // This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
+ // not set correctly.
+ if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) {
+ LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED);
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED);
+ return false;
+ }
+
+ endstops.hit_on_purpose(); // clear endstop hit flags
+
+ // At least one carriage has reached the top.
+ // Now re-home each carriage separately.
+ HOMEAXIS(A);
+ HOMEAXIS(B);
+ HOMEAXIS(C);
+
+ // Set all carriages to their home positions
+ // Do this here all at once for Delta, because
+ // XYZ isn't ABC. Applying this per-tower would
+ // give the impression that they are the same.
+ LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
+ #endif
+
+ return true;
+ }
+
+#endif // DELTA
+
+#endif // CALIBRATE_COMMON_H
\ No newline at end of file
diff --git a/Marlin/src/gcode/config/M200.h b/Marlin/src/gcode/config/M200.h
new file mode 100644
index 0000000000000000000000000000000000000000..aa85d65b82584f26ebbe2684af5954f7d99f83b2
--- /dev/null
+++ b/Marlin/src/gcode/config/M200.h
@@ -0,0 +1,46 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M200: Set filament diameter and set E axis units to cubic units
+ *
+ * T<extruder> - Optional extruder number. Current extruder if omitted.
+ * D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
+ */
+void gcode_M200() {
+
+ if (get_target_extruder_from_command(200)) return;
+
+ if (parser.seen('D')) {
+ // setting any extruder filament size disables volumetric on the assumption that
+ // slicers either generate in extruder values as cubic mm or as as filament feeds
+ // for all extruders
+ volumetric_enabled = (parser.value_linear_units() != 0.0);
+ if (volumetric_enabled) {
+ filament_size[target_extruder] = parser.value_linear_units();
+ // make sure all extruders have some sane value for the filament size
+ for (uint8_t i = 0; i < COUNT(filament_size); i++)
+ if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
+ }
+ }
+ calculate_volumetric_multipliers();
+}
diff --git a/Marlin/src/gcode/config/M201.h b/Marlin/src/gcode/config/M201.h
new file mode 100644
index 0000000000000000000000000000000000000000..24464507c658107b33711b1994ef5d98d5da004e
--- /dev/null
+++ b/Marlin/src/gcode/config/M201.h
@@ -0,0 +1,40 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+ *
+ * With multiple extruders use T to specify which one.
+ */
+void gcode_M201() {
+
+ GET_TARGET_EXTRUDER(201);
+
+ LOOP_XYZE(i) {
+ if (parser.seen(axis_codes[i])) {
+ const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
+ planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a);
+ }
+ }
+ // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
+ planner.reset_acceleration_rates();
+}
diff --git a/Marlin/src/gcode/config/M203.h b/Marlin/src/gcode/config/M203.h
new file mode 100644
index 0000000000000000000000000000000000000000..9ef3bd031d2c9972adaa673ad01e2ae4c1bf9da6
--- /dev/null
+++ b/Marlin/src/gcode/config/M203.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
+ *
+ * With multiple extruders use T to specify which one.
+ */
+void gcode_M203() {
+
+ GET_TARGET_EXTRUDER(203);
+
+ LOOP_XYZE(i)
+ if (parser.seen(axis_codes[i])) {
+ const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
+ planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a);
+ }
+}
diff --git a/Marlin/src/gcode/config/M204.h b/Marlin/src/gcode/config/M204.h
new file mode 100644
index 0000000000000000000000000000000000000000..22d88f1d64aa73c4f55a9e322f311c63c8e04d48
--- /dev/null
+++ b/Marlin/src/gcode/config/M204.h
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
+ *
+ * P = Printing moves
+ * R = Retract only (no X, Y, Z) moves
+ * T = Travel (non printing) moves
+ *
+ * Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
+ */
+void gcode_M204() {
+ if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
+ planner.travel_acceleration = planner.acceleration = parser.value_linear_units();
+ SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
+ }
+ if (parser.seen('P')) {
+ planner.acceleration = parser.value_linear_units();
+ SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
+ }
+ if (parser.seen('R')) {
+ planner.retract_acceleration = parser.value_linear_units();
+ SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
+ }
+ if (parser.seen('T')) {
+ planner.travel_acceleration = parser.value_linear_units();
+ SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
+ }
+}
diff --git a/Marlin/src/gcode/config/M205.h b/Marlin/src/gcode/config/M205.h
new file mode 100644
index 0000000000000000000000000000000000000000..5b0ce3b57858d910d4c356ad2090051dc84ee7a7
--- /dev/null
+++ b/Marlin/src/gcode/config/M205.h
@@ -0,0 +1,42 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M205: Set Advanced Settings
+ *
+ * S = Min Feed Rate (units/s)
+ * T = Min Travel Feed Rate (units/s)
+ * B = Min Segment Time (µs)
+ * X = Max X Jerk (units/sec^2)
+ * Y = Max Y Jerk (units/sec^2)
+ * Z = Max Z Jerk (units/sec^2)
+ * E = Max E Jerk (units/sec^2)
+ */
+void gcode_M205() {
+ if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units();
+ if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units();
+ if (parser.seen('B')) planner.min_segment_time = parser.value_millis();
+ if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units();
+ if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units();
+ if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units();
+ if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units();
+}
diff --git a/Marlin/src/gcode/config/M218.h b/Marlin/src/gcode/config/M218.h
new file mode 100644
index 0000000000000000000000000000000000000000..2359cc969288d19e5207ab8f3ef2314a2f00aa05
--- /dev/null
+++ b/Marlin/src/gcode/config/M218.h
@@ -0,0 +1,54 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M218 - set hotend offset (in linear units)
+ *
+ * T<tool>
+ * X<xoffset>
+ * Y<yoffset>
+ * Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE
+ */
+void gcode_M218() {
+ if (get_target_extruder_from_command(218) || target_extruder == 0) return;
+
+ if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units();
+ if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units();
+
+ #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
+ if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units();
+ #endif
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+ HOTEND_LOOP() {
+ SERIAL_CHAR(' ');
+ SERIAL_ECHO(hotend_offset[X_AXIS][e]);
+ SERIAL_CHAR(',');
+ SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
+ #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER)
+ SERIAL_CHAR(',');
+ SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
+ #endif
+ }
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/config/M220.h b/Marlin/src/gcode/config/M220.h
new file mode 100644
index 0000000000000000000000000000000000000000..9d90f43d8f690a19306d00042867f9d5fda8e32d
--- /dev/null
+++ b/Marlin/src/gcode/config/M220.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
+ */
+void gcode_M220() {
+ if (parser.seenval('S')) feedrate_percentage = parser.value_int();
+}
diff --git a/Marlin/src/gcode/config/M221.h b/Marlin/src/gcode/config/M221.h
new file mode 100644
index 0000000000000000000000000000000000000000..680d0ac17399b2674c71098e3d2ed631321cedc4
--- /dev/null
+++ b/Marlin/src/gcode/config/M221.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M221: Set extrusion percentage (M221 T0 S95)
+ */
+void gcode_M221() {
+ if (get_target_extruder_from_command(221)) return;
+ if (parser.seenval('S'))
+ flow_percentage[target_extruder] = parser.value_int();
+}
diff --git a/Marlin/src/gcode/config/M301.h b/Marlin/src/gcode/config/M301.h
new file mode 100644
index 0000000000000000000000000000000000000000..e775bbe1c7e4a8f7a59e66ba81b400c37b49bb5a
--- /dev/null
+++ b/Marlin/src/gcode/config/M301.h
@@ -0,0 +1,69 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M301: Set PID parameters P I D (and optionally C, L)
+ *
+ * P[float] Kp term
+ * I[float] Ki term (unscaled)
+ * D[float] Kd term (unscaled)
+ *
+ * With PID_EXTRUSION_SCALING:
+ *
+ * C[float] Kc term
+ * L[float] LPQ length
+ */
+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
+ const uint8_t e = parser.byteval('E'); // extruder being updated
+
+ if (e < HOTENDS) { // catch bad input value
+ if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float();
+ if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float());
+ if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float());
+ #if ENABLED(PID_EXTRUSION_SCALING)
+ if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float();
+ if (parser.seen('L')) lpq_len = parser.value_float();
+ NOMORE(lpq_len, LPQ_MAX_LEN);
+ #endif
+
+ thermalManager.updatePID();
+ SERIAL_ECHO_START();
+ #if ENABLED(PID_PARAMS_PER_HOTEND)
+ SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
+ #endif // PID_PARAMS_PER_HOTEND
+ SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
+ SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
+ SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
+ #if ENABLED(PID_EXTRUSION_SCALING)
+ //Kc does not have scaling applied above, or in resetting defaults
+ SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
+ #endif
+ SERIAL_EOL();
+ }
+ else {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
+ }
+}
diff --git a/Marlin/src/gcode/config/M302.h b/Marlin/src/gcode/config/M302.h
new file mode 100644
index 0000000000000000000000000000000000000000..d85a2d0ef65713bc124f8475f8b2b1a64823a1b9
--- /dev/null
+++ b/Marlin/src/gcode/config/M302.h
@@ -0,0 +1,54 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M302: Allow cold extrudes, or set the minimum extrude temperature
+ *
+ * S<temperature> sets the minimum extrude temperature
+ * P<bool> enables (1) or disables (0) cold extrusion
+ *
+ * Examples:
+ *
+ * M302 ; report current cold extrusion state
+ * M302 P0 ; enable cold extrusion checking
+ * M302 P1 ; disables cold extrusion checking
+ * M302 S0 ; always allow extrusion (disables checking)
+ * M302 S170 ; only allow extrusion above 170
+ * M302 S170 P1 ; set min extrude temp to 170 but leave disabled
+ */
+void gcode_M302() {
+ const bool seen_S = parser.seen('S');
+ if (seen_S) {
+ thermalManager.extrude_min_temp = parser.value_celsius();
+ thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
+ }
+
+ if (parser.seen('P'))
+ thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool();
+ else if (!seen_S) {
+ // Report current state
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
+ SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp);
+ SERIAL_ECHOLNPGM("C)");
+ }
+}
diff --git a/Marlin/src/gcode/config/M304.h b/Marlin/src/gcode/config/M304.h
new file mode 100644
index 0000000000000000000000000000000000000000..c460f1648d69fb0de2af63efa3bd243960285b32
--- /dev/null
+++ b/Marlin/src/gcode/config/M304.h
@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M304() {
+ if (parser.seen('P')) thermalManager.bedKp = parser.value_float();
+ if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float());
+ if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float());
+
+ thermalManager.updatePID();
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
+ SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
+ SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
+}
diff --git a/Marlin/src/gcode/config/M43.h b/Marlin/src/gcode/config/M43.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd4a14be7c4aa2b8117e2f2e3ec0e9d29fac3977
--- /dev/null
+++ b/Marlin/src/gcode/config/M43.h
@@ -0,0 +1,311 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../pins/pinsDebug.h"
+
+inline void toggle_pins() {
+ const bool I_flag = parser.boolval('I');
+ const int repeat = parser.intval('R', 1),
+ start = parser.intval('S'),
+ end = parser.intval('E', NUM_DIGITAL_PINS - 1),
+ wait = parser.intval('W', 500);
+
+ for (uint8_t pin = start; pin <= end; pin++) {
+ //report_pin_state_extended(pin, I_flag, false);
+ if (!VALID_PIN(pin)) continue;
+ if (!I_flag && pin_is_protected(pin)) {
+ report_pin_state_extended(pin, I_flag, true, "Untouched ");
+ SERIAL_EOL();
+ }
+ else {
+ report_pin_state_extended(pin, I_flag, true, "Pulsing ");
+ #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
+ if (pin == TEENSY_E2) {
+ SET_OUTPUT(TEENSY_E2);
+ for (int16_t j = 0; j < repeat; j++) {
+ WRITE(TEENSY_E2, LOW); safe_delay(wait);
+ WRITE(TEENSY_E2, HIGH); safe_delay(wait);
+ WRITE(TEENSY_E2, LOW); safe_delay(wait);
+ }
+ }
+ else if (pin == TEENSY_E3) {
+ SET_OUTPUT(TEENSY_E3);
+ for (int16_t j = 0; j < repeat; j++) {
+ WRITE(TEENSY_E3, LOW); safe_delay(wait);
+ WRITE(TEENSY_E3, HIGH); safe_delay(wait);
+ WRITE(TEENSY_E3, LOW); safe_delay(wait);
+ }
+ }
+ else
+ #endif
+ {
+ pinMode(pin, OUTPUT);
+ for (int16_t j = 0; j < repeat; j++) {
+ digitalWrite(pin, 0); safe_delay(wait);
+ digitalWrite(pin, 1); safe_delay(wait);
+ digitalWrite(pin, 0); safe_delay(wait);
+ }
+ }
+
+ }
+ SERIAL_EOL();
+ }
+ SERIAL_ECHOLNPGM("Done.");
+
+} // toggle_pins
+
+inline void servo_probe_test() {
+ #if !(NUM_SERVOS > 0 && HAS_SERVO_0)
+
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("SERVO not setup");
+
+ #elif !HAS_Z_SERVO_ENDSTOP
+
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup");
+
+ #else // HAS_Z_SERVO_ENDSTOP
+
+ const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR);
+
+ SERIAL_PROTOCOLLNPGM("Servo probe test");
+ SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index);
+ SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]);
+ SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]);
+
+ bool probe_inverting;
+
+ #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
+
+ #define PROBE_TEST_PIN Z_MIN_PIN
+
+ SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN);
+ SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)");
+ SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: ");
+
+ #if Z_MIN_ENDSTOP_INVERTING
+ SERIAL_PROTOCOLLNPGM("true");
+ #else
+ SERIAL_PROTOCOLLNPGM("false");
+ #endif
+
+ probe_inverting = Z_MIN_ENDSTOP_INVERTING;
+
+ #elif ENABLED(Z_MIN_PROBE_ENDSTOP)
+
+ #define PROBE_TEST_PIN Z_MIN_PROBE_PIN
+ SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN);
+ SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)");
+ SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: ");
+
+ #if Z_MIN_PROBE_ENDSTOP_INVERTING
+ SERIAL_PROTOCOLLNPGM("true");
+ #else
+ SERIAL_PROTOCOLLNPGM("false");
+ #endif
+
+ probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING;
+
+ #endif
+
+ SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times");
+ SET_INPUT_PULLUP(PROBE_TEST_PIN);
+ bool deploy_state, stow_state;
+ for (uint8_t i = 0; i < 4; i++) {
+ MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
+ safe_delay(500);
+ deploy_state = READ(PROBE_TEST_PIN);
+ MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
+ safe_delay(500);
+ stow_state = READ(PROBE_TEST_PIN);
+ }
+ if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
+
+ refresh_cmd_timeout();
+
+ if (deploy_state != stow_state) {
+ SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
+ if (deploy_state) {
+ SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)");
+ SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)");
+ }
+ else {
+ SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)");
+ SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)");
+ }
+ #if ENABLED(BLTOUCH)
+ SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true.");
+ #endif
+
+ }
+ else { // measure active signal length
+ MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
+ safe_delay(500);
+ SERIAL_PROTOCOLLNPGM("please trigger probe");
+ uint16_t probe_counter = 0;
+
+ // Allow 30 seconds max for operator to trigger probe
+ for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) {
+
+ safe_delay(2);
+
+ if (0 == j % (500 * 1)) // keep cmd_timeout happy
+ refresh_cmd_timeout();
+
+ if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
+
+ for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter)
+ safe_delay(2);
+
+ if (probe_counter == 50)
+ SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
+ else if (probe_counter >= 2)
+ SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
+ else
+ SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
+
+ MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
+
+ } // pulse detected
+
+ } // for loop waiting for trigger
+
+ if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected");
+
+ } // measure active signal length
+
+ #endif
+
+} // servo_probe_test
+
+/**
+ * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report
+ *
+ * M43 - report name and state of pin(s)
+ * P<pin> Pin to read or watch. If omitted, reads all pins.
+ * I Flag to ignore Marlin's pin protection.
+ *
+ * M43 W - Watch pins -reporting changes- until reset, click, or M108.
+ * P<pin> Pin to read or watch. If omitted, read/watch all pins.
+ * I Flag to ignore Marlin's pin protection.
+ *
+ * M43 E<bool> - Enable / disable background endstop monitoring
+ * - Machine continues to operate
+ * - Reports changes to endstops
+ * - Toggles LED_PIN when an endstop changes
+ * - Can not reliably catch the 5mS pulse from BLTouch type probes
+ *
+ * M43 T - Toggle pin(s) and report which pin is being toggled
+ * S<pin> - Start Pin number. If not given, will default to 0
+ * L<pin> - End Pin number. If not given, will default to last pin defined for this board
+ * I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!!
+ * R - Repeat pulses on each pin this number of times before continueing to next pin
+ * W - Wait time (in miliseconds) between pulses. If not given will default to 500
+ *
+ * M43 S - Servo probe test
+ * P<index> - Probe index (optional - defaults to 0
+ */
+void gcode_M43() {
+
+ if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
+ toggle_pins();
+ return;
+ }
+
+ // Enable or disable endstop monitoring
+ if (parser.seen('E')) {
+ endstop_monitor_flag = parser.value_bool();
+ SERIAL_PROTOCOLPGM("endstop monitor ");
+ serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis"));
+ SERIAL_PROTOCOLLNPGM("abled");
+ return;
+ }
+
+ if (parser.seen('S')) {
+ servo_probe_test();
+ return;
+ }
+
+ // Get the range of pins to test or watch
+ const uint8_t first_pin = parser.byteval('P'),
+ last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1;
+
+ if (first_pin > last_pin) return;
+
+ const bool ignore_protection = parser.boolval('I');
+
+ // Watch until click, M108, or reset
+ if (parser.boolval('W')) {
+ SERIAL_PROTOCOLLNPGM("Watching pins");
+ uint8_t pin_state[last_pin - first_pin + 1];
+ for (int8_t pin = first_pin; pin <= last_pin; pin++) {
+ if (!VALID_PIN(pin)) continue;
+ if (pin_is_protected(pin) && !ignore_protection) continue;
+ pinMode(pin, INPUT_PULLUP);
+ delay(1);
+ /*
+ if (IS_ANALOG(pin))
+ pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...]
+ else
+ //*/
+ pin_state[pin - first_pin] = digitalRead(pin);
+ }
+
+ #if HAS_RESUME_CONTINUE
+ wait_for_user = true;
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ #endif
+
+ for (;;) {
+ for (int8_t pin = first_pin; pin <= last_pin; pin++) {
+ if (!VALID_PIN(pin)) continue;
+ if (pin_is_protected(pin) && !ignore_protection) continue;
+ const byte val =
+ /*
+ IS_ANALOG(pin)
+ ? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
+ :
+ //*/
+ digitalRead(pin);
+ if (val != pin_state[pin - first_pin]) {
+ report_pin_state_extended(pin, ignore_protection, false);
+ pin_state[pin - first_pin] = val;
+ }
+ }
+
+ #if HAS_RESUME_CONTINUE
+ if (!wait_for_user) {
+ KEEPALIVE_STATE(IN_HANDLER);
+ break;
+ }
+ #endif
+
+ safe_delay(200);
+ }
+ return;
+ }
+
+ // Report current state of selected pin(s)
+ for (uint8_t pin = first_pin; pin <= last_pin; pin++)
+ if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true);
+}
diff --git a/Marlin/src/gcode/config/M540.h b/Marlin/src/gcode/config/M540.h
new file mode 100644
index 0000000000000000000000000000000000000000..c12887ade359fcb0405835fbb5da03cd2e201fad
--- /dev/null
+++ b/Marlin/src/gcode/config/M540.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
+ */
+void gcode_M540() {
+ if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool();
+}
diff --git a/Marlin/src/gcode/config/M92.h b/Marlin/src/gcode/config/M92.h
new file mode 100644
index 0000000000000000000000000000000000000000..5c8cd33b91f1ad9a2a6771077ee646414468d49d
--- /dev/null
+++ b/Marlin/src/gcode/config/M92.h
@@ -0,0 +1,51 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
+ * (Follows the same syntax as G92)
+ *
+ * With multiple extruders use T to specify which one.
+ */
+void gcode_M92() {
+
+ GET_TARGET_EXTRUDER(92);
+
+ LOOP_XYZE(i) {
+ if (parser.seen(axis_codes[i])) {
+ if (i == E_AXIS) {
+ const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER));
+ if (value < 20.0) {
+ float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
+ planner.max_jerk[E_AXIS] *= factor;
+ planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
+ planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
+ }
+ planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
+ }
+ else {
+ planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i);
+ }
+ }
+ }
+ planner.refresh_positioning();
+}
diff --git a/Marlin/src/gcode/control/M108.h b/Marlin/src/gcode/control/M108.h
new file mode 100644
index 0000000000000000000000000000000000000000..e370f9421c37eb469928515cb69c62499dacac72
--- /dev/null
+++ b/Marlin/src/gcode/control/M108.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
+ */
+void gcode_M108() {
+
+ wait_for_heatup = false;
+
+}
diff --git a/Marlin/src/gcode/control/M111.h b/Marlin/src/gcode/control/M111.h
new file mode 100644
index 0000000000000000000000000000000000000000..748796da6535a114d15b5f1e61d6032848dde3a3
--- /dev/null
+++ b/Marlin/src/gcode/control/M111.h
@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M111: Set the debug level
+ */
+void gcode_M111() {
+ if (parser.seen('S')) marlin_debug_flags = parser.byteval('S');
+
+ const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO,
+ str_debug_2[] PROGMEM = MSG_DEBUG_INFO,
+ str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS,
+ str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN,
+ str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ , str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING
+ #endif
+ ;
+
+ const static char* const debug_strings[] PROGMEM = {
+ str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ , str_debug_32
+ #endif
+ };
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
+ if (marlin_debug_flags) {
+ uint8_t comma = 0;
+ for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
+ if (TEST(marlin_debug_flags, i)) {
+ if (comma++) SERIAL_CHAR(',');
+ serialprintPGM((char*)pgm_read_word(&debug_strings[i]));
+ }
+ }
+ }
+ else {
+ SERIAL_ECHOPGM(MSG_DEBUG_OFF);
+ }
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/control/M112.h b/Marlin/src/gcode/control/M112.h
new file mode 100644
index 0000000000000000000000000000000000000000..2f86ff12bff5c6f9d85f0f97b72c9e165bb62c4e
--- /dev/null
+++ b/Marlin/src/gcode/control/M112.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M112: Emergency Stop
+ */
+void gcode_M112() {
+
+ kill(PSTR(MSG_KILLED));
+
+}
diff --git a/Marlin/src/gcode/control/M120_M121.h b/Marlin/src/gcode/control/M120_M121.h
new file mode 100644
index 0000000000000000000000000000000000000000..4840a7a5aa356cce69d49f7039ea6e5ac1fccbca
--- /dev/null
+++ b/Marlin/src/gcode/control/M120_M121.h
@@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M120: Enable endstops and set non-homing endstop state to "enabled"
+ */
+void gcode_M120() {
+
+ endstops.enable_globally(true);
+
+}
+
+/**
+ * M121: Disable endstops and set non-homing endstop state to "disabled"
+ */
+void gcode_M121() {
+
+ endstops.enable_globally(false);
+
+}
diff --git a/Marlin/src/gcode/control/M17.h b/Marlin/src/gcode/control/M17.h
new file mode 100644
index 0000000000000000000000000000000000000000..7ed3d4862f003d8acb1cd8cb4621206c74ee3f3a
--- /dev/null
+++ b/Marlin/src/gcode/control/M17.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M17: Enable power on all stepper motors
+ */
+void gcode_M17() {
+ LCD_MESSAGEPGM(MSG_NO_MOVE);
+ enable_all_steppers();
+}
diff --git a/Marlin/src/gcode/control/M18_M84.h b/Marlin/src/gcode/control/M18_M84.h
new file mode 100644
index 0000000000000000000000000000000000000000..8d967446f5b30ed6f60ff33063fe79898804c0cb
--- /dev/null
+++ b/Marlin/src/gcode/control/M18_M84.h
@@ -0,0 +1,53 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD)
+ extern bool defer_return_to_status;
+#endif
+
+/**
+ * M18, M84: Disable stepper motors
+ */
+void gcode_M18_M84() {
+ if (parser.seenval('S')) {
+ stepper_inactive_time = parser.value_millis_from_seconds();
+ }
+ else {
+ bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E')));
+ if (all_axis) {
+ stepper.finish_and_disable();
+ }
+ else {
+ stepper.synchronize();
+ if (parser.seen('X')) disable_X();
+ if (parser.seen('Y')) disable_Y();
+ if (parser.seen('Z')) disable_Z();
+ #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS
+ if (parser.seen('E')) disable_e_steppers();
+ #endif
+ }
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
+ ubl_lcd_map_control = defer_return_to_status = false;
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/control/M211.h b/Marlin/src/gcode/control/M211.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c4d90de27269c2ec9c0d2bc146334e069a16ef4
--- /dev/null
+++ b/Marlin/src/gcode/control/M211.h
@@ -0,0 +1,46 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M211: Enable, Disable, and/or Report software endstops
+ *
+ * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
+ */
+void gcode_M211() {
+ SERIAL_ECHO_START();
+ #if HAS_SOFTWARE_ENDSTOPS
+ if (parser.seen('S')) soft_endstops_enabled = parser.value_bool();
+ SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
+ serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
+ #else
+ SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
+ SERIAL_ECHOPGM(MSG_OFF);
+ #endif
+ SERIAL_ECHOPGM(MSG_SOFT_MIN);
+ SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
+ SERIAL_ECHOPGM(MSG_SOFT_MAX);
+ SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
+ SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
+}
diff --git a/Marlin/src/gcode/control/M226.h b/Marlin/src/gcode/control/M226.h
new file mode 100644
index 0000000000000000000000000000000000000000..003590f91097735286e512fd5d123698a879e3cf
--- /dev/null
+++ b/Marlin/src/gcode/control/M226.h
@@ -0,0 +1,54 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
+ */
+void gcode_M226() {
+ if (parser.seen('P')) {
+ const int pin_number = parser.value_int(),
+ pin_state = parser.intval('S', -1); // required pin state - default is inverted
+
+ if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) {
+
+ int target = LOW;
+
+ stepper.synchronize();
+
+ pinMode(pin_number, INPUT);
+ switch (pin_state) {
+ case 1:
+ target = HIGH;
+ break;
+ case 0:
+ target = LOW;
+ break;
+ case -1:
+ target = !digitalRead(pin_number);
+ break;
+ }
+
+ while (digitalRead(pin_number) != target) idle();
+
+ } // pin_state -1 0 1 && pin_number > -1
+ } // parser.seen('P')
+}
diff --git a/Marlin/src/gcode/control/M280.h b/Marlin/src/gcode/control/M280.h
new file mode 100644
index 0000000000000000000000000000000000000000..b61c6f59be2fb1133a3d05308eedcfb7d817b820
--- /dev/null
+++ b/Marlin/src/gcode/control/M280.h
@@ -0,0 +1,43 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M280: Get or set servo position. P<index> [S<angle>]
+ */
+void gcode_M280() {
+ if (!parser.seen('P')) return;
+ const int servo_index = parser.value_int();
+ if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) {
+ if (parser.seen('S'))
+ MOVE_SERVO(servo_index, parser.value_int());
+ else {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPAIR(" Servo ", servo_index);
+ SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
+ }
+ }
+ else {
+ SERIAL_ERROR_START();
+ SERIAL_ECHOPAIR("Servo ", servo_index);
+ SERIAL_ECHOLNPGM(" out of range");
+ }
+}
diff --git a/Marlin/src/gcode/control/M3-M5.h b/Marlin/src/gcode/control/M3-M5.h
new file mode 100644
index 0000000000000000000000000000000000000000..c45cf9f720dde97e8c1a824098aeac6b6509e078
--- /dev/null
+++ b/Marlin/src/gcode/control/M3-M5.h
@@ -0,0 +1,127 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M3: Spindle Clockwise
+ * M4: Spindle Counter-clockwise
+ *
+ * S0 turns off spindle.
+ *
+ * If no speed PWM output is defined then M3/M4 just turns it on.
+ *
+ * At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
+ * Hardware PWM is required. ISRs are too slow.
+ *
+ * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
+ * No other settings give a PWM signal that goes from 0 to 5 volts.
+ *
+ * The system automatically sets WGM to Mode 1, so no special
+ * initialization is needed.
+ *
+ * WGM bits for timer 2 are automatically set by the system to
+ * Mode 1. This produces an acceptable 0 to 5 volt signal.
+ * No special initialization is needed.
+ *
+ * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
+ * factors for timers 2, 3, 4, and 5 are acceptable.
+ *
+ * SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
+ * the spindle/laser during power-up or when connecting to the host
+ * (usually goes through a reset which sets all I/O pins to tri-state)
+ *
+ * PWM duty cycle goes from 0 (off) to 255 (always on).
+ */
+
+// Wait for spindle to come up to speed
+inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); }
+
+// Wait for spindle to stop turning
+inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); }
+
+/**
+ * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
+ *
+ * it accepts inputs of 0-255
+ */
+
+inline void ocr_val_mode() {
+ uint8_t spindle_laser_power = parser.value_byte();
+ WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
+ if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power;
+ analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power);
+}
+
+void gcode_M3_M4(bool is_M3) {
+
+ stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
+ #if SPINDLE_DIR_CHANGE
+ const bool rotation_dir = (is_M3 != SPINDLE_INVERT_DIR);
+ if (SPINDLE_STOP_ON_DIR_CHANGE \
+ && READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \
+ && READ(SPINDLE_DIR_PIN) != rotation_dir
+ ) {
+ WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
+ delay_for_power_down();
+ }
+ WRITE(SPINDLE_DIR_PIN, rotation_dir);
+ #endif
+
+ /**
+ * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
+ * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
+ * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
+ */
+ #if ENABLED(SPINDLE_LASER_PWM)
+ if (parser.seen('O')) ocr_val_mode();
+ else {
+ const float spindle_laser_power = parser.floatval('S');
+ if (spindle_laser_power == 0) {
+ WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
+ delay_for_power_down();
+ }
+ else {
+ int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
+ NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
+ if (spindle_laser_power <= SPEED_POWER_MIN)
+ ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
+ if (spindle_laser_power >= SPEED_POWER_MAX)
+ ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
+ if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val;
+ WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
+ analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
+ delay_for_power_up();
+ }
+ }
+ #else
+ WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
+ delay_for_power_up();
+ #endif
+}
+
+/**
+* M5 turn off spindle
+*/
+void gcode_M5() {
+ stepper.synchronize();
+ WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
+ delay_for_power_down();
+}
diff --git a/Marlin/src/gcode/control/M350.h b/Marlin/src/gcode/control/M350.h
new file mode 100644
index 0000000000000000000000000000000000000000..32fdb977828b4f88ab02057079bad3197fe2e013
--- /dev/null
+++ b/Marlin/src/gcode/control/M350.h
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M350: Set axis microstepping modes. S sets mode for all drivers.
+ *
+ * Warning: Steps-per-unit remains unchanged.
+ */
+void gcode_M350() {
+ if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte());
+ LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte());
+ if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte());
+ stepper.microstep_readings();
+}
diff --git a/Marlin/src/gcode/control/M351.h b/Marlin/src/gcode/control/M351.h
new file mode 100644
index 0000000000000000000000000000000000000000..1a8b2e6fd3ac5b9a1598d4378681b42c5f3358b5
--- /dev/null
+++ b/Marlin/src/gcode/control/M351.h
@@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * 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.
+ */
+void gcode_M351() {
+ if (parser.seenval('S')) switch (parser.value_byte()) {
+ case 1:
+ LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1);
+ if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1);
+ break;
+ case 2:
+ LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte());
+ if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte());
+ break;
+ }
+ stepper.microstep_readings();
+}
diff --git a/Marlin/src/gcode/control/M380_M381.h b/Marlin/src/gcode/control/M380_M381.h
new file mode 100644
index 0000000000000000000000000000000000000000..dfa056254e335ee24927b084973e93c4db11ee3e
--- /dev/null
+++ b/Marlin/src/gcode/control/M380_M381.h
@@ -0,0 +1,93 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(EXT_SOLENOID)
+
+void enable_solenoid(const uint8_t num) {
+ switch (num) {
+ case 0:
+ OUT_WRITE(SOL0_PIN, HIGH);
+ break;
+ #if HAS_SOLENOID_1 && EXTRUDERS > 1
+ case 1:
+ OUT_WRITE(SOL1_PIN, HIGH);
+ break;
+ #endif
+ #if HAS_SOLENOID_2 && EXTRUDERS > 2
+ case 2:
+ OUT_WRITE(SOL2_PIN, HIGH);
+ break;
+ #endif
+ #if HAS_SOLENOID_3 && EXTRUDERS > 3
+ case 3:
+ OUT_WRITE(SOL3_PIN, HIGH);
+ break;
+ #endif
+ #if HAS_SOLENOID_4 && EXTRUDERS > 4
+ case 4:
+ OUT_WRITE(SOL4_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);
+ #if HAS_SOLENOID_1 && EXTRUDERS > 1
+ OUT_WRITE(SOL1_PIN, LOW);
+ #endif
+ #if HAS_SOLENOID_2 && EXTRUDERS > 2
+ OUT_WRITE(SOL2_PIN, LOW);
+ #endif
+ #if HAS_SOLENOID_3 && EXTRUDERS > 3
+ OUT_WRITE(SOL3_PIN, LOW);
+ #endif
+ #if HAS_SOLENOID_4 && EXTRUDERS > 4
+ OUT_WRITE(SOL4_PIN, LOW);
+ #endif
+}
+
+/**
+ * M380: Enable solenoid on the active extruder
+ */
+void gcode_M380() {
+
+ enable_solenoid_on_active_extruder();
+
+}
+
+/**
+ * M381: Disable all solenoids
+ */
+void gcode_M381() {
+
+ disable_all_solenoids();
+
+}
+
+#endif // EXT_SOLENOID
diff --git a/Marlin/src/gcode/control/M400.h b/Marlin/src/gcode/control/M400.h
new file mode 100644
index 0000000000000000000000000000000000000000..d785c865bf543198aef6551cc1b7c3e16c2d7747
--- /dev/null
+++ b/Marlin/src/gcode/control/M400.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M400: Finish all moves
+ */
+void gcode_M400() {
+
+ stepper.synchronize();
+
+}
diff --git a/Marlin/src/gcode/control/M410.h b/Marlin/src/gcode/control/M410.h
new file mode 100644
index 0000000000000000000000000000000000000000..b023ddec6e0014454f8e65211787c1e022a691d6
--- /dev/null
+++ b/Marlin/src/gcode/control/M410.h
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M410: Quickstop - Abort all planned moves
+ *
+ * This will stop the carriages mid-move, so most likely they
+ * will be out of sync with the stepper position after this.
+ */
+void gcode_M410() {
+
+ quickstop_stepper();
+
+}
diff --git a/Marlin/src/gcode/control/M42.h b/Marlin/src/gcode/control/M42.h
new file mode 100644
index 0000000000000000000000000000000000000000..ec559d691115adda184e17e81db5d770a9359321
--- /dev/null
+++ b/Marlin/src/gcode/control/M42.h
@@ -0,0 +1,59 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M42: Change pin status via GCode
+ *
+ * P<pin> Pin number (LED if omitted)
+ * S<byte> Pin status from 0 - 255
+ */
+void gcode_M42() {
+ if (!parser.seenval('S')) return;
+ const byte pin_status = parser.value_byte();
+
+ const int pin_number = parser.intval('P', LED_PIN);
+ if (pin_number < 0) return;
+
+ if (pin_is_protected(pin_number)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
+ return;
+ }
+
+ pinMode(pin_number, OUTPUT);
+ digitalWrite(pin_number, pin_status);
+ analogWrite(pin_number, pin_status);
+
+ #if FAN_COUNT > 0
+ switch (pin_number) {
+ #if HAS_FAN0
+ case FAN_PIN: fanSpeeds[0] = pin_status; break;
+ #endif
+ #if HAS_FAN1
+ case FAN1_PIN: fanSpeeds[1] = pin_status; break;
+ #endif
+ #if HAS_FAN2
+ case FAN2_PIN: fanSpeeds[2] = pin_status; break;
+ #endif
+ }
+ #endif
+}
diff --git a/Marlin/src/gcode/control/M605.h b/Marlin/src/gcode/control/M605.h
new file mode 100644
index 0000000000000000000000000000000000000000..ab423ab609e2233bd05371968e8905665c978d04
--- /dev/null
+++ b/Marlin/src/gcode/control/M605.h
@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(DUAL_X_CARRIAGE)
+
+ /**
+ * M605: Set dual x-carriage movement mode
+ *
+ * M605 S0: Full control mode. The slicer has full control over x-carriage movement
+ * M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
+ * M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
+ * units x-offset and an optional differential hotend temperature of
+ * mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
+ * the first with a spacing of 100mm in the x direction and 2 degrees hotter.
+ *
+ * Note: the X axis should be homed after changing dual x-carriage mode.
+ */
+ void gcode_M605() {
+ stepper.synchronize();
+ if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte();
+ switch (dual_x_carriage_mode) {
+ case DXC_FULL_CONTROL_MODE:
+ case DXC_AUTO_PARK_MODE:
+ break;
+ case DXC_DUPLICATION_MODE:
+ if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0));
+ if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff();
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+ SERIAL_CHAR(' ');
+ SERIAL_ECHO(hotend_offset[X_AXIS][0]);
+ SERIAL_CHAR(',');
+ SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
+ SERIAL_CHAR(' ');
+ SERIAL_ECHO(duplicate_extruder_x_offset);
+ SERIAL_CHAR(',');
+ SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
+ break;
+ default:
+ dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
+ break;
+ }
+ active_extruder_parked = false;
+ extruder_duplication_enabled = false;
+ delayed_move_time = 0;
+ }
+
+#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+
+ void gcode_M605() {
+ stepper.synchronize();
+ extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE;
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
+ }
+
+#endif // DUAL_NOZZLE_DUPLICATION_MODE
diff --git a/Marlin/src/gcode/control/M80.h b/Marlin/src/gcode/control/M80.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f6a2775a02c8c0d616ef5e74edc346b792a06f5
--- /dev/null
+++ b/Marlin/src/gcode/control/M80.h
@@ -0,0 +1,56 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M80 : Turn on the Power Supply
+ * M80 S : Report the current state and exit
+ */
+void gcode_M80() {
+
+ // S: Report the current power supply state and exit
+ if (parser.seen('S')) {
+ serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n"));
+ return;
+ }
+
+ OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
+
+ /**
+ * If you have a switch on suicide pin, this is useful
+ * if you want to start another print with suicide feature after
+ * a print without suicide...
+ */
+ #if HAS_SUICIDE
+ OUT_WRITE(SUICIDE_PIN, HIGH);
+ #endif
+
+ #if ENABLED(HAVE_TMC2130)
+ delay(100);
+ tmc2130_init(); // Settings only stick when the driver has power
+ #endif
+
+ powersupply_on = true;
+
+ #if ENABLED(ULTIPANEL)
+ LCD_MESSAGEPGM(WELCOME_MSG);
+ #endif
+}
diff --git a/Marlin/src/gcode/control/M81.h b/Marlin/src/gcode/control/M81.h
new file mode 100644
index 0000000000000000000000000000000000000000..9944eced2cba8270c0f08c5a7544c7a1d570b6c8
--- /dev/null
+++ b/Marlin/src/gcode/control/M81.h
@@ -0,0 +1,53 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M81: Turn off Power, including Power Supply, if there is one.
+ *
+ * This code should ALWAYS be available for EMERGENCY SHUTDOWN!
+ */
+void gcode_M81() {
+ thermalManager.disable_all_heaters();
+ stepper.finish_and_disable();
+
+ #if FAN_COUNT > 0
+ for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
+ #if ENABLED(PROBING_FANS_OFF)
+ fans_paused = false;
+ ZERO(paused_fanSpeeds);
+ #endif
+ #endif
+
+ safe_delay(1000); // Wait 1 second before switching off
+
+ #if HAS_SUICIDE
+ stepper.synchronize();
+ suicide();
+ #elif HAS_POWER_SWITCH
+ OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
+ powersupply_on = false;
+ #endif
+
+ #if ENABLED(ULTIPANEL)
+ LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
+ #endif
+}
diff --git a/Marlin/src/gcode/control/M85.h b/Marlin/src/gcode/control/M85.h
new file mode 100644
index 0000000000000000000000000000000000000000..4570e66fed011853a6e3a24bf8e44af41bafdacb
--- /dev/null
+++ b/Marlin/src/gcode/control/M85.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+ */
+void gcode_M85() {
+
+ if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds();
+
+}
+
diff --git a/Marlin/src/gcode/control/M999.h b/Marlin/src/gcode/control/M999.h
new file mode 100644
index 0000000000000000000000000000000000000000..b8d60427a274383bdfa8a3be6c2532822cf44767
--- /dev/null
+++ b/Marlin/src/gcode/control/M999.h
@@ -0,0 +1,41 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M999: Restart after being stopped
+ *
+ * Default behaviour is to flush the serial buffer and request
+ * a resend to the host starting on the last N line received.
+ *
+ * Sending "M999 S1" will resume printing without flushing the
+ * existing command buffer.
+ *
+ */
+void gcode_M999() {
+ Running = true;
+ lcd_reset_alert_level();
+
+ if (parser.boolval('S')) return;
+
+ // gcode_LastN = Stopped_gcode_LastN;
+ FlushSerialRequestResend();
+}
diff --git a/Marlin/src/gcode/control/T.h b/Marlin/src/gcode/control/T.h
new file mode 100644
index 0000000000000000000000000000000000000000..e45af907eb2744c1f21d28be9f22b85be2d29824
--- /dev/null
+++ b/Marlin/src/gcode/control/T.h
@@ -0,0 +1,62 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../module/tool_change.h"
+
+/**
+ * T0-T3: Switch tool, usually switching extruders
+ *
+ * F[units/min] Set the movement feedrate
+ * S1 Don't move the tool in XY after change
+ */
+void gcode_T(uint8_t tmp_extruder) {
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
+ SERIAL_CHAR(')');
+ SERIAL_EOL();
+ DEBUG_POS("BEFORE", current_position);
+ }
+ #endif
+
+ #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
+
+ tool_change(tmp_extruder);
+
+ #elif HOTENDS > 1
+
+ tool_change(
+ tmp_extruder,
+ MMM_TO_MMS(parser.linearval('F')),
+ (tmp_extruder == active_extruder) || parser.boolval('S')
+ );
+
+ #endif
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ DEBUG_POS("AFTER", current_position);
+ SERIAL_ECHOLNPGM("<<< gcode_T");
+ }
+ #endif
+}
diff --git a/Marlin/src/gcode/eeprom/M500.h b/Marlin/src/gcode/eeprom/M500.h
new file mode 100644
index 0000000000000000000000000000000000000000..122e1f0997a89fe8217844696b5fd99e40c90f19
--- /dev/null
+++ b/Marlin/src/gcode/eeprom/M500.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M500: Store settings in EEPROM
+ */
+void gcode_M500() {
+ (void)settings.save();
+}
diff --git a/Marlin/src/gcode/eeprom/M501.h b/Marlin/src/gcode/eeprom/M501.h
new file mode 100644
index 0000000000000000000000000000000000000000..5cae9e0592ed6b98ba07ead17fb01697ecf275d0
--- /dev/null
+++ b/Marlin/src/gcode/eeprom/M501.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M501: Read settings from EEPROM
+ */
+void gcode_M501() {
+ (void)settings.load();
+}
diff --git a/Marlin/src/gcode/eeprom/M502.h b/Marlin/src/gcode/eeprom/M502.h
new file mode 100644
index 0000000000000000000000000000000000000000..0482b60fff8324664bcabfe5badb312cbdd7536e
--- /dev/null
+++ b/Marlin/src/gcode/eeprom/M502.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M502: Revert to default settings
+ */
+void gcode_M502() {
+ (void)settings.reset();
+}
diff --git a/Marlin/src/gcode/eeprom/M503.h b/Marlin/src/gcode/eeprom/M503.h
new file mode 100644
index 0000000000000000000000000000000000000000..fe14574616f3e6a1c1597a60f05e0b27a85de1c4
--- /dev/null
+++ b/Marlin/src/gcode/eeprom/M503.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M503: print settings currently in memory
+ */
+void gcode_M503() {
+ (void)settings.report(!parser.boolval('S', true));
+}
diff --git a/Marlin/src/gcode/feature/advance/M900.h b/Marlin/src/gcode/feature/advance/M900.h
new file mode 100644
index 0000000000000000000000000000000000000000..c5734943ccf1bc99a2afabe3053f7731d54a7844
--- /dev/null
+++ b/Marlin/src/gcode/feature/advance/M900.h
@@ -0,0 +1,52 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M900: Set and/or Get advance K factor and WH/D ratio
+ *
+ * K<factor> Set advance K factor
+ * R<ratio> Set ratio directly (overrides WH/D)
+ * W<width> H<height> D<diam> Set ratio from WH/D
+ */
+void gcode_M900() {
+ stepper.synchronize();
+
+ const float newK = parser.floatval('K', -1);
+ if (newK >= 0) planner.extruder_advance_k = newK;
+
+ float newR = parser.floatval('R', -1);
+ if (newR < 0) {
+ const float newD = parser.floatval('D', -1),
+ newW = parser.floatval('W', -1),
+ newH = parser.floatval('H', -1);
+ if (newD >= 0 && newW >= 0 && newH >= 0)
+ newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
+ }
+ if (newR >= 0) planner.advance_ed_ratio = newR;
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
+ SERIAL_ECHOPGM(" E/D=");
+ const float ratio = planner.advance_ed_ratio;
+ if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/feature/baricuda/M126.h b/Marlin/src/gcode/feature/baricuda/M126.h
new file mode 100644
index 0000000000000000000000000000000000000000..2543273ecd9fe06b7c84c71ab9e3590887d7ada6
--- /dev/null
+++ b/Marlin/src/gcode/feature/baricuda/M126.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M126: Heater 1 valve open
+ */
+void gcode_M126() {
+
+ baricuda_valve_pressure = parser.byteval('S', 255);
+
+}
diff --git a/Marlin/src/gcode/feature/baricuda/M127.h b/Marlin/src/gcode/feature/baricuda/M127.h
new file mode 100644
index 0000000000000000000000000000000000000000..1fb1202beabb47acb65476890c066d7579b57aa7
--- /dev/null
+++ b/Marlin/src/gcode/feature/baricuda/M127.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M127: Heater 1 valve close
+ */
+void gcode_M127() {
+
+ baricuda_valve_pressure = 0;
+
+}
diff --git a/Marlin/src/gcode/feature/baricuda/M128.h b/Marlin/src/gcode/feature/baricuda/M128.h
new file mode 100644
index 0000000000000000000000000000000000000000..5a7e7823b507af63b8d171e77438e90603d4ad2f
--- /dev/null
+++ b/Marlin/src/gcode/feature/baricuda/M128.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M128: Heater 2 valve open
+ */
+void gcode_M128() {
+
+ baricuda_e_to_p_pressure = parser.byteval('S', 255);
+
+}
diff --git a/Marlin/src/gcode/feature/baricuda/M129.h b/Marlin/src/gcode/feature/baricuda/M129.h
new file mode 100644
index 0000000000000000000000000000000000000000..2401fd6fbe9dc099bcaf5ad9b497baf55c3ed7c7
--- /dev/null
+++ b/Marlin/src/gcode/feature/baricuda/M129.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M129: Heater 2 valve close
+ */
+void gcode_M129() {
+
+ baricuda_e_to_p_pressure = 0;
+
+}
diff --git a/Marlin/src/gcode/feature/camera/M240.h b/Marlin/src/gcode/feature/camera/M240.h
new file mode 100644
index 0000000000000000000000000000000000000000..31210a3d66276f7d88515ebd0bbfa37127f66ea2
--- /dev/null
+++ b/Marlin/src/gcode/feature/camera/M240.h
@@ -0,0 +1,53 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M240: Trigger a camera by emulating a Canon RC-1
+ * See http://www.doc-diy.net/photo/rc-1_hacked/
+ */
+void gcode_M240() {
+ #ifdef CHDK
+
+ OUT_WRITE(CHDK, HIGH);
+ chdkHigh = millis();
+ chdkActive = true;
+
+ #elif HAS_PHOTOGRAPH
+
+ const uint8_t NUM_PULSES = 16;
+ const float PULSE_LENGTH = 0.01524;
+ for (int i = 0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+ delay(7.33);
+ for (int i = 0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/caselight/M355.h b/Marlin/src/gcode/feature/caselight/M355.h
new file mode 100644
index 0000000000000000000000000000000000000000..4a8edaf8af947c24d2aedfc65c9fb30cd3bd4fe2
--- /dev/null
+++ b/Marlin/src/gcode/feature/caselight/M355.h
@@ -0,0 +1,77 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if HAS_CASE_LIGHT
+
+ #ifndef INVERT_CASE_LIGHT
+ #define INVERT_CASE_LIGHT false
+ #endif
+ int case_light_brightness; // LCD routine wants INT
+ bool case_light_on;
+
+ void update_case_light() {
+ pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
+ uint8_t case_light_bright = (uint8_t)case_light_brightness;
+ if (case_light_on) {
+ if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
+ analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness );
+ }
+ else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH);
+ }
+ else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW);
+ }
+
+#endif // HAS_CASE_LIGHT
+
+/**
+ * M355: Turn case light on/off and set brightness
+ *
+ * P<byte> Set case light brightness (PWM pin required - ignored otherwise)
+ *
+ * S<bool> Set case light on/off
+ *
+ * When S turns on the light on a PWM pin then the current brightness level is used/restored
+ *
+ * M355 P200 S0 turns off the light & sets the brightness level
+ * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
+ */
+void gcode_M355() {
+ #if HAS_CASE_LIGHT
+ uint8_t args = 0;
+ if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
+ if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
+ if (args) update_case_light();
+
+ // always report case light status
+ SERIAL_ECHO_START();
+ if (!case_light_on) {
+ SERIAL_ECHOLN("Case light: off");
+ }
+ else {
+ if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on");
+ else SERIAL_ECHOLNPAIR("Case light: ", case_light_brightness);
+ }
+ #else
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/clean/G12.h b/Marlin/src/gcode/feature/clean/G12.h
new file mode 100644
index 0000000000000000000000000000000000000000..35dea1220d34edbd68edc8829c87ee38c751e145
--- /dev/null
+++ b/Marlin/src/gcode/feature/clean/G12.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G12: Clean the nozzle
+ */
+void gcode_G12() {
+ // Don't allow nozzle cleaning without homing first
+ if (axis_unhomed_error()) return;
+
+ const uint8_t pattern = parser.ushortval('P', 0),
+ strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
+ objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
+ const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
+
+ Nozzle::clean(pattern, strokes, radius, objects);
+}
diff --git a/Marlin/src/gcode/feature/digipot/M907.h b/Marlin/src/gcode/feature/digipot/M907.h
new file mode 100644
index 0000000000000000000000000000000000000000..ebd4aa4c8823975f682940bd65df64ed5103a586
--- /dev/null
+++ b/Marlin/src/gcode/feature/digipot/M907.h
@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
+ */
+void gcode_M907() {
+ #if HAS_DIGIPOTSS
+
+ LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
+ if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
+ if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
+
+ #elif HAS_MOTOR_CURRENT_PWM
+
+ #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
+ if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
+ #endif
+ #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
+ if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
+ #endif
+ #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
+ if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
+ #endif
+
+ #endif
+
+ #if ENABLED(DIGIPOT_I2C)
+ // this one uses actual amps in floating point
+ LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
+ // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
+ for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
+ #endif
+
+ #if ENABLED(DAC_STEPPER_CURRENT)
+ if (parser.seen('S')) {
+ const float dac_percent = parser.value_float();
+ for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
+ }
+ LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/digipot/M908.h b/Marlin/src/gcode/feature/digipot/M908.h
new file mode 100644
index 0000000000000000000000000000000000000000..f646fbd29732e0f027d83c9e81f2216edcfd1437
--- /dev/null
+++ b/Marlin/src/gcode/feature/digipot/M908.h
@@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M908: Control digital trimpot directly (M908 P<pin> S<current>)
+ */
+void gcode_M908() {
+ #if HAS_DIGIPOTSS
+ stepper.digitalPotWrite(
+ parser.intval('P'),
+ parser.intval('S')
+ );
+ #endif
+ #ifdef DAC_STEPPER_CURRENT
+ dac_current_raw(
+ parser.byteval('P', -1),
+ parser.ushortval('S', 0)
+ );
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/digipot/M909.h b/Marlin/src/gcode/feature/digipot/M909.h
new file mode 100644
index 0000000000000000000000000000000000000000..63951ce2afa9b82458f5a2e7e4456ce652d0f40e
--- /dev/null
+++ b/Marlin/src/gcode/feature/digipot/M909.h
@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M909() {
+
+ dac_print_values();
+
+}
diff --git a/Marlin/src/gcode/feature/digipot/M910.h b/Marlin/src/gcode/feature/digipot/M910.h
new file mode 100644
index 0000000000000000000000000000000000000000..4abe7972c3658dd131cd989364835c169d3678ef
--- /dev/null
+++ b/Marlin/src/gcode/feature/digipot/M910.h
@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M910() {
+
+ dac_commit_eeprom();
+
+}
diff --git a/Marlin/src/gcode/feature/fwretract/G10_G11.h b/Marlin/src/gcode/feature/fwretract/G10_G11.h
new file mode 100644
index 0000000000000000000000000000000000000000..be8df503953dfb3f01fa6b830d8e4376a5686e36
--- /dev/null
+++ b/Marlin/src/gcode/feature/fwretract/G10_G11.h
@@ -0,0 +1,41 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G10 - Retract filament according to settings of M207
+ */
+void gcode_G10() {
+ #if EXTRUDERS > 1
+ const bool rs = parser.boolval('S');
+ retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
+ #endif
+ retract(true
+ #if EXTRUDERS > 1
+ , rs
+ #endif
+ );
+}
+
+/**
+ * G11 - Recover filament according to settings of M208
+ */
+void gcode_G11() { retract(false); }
diff --git a/Marlin/src/gcode/feature/fwretract/M207.h b/Marlin/src/gcode/feature/fwretract/M207.h
new file mode 100644
index 0000000000000000000000000000000000000000..07ca82e334a605a91a47760badd6bbdf5a0938e3
--- /dev/null
+++ b/Marlin/src/gcode/feature/fwretract/M207.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M207: Set firmware retraction values
+ *
+ * S[+units] retract_length
+ * W[+units] swap_retract_length (multi-extruder)
+ * F[units/min] retract_feedrate_mm_s
+ * Z[units] retract_zlift
+ */
+void gcode_M207() {
+ if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
+ if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+ if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
+ if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
+}
diff --git a/Marlin/src/gcode/feature/fwretract/M208.h b/Marlin/src/gcode/feature/fwretract/M208.h
new file mode 100644
index 0000000000000000000000000000000000000000..c5cabb71482f14e25ab01563fb8923c5483c490e
--- /dev/null
+++ b/Marlin/src/gcode/feature/fwretract/M208.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M208: Set firmware un-retraction values
+ *
+ * S[+units] retract_recover_length (in addition to M207 S*)
+ * W[+units] swap_retract_recover_length (multi-extruder)
+ * F[units/min] retract_recover_feedrate_mm_s
+ * R[units/min] swap_retract_recover_feedrate_mm_s
+ */
+void gcode_M208() {
+ if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
+ if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+ if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+ if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
+}
diff --git a/Marlin/src/gcode/feature/fwretract/M209.h b/Marlin/src/gcode/feature/fwretract/M209.h
new file mode 100644
index 0000000000000000000000000000000000000000..9e92d100cca49dcccb6908255627409f565dd805
--- /dev/null
+++ b/Marlin/src/gcode/feature/fwretract/M209.h
@@ -0,0 +1,35 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M209: Enable automatic retract (M209 S1)
+ * For slicers that don't support G10/11, reversed extrude-only
+ * moves will be classified as retraction.
+ */
+void gcode_M209() {
+ if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
+ if (parser.seen('S')) {
+ autoretract_enabled = parser.value_bool();
+ for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
+ }
+ }
+}
diff --git a/Marlin/src/gcode/feature/i2c/M260_M261.h b/Marlin/src/gcode/feature/i2c/M260_M261.h
new file mode 100644
index 0000000000000000000000000000000000000000..c66d19c52b141b4653b38bb725636ba967da2c48
--- /dev/null
+++ b/Marlin/src/gcode/feature/i2c/M260_M261.h
@@ -0,0 +1,70 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M260: Send data to a I2C slave device
+ *
+ * This is a PoC, the formating and arguments for the GCODE will
+ * change to be more compatible, the current proposal is:
+ *
+ * M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
+ *
+ * M260 B<byte-1 value in base 10>
+ * M260 B<byte-2 value in base 10>
+ * M260 B<byte-3 value in base 10>
+ *
+ * M260 S1 ; Send the buffered data and reset the buffer
+ * M260 R1 ; Reset the buffer without sending data
+ *
+ */
+void gcode_M260() {
+ // Set the target address
+ if (parser.seen('A')) i2c.address(parser.value_byte());
+
+ // Add a new byte to the buffer
+ if (parser.seen('B')) i2c.addbyte(parser.value_byte());
+
+ // Flush the buffer to the bus
+ if (parser.seen('S')) i2c.send();
+
+ // Reset and rewind the buffer
+ else if (parser.seen('R')) i2c.reset();
+}
+
+/**
+ * M261: Request X bytes from I2C slave device
+ *
+ * Usage: M261 A<slave device address base 10> B<number of bytes>
+ */
+void gcode_M261() {
+ if (parser.seen('A')) i2c.address(parser.value_byte());
+
+ uint8_t bytes = parser.byteval('B', 1);
+
+ if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
+ i2c.relay(bytes);
+ }
+ else {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLN("Bad i2c request");
+ }
+}
diff --git a/Marlin/src/gcode/feature/leds/M150.h b/Marlin/src/gcode/feature/leds/M150.h
new file mode 100644
index 0000000000000000000000000000000000000000..210616ea747ef5d70ef6711f3621569e398c3106
--- /dev/null
+++ b/Marlin/src/gcode/feature/leds/M150.h
@@ -0,0 +1,46 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
+ *
+ * Always sets all 3 or 4 components. If a component is left out, set to 0.
+ *
+ * Examples:
+ *
+ * M150 R255 ; Turn LED red
+ * M150 R255 U127 ; Turn LED orange (PWM only)
+ * M150 ; Turn LED off
+ * M150 R U B ; Turn LED white
+ * M150 W ; Turn LED white using a white LED
+ *
+ */
+void gcode_M150() {
+ set_led_color(
+ parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
+ parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
+ parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
+ #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED)
+ , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0
+ #endif
+ );
+}
diff --git a/Marlin/src/gcode/feature/mixing/M163.h b/Marlin/src/gcode/feature/mixing/M163.h
new file mode 100644
index 0000000000000000000000000000000000000000..5dd8df48157f8127ca6e38989395f34bb1ef22e4
--- /dev/null
+++ b/Marlin/src/gcode/feature/mixing/M163.h
@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M163: Set a single mix factor for a mixing extruder
+ * This is called "weight" by some systems.
+ *
+ * S[index] The channel index to set
+ * P[float] The mix value
+ *
+ */
+void gcode_M163() {
+ const int mix_index = parser.intval('S');
+ if (mix_index < MIXING_STEPPERS) {
+ float mix_value = parser.floatval('P');
+ NOLESS(mix_value, 0.0);
+ mixing_factor[mix_index] = RECIPROCAL(mix_value);
+ }
+}
diff --git a/Marlin/src/gcode/feature/mixing/M164.h b/Marlin/src/gcode/feature/mixing/M164.h
new file mode 100644
index 0000000000000000000000000000000000000000..07176766db9579a6a4505a588f3c0840696bb37c
--- /dev/null
+++ b/Marlin/src/gcode/feature/mixing/M164.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M164: Store the current mix factors as a virtual tool.
+ *
+ * S[index] The virtual tool to store
+ *
+ */
+void gcode_M164() {
+ const int tool_index = parser.intval('S');
+ if (tool_index < MIXING_VIRTUAL_TOOLS) {
+ normalize_mix();
+ for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+ mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
+ }
+}
diff --git a/Marlin/src/gcode/feature/mixing/M165.h b/Marlin/src/gcode/feature/mixing/M165.h
new file mode 100644
index 0000000000000000000000000000000000000000..4c758912957a96a6ce8b8cf284ec5c34d7ddbaaa
--- /dev/null
+++ b/Marlin/src/gcode/feature/mixing/M165.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M165: Set multiple mix factors for a mixing extruder.
+ * Factors that are left out will be set to 0.
+ * All factors together must add up to 1.0.
+ *
+ * A[factor] Mix factor for extruder stepper 1
+ * B[factor] Mix factor for extruder stepper 2
+ * C[factor] Mix factor for extruder stepper 3
+ * D[factor] Mix factor for extruder stepper 4
+ * H[factor] Mix factor for extruder stepper 5
+ * I[factor] Mix factor for extruder stepper 6
+ *
+ */
+void gcode_M165() { gcode_get_mix(); }
diff --git a/Marlin/src/gcode/feature/pause/G27.h b/Marlin/src/gcode/feature/pause/G27.h
new file mode 100644
index 0000000000000000000000000000000000000000..2c61449821a8c20afb8d56f58616f750a9ba73ff
--- /dev/null
+++ b/Marlin/src/gcode/feature/pause/G27.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G27: Park the nozzle
+ */
+void gcode_G27() {
+ // Don't allow nozzle parking without homing first
+ if (axis_unhomed_error()) return;
+ Nozzle::park(parser.ushortval('P'));
+}
diff --git a/Marlin/src/gcode/feature/pause/M125.h b/Marlin/src/gcode/feature/pause/M125.h
new file mode 100644
index 0000000000000000000000000000000000000000..e9ed31c3e70019dfeb81584fd7396205a3e84810
--- /dev/null
+++ b/Marlin/src/gcode/feature/pause/M125.h
@@ -0,0 +1,89 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+/**
+ * M125: Store current position and move to filament change position.
+ * Called on pause (by M25) to prevent material leaking onto the
+ * object. On resume (M24) the head will be moved back and the
+ * print will resume.
+ *
+ * If Marlin is compiled without SD Card support, M125 can be
+ * used directly to pause the print and move to park position,
+ * resuming with a button click or M108.
+ *
+ * L = override retract length
+ * X = override X
+ * Y = override Y
+ * Z = override Z raise
+ */
+void gcode_M125() {
+
+ // Initial retract before move to filament change position
+ const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
+ #ifdef PAUSE_PARK_RETRACT_LENGTH
+ - (PAUSE_PARK_RETRACT_LENGTH)
+ #endif
+ ;
+
+ // Lift Z axis
+ const float z_lift = parser.linearval('Z')
+ #ifdef PAUSE_PARK_Z_ADD
+ + PAUSE_PARK_Z_ADD
+ #endif
+ ;
+
+ // Move XY axes to filament change position or given position
+ const float x_pos = parser.linearval('X')
+ #ifdef PAUSE_PARK_X_POS
+ + PAUSE_PARK_X_POS
+ #endif
+ #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+ + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0)
+ #endif
+ ;
+ const float y_pos = parser.linearval('Y')
+ #ifdef PAUSE_PARK_Y_POS
+ + PAUSE_PARK_Y_POS
+ #endif
+ #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+ + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0)
+ #endif
+ ;
+
+ #if DISABLED(SDSUPPORT)
+ const bool job_running = print_job_timer.isRunning();
+ #endif
+
+ if (pause_print(retract, z_lift, x_pos, y_pos)) {
+ #if DISABLED(SDSUPPORT)
+ // Wait for lcd click or M108
+ wait_for_filament_reload();
+
+ // Return to print position and continue
+ resume_print();
+
+ if (job_running) print_job_timer.start();
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/feature/pause/M600.h b/Marlin/src/gcode/feature/pause/M600.h
new file mode 100644
index 0000000000000000000000000000000000000000..6e47fb59d0a1edcbf53cc5b13e162b8734408c8f
--- /dev/null
+++ b/Marlin/src/gcode/feature/pause/M600.h
@@ -0,0 +1,103 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+/**
+ * M600: Pause for filament change
+ *
+ * E[distance] - Retract the filament this far (negative value)
+ * Z[distance] - Move the Z axis by this distance
+ * X[position] - Move to this X position, with Y
+ * Y[position] - Move to this Y position, with X
+ * U[distance] - Retract distance for removal (negative value) (manual reload)
+ * L[distance] - Extrude distance for insertion (positive value) (manual reload)
+ * B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
+ *
+ * Default values are used for omitted arguments.
+ *
+ */
+void gcode_M600() {
+
+ #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
+ // Don't allow filament change without homing first
+ if (axis_unhomed_error()) home_all_axes();
+ #endif
+
+ // Initial retract before move to filament change position
+ const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
+ #ifdef PAUSE_PARK_RETRACT_LENGTH
+ - (PAUSE_PARK_RETRACT_LENGTH)
+ #endif
+ ;
+
+ // Lift Z axis
+ const float z_lift = parser.linearval('Z', 0
+ #ifdef PAUSE_PARK_Z_ADD
+ + PAUSE_PARK_Z_ADD
+ #endif
+ );
+
+ // Move XY axes to filament exchange position
+ const float x_pos = parser.linearval('X', 0
+ #ifdef PAUSE_PARK_X_POS
+ + PAUSE_PARK_X_POS
+ #endif
+ );
+ const float y_pos = parser.linearval('Y', 0
+ #ifdef PAUSE_PARK_Y_POS
+ + PAUSE_PARK_Y_POS
+ #endif
+ );
+
+ // Unload filament
+ const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0
+ #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
+ - (FILAMENT_CHANGE_UNLOAD_LENGTH)
+ #endif
+ ;
+
+ // Load filament
+ const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
+ #ifdef FILAMENT_CHANGE_LOAD_LENGTH
+ + FILAMENT_CHANGE_LOAD_LENGTH
+ #endif
+ ;
+
+ const int beep_count = parser.intval('B',
+ #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
+ FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
+ #else
+ -1
+ #endif
+ );
+
+ const bool job_running = print_job_timer.isRunning();
+
+ if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) {
+ wait_for_filament_reload(beep_count);
+ resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count);
+ }
+
+ // Resume the print job timer if it was running
+ if (job_running) print_job_timer.start();
+}
diff --git a/Marlin/src/gcode/feature/pause/common.h b/Marlin/src/gcode/feature/pause/common.h
new file mode 100644
index 0000000000000000000000000000000000000000..b28213d445178c5adf9beded30f0cfcfaed5a630
--- /dev/null
+++ b/Marlin/src/gcode/feature/pause/common.h
@@ -0,0 +1,335 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * feature/pause/common.h - Merge this with its G-codes in the refactor
+ */
+
+#ifndef PAUSE_COMMON_H
+#define PAUSE_COMMON_H
+
+#if IS_KINEMATIC
+ #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
+#else
+ #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
+#endif
+
+static float resume_position[XYZE];
+static bool move_away_flag = false;
+#if ENABLED(SDSUPPORT)
+ static bool sd_print_paused = false;
+#endif
+
+static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
+ static millis_t next_buzz = 0;
+ static int8_t runout_beep = 0;
+
+ if (init) next_buzz = runout_beep = 0;
+
+ const millis_t ms = millis();
+ if (ELAPSED(ms, next_buzz)) {
+ if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
+ next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400);
+ BUZZ(300, 2000);
+ runout_beep++;
+ }
+ }
+}
+
+static void ensure_safe_temperature() {
+ bool heaters_heating = true;
+
+ wait_for_heatup = true; // M108 will clear this
+ while (wait_for_heatup && heaters_heating) {
+ idle();
+ heaters_heating = false;
+ HOTEND_LOOP() {
+ if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) {
+ heaters_heating = true;
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
+ #endif
+ break;
+ }
+ }
+ }
+}
+
+static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos,
+ const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false
+) {
+ if (move_away_flag) return false; // already paused
+
+ if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) {
+ #if ENABLED(PREVENT_COLD_EXTRUSION)
+ if (!thermalManager.allow_cold_extrude &&
+ thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
+ return false;
+ }
+ #endif
+
+ ensure_safe_temperature(); // wait for extruder to heat up before unloading
+ }
+
+ // Indicate that the printer is paused
+ move_away_flag = true;
+
+ // Pause the print job and timer
+ #if ENABLED(SDSUPPORT)
+ if (IS_SD_PRINTING) {
+ card.pauseSDPrint();
+ sd_print_paused = true;
+ }
+ #endif
+ print_job_timer.pause();
+
+ // Show initial message and wait for synchronize steppers
+ if (show_lcd) {
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
+ #endif
+ }
+
+ // Save current position
+ stepper.synchronize();
+ COPY(resume_position, current_position);
+
+ if (retract) {
+ // Initial retract before move to filament change position
+ set_destination_to_current();
+ destination[E_AXIS] += retract;
+ RUNPLAN(PAUSE_PARK_RETRACT_FEEDRATE);
+ stepper.synchronize();
+ }
+
+ // Lift Z axis
+ if (z_lift > 0)
+ do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE);
+
+ // Move XY axes to filament exchange position
+ do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE);
+
+ if (unload_length != 0) {
+ if (show_lcd) {
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD);
+ idle();
+ #endif
+ }
+
+ // Unload filament
+ set_destination_to_current();
+ destination[E_AXIS] += unload_length;
+ RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
+ stepper.synchronize();
+ }
+
+ if (show_lcd) {
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+ #endif
+ }
+
+ #if HAS_BUZZER
+ filament_change_beep(max_beep_count, true);
+ #endif
+
+ idle();
+
+ // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
+ #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
+ disable_e_steppers();
+ safe_delay(100);
+ #endif
+
+ // Start the heater idle timers
+ const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
+
+ HOTEND_LOOP()
+ thermalManager.start_heater_idle_timer(e, nozzle_timeout);
+
+ return true;
+}
+
+static void wait_for_filament_reload(const int8_t max_beep_count = 0) {
+ bool nozzle_timed_out = false;
+
+ // Wait for filament insert by user and press button
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ wait_for_user = true; // LCD click or M108 will clear this
+ while (wait_for_user) {
+ #if HAS_BUZZER
+ filament_change_beep(max_beep_count);
+ #endif
+
+ // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
+ // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
+ if (!nozzle_timed_out)
+ HOTEND_LOOP()
+ nozzle_timed_out |= thermalManager.is_heater_idle(e);
+
+ if (nozzle_timed_out) {
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
+ #endif
+
+ // Wait for LCD click or M108
+ while (wait_for_user) idle(true);
+
+ // Re-enable the heaters if they timed out
+ HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
+
+ // Wait for the heaters to reach the target temperatures
+ ensure_safe_temperature();
+
+ #if ENABLED(ULTIPANEL)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+ #endif
+
+ // Start the heater idle timers
+ const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
+
+ HOTEND_LOOP()
+ thermalManager.start_heater_idle_timer(e, nozzle_timeout);
+
+ wait_for_user = true; /* Wait for user to load filament */
+ nozzle_timed_out = false;
+
+ #if HAS_BUZZER
+ filament_change_beep(max_beep_count, true);
+ #endif
+ }
+
+ idle(true);
+ }
+ KEEPALIVE_STATE(IN_HANDLER);
+}
+
+static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) {
+ bool nozzle_timed_out = false;
+
+ if (!move_away_flag) return;
+
+ // Re-enable the heaters if they timed out
+ HOTEND_LOOP() {
+ nozzle_timed_out |= thermalManager.is_heater_idle(e);
+ thermalManager.reset_heater_idle_timer(e);
+ }
+
+ if (nozzle_timed_out) ensure_safe_temperature();
+
+ #if HAS_BUZZER
+ filament_change_beep(max_beep_count, true);
+ #endif
+
+ if (load_length != 0) {
+ #if ENABLED(ULTIPANEL)
+ // Show "insert filament"
+ if (nozzle_timed_out)
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+ #endif
+
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ wait_for_user = true; // LCD click or M108 will clear this
+ while (wait_for_user && nozzle_timed_out) {
+ #if HAS_BUZZER
+ filament_change_beep(max_beep_count);
+ #endif
+ idle(true);
+ }
+ KEEPALIVE_STATE(IN_HANDLER);
+
+ #if ENABLED(ULTIPANEL)
+ // Show "load" message
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD);
+ #endif
+
+ // Load filament
+ destination[E_AXIS] += load_length;
+ RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
+ stepper.synchronize();
+ }
+
+ #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0
+
+ float extrude_length = initial_extrude_length;
+
+ do {
+ if (extrude_length > 0) {
+ // "Wait for filament extrude"
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE);
+
+ // Extrude filament to get into hotend
+ destination[E_AXIS] += extrude_length;
+ RUNPLAN(ADVANCED_PAUSE_EXTRUDE_FEEDRATE);
+ stepper.synchronize();
+ }
+
+ // Show "Extrude More" / "Resume" menu and wait for reply
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ wait_for_user = false;
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION);
+ while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
+ KEEPALIVE_STATE(IN_HANDLER);
+
+ extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH;
+
+ // Keep looping if "Extrude More" was selected
+ } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE);
+
+ #endif
+
+ #if ENABLED(ULTIPANEL)
+ // "Wait for print to resume"
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
+ #endif
+
+ // Set extruder to saved position
+ destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
+ planner.set_e_position_mm(current_position[E_AXIS]);
+
+ // Move XY to starting position, then Z
+ do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE);
+ do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE);
+
+ #if ENABLED(FILAMENT_RUNOUT_SENSOR)
+ filament_ran_out = false;
+ #endif
+
+ #if ENABLED(ULTIPANEL)
+ // Show status screen
+ lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
+ #endif
+
+ #if ENABLED(SDSUPPORT)
+ if (sd_print_paused) {
+ card.startFileprint();
+ sd_print_paused = false;
+ }
+ #endif
+
+ move_away_flag = false;
+}
+
+#endif // PAUSE_COMMON_H
diff --git a/Marlin/src/gcode/feature/snmm/M702.h b/Marlin/src/gcode/feature/snmm/M702.h
new file mode 100644
index 0000000000000000000000000000000000000000..efc99cac49cc07f90a01036344bc1ea25cf52765
--- /dev/null
+++ b/Marlin/src/gcode/feature/snmm/M702.h
@@ -0,0 +1,50 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+inline void select_multiplexed_stepper(const uint8_t e) {
+ stepper.synchronize();
+ disable_e_steppers();
+ WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
+ WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
+ WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
+ safe_delay(100);
+}
+
+/**
+ * M702: Unload all extruders
+ */
+void gcode_M702() {
+ for (uint8_t s = 0; s < E_STEPPERS; s++) {
+ select_multiplexed_stepper(e);
+ // TODO: standard unload filament function
+ // MK2 firmware behavior:
+ // - Make sure temperature is high enough
+ // - Raise Z to at least 15 to make room
+ // - Extrude 1cm of filament in 1 second
+ // - Under 230C quickly purge ~12mm, over 230C purge ~10mm
+ // - Change E max feedrate to 80, eject the filament from the tube. Sync.
+ // - Restore E max feedrate to 50
+ }
+ // Go back to the last active extruder
+ select_multiplexed_stepper(active_extruder);
+ disable_e_steppers();
+}
diff --git a/Marlin/src/gcode/feature/trinamic/M906.h b/Marlin/src/gcode/feature/trinamic/M906.h
new file mode 100644
index 0000000000000000000000000000000000000000..cb5c7883d68b6ce0e0891dd14f728215153d243d
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M906.h
@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
+ SERIAL_CHAR(name);
+ SERIAL_ECHOPGM(" axis driver current: ");
+ SERIAL_ECHOLN(st.getCurrent());
+}
+static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
+ st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+ tmc2130_get_current(st, name);
+}
+
+/**
+ * M906: Set motor current in milliamps using axis codes X, Y, Z, E
+ * Report driver currents when no axis specified
+ *
+ * S1: Enable automatic current control
+ * S0: Disable
+ */
+void gcode_M906() {
+ uint16_t values[XYZE];
+ LOOP_XYZE(i)
+ values[i] = parser.intval(axis_codes[i]);
+
+ #if ENABLED(X_IS_TMC2130)
+ if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
+ else tmc2130_get_current(stepperX, 'X');
+ #endif
+ #if ENABLED(Y_IS_TMC2130)
+ if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
+ else tmc2130_get_current(stepperY, 'Y');
+ #endif
+ #if ENABLED(Z_IS_TMC2130)
+ if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
+ else tmc2130_get_current(stepperZ, 'Z');
+ #endif
+ #if ENABLED(E0_IS_TMC2130)
+ if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
+ else tmc2130_get_current(stepperE0, 'E');
+ #endif
+
+ #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
+ if (parser.seen('S')) auto_current_control = parser.value_bool();
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/trinamic/M911.h b/Marlin/src/gcode/feature/trinamic/M911.h
new file mode 100644
index 0000000000000000000000000000000000000000..26e85ee18e771083d9abe6a09860502d32060a80
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M911.h
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
+ SERIAL_CHAR(name);
+ SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
+ serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+ SERIAL_EOL();
+}
+
+/**
+ * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
+ * The flag is held by the library and persist until manually cleared by M912
+ */
+void gcode_M911() {
+ const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
+ reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
+ #if ENABLED(X_IS_TMC2130)
+ if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
+ #endif
+ #if ENABLED(Y_IS_TMC2130)
+ if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
+ #endif
+ #if ENABLED(Z_IS_TMC2130)
+ if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
+ #endif
+ #if ENABLED(E0_IS_TMC2130)
+ if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/trinamic/M912.h b/Marlin/src/gcode/feature/trinamic/M912.h
new file mode 100644
index 0000000000000000000000000000000000000000..9a124d5cf507d22d5858a8b57b5b890026fad5f0
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M912.h
@@ -0,0 +1,47 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
+ st.clear_otpw();
+ SERIAL_CHAR(name);
+ SERIAL_ECHOLNPGM(" prewarn flag cleared");
+}
+
+/**
+ * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
+ */
+void gcode_M912() {
+ const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
+ clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
+ #if ENABLED(X_IS_TMC2130)
+ if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
+ #endif
+ #if ENABLED(Y_IS_TMC2130)
+ if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
+ #endif
+ #if ENABLED(Z_IS_TMC2130)
+ if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
+ #endif
+ #if ENABLED(E0_IS_TMC2130)
+ if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/trinamic/M913.h b/Marlin/src/gcode/feature/trinamic/M913.h
new file mode 100644
index 0000000000000000000000000000000000000000..c7ec3e4748045fc022e709ef72acc29c10a0df33
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M913.h
@@ -0,0 +1,57 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
+ SERIAL_CHAR(name);
+ SERIAL_ECHOPGM(" stealthChop max speed set to ");
+ SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
+}
+static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
+ st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
+ tmc2130_get_pwmthrs(st, name, spmm);
+}
+
+/**
+ * M913: Set HYBRID_THRESHOLD speed.
+ */
+void gcode_M913() {
+ uint16_t values[XYZE];
+ LOOP_XYZE(i)
+ values[i] = parser.intval(axis_codes[i]);
+
+ #if ENABLED(X_IS_TMC2130)
+ if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
+ else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
+ #endif
+ #if ENABLED(Y_IS_TMC2130)
+ if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
+ else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
+ #endif
+ #if ENABLED(Z_IS_TMC2130)
+ if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
+ else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
+ #endif
+ #if ENABLED(E0_IS_TMC2130)
+ if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
+ else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
+ #endif
+}
diff --git a/Marlin/src/gcode/feature/trinamic/M914.h b/Marlin/src/gcode/feature/trinamic/M914.h
new file mode 100644
index 0000000000000000000000000000000000000000..7c5ef3bf30f03e2e6d518075ca7a05bfbca4e4a5
--- /dev/null
+++ b/Marlin/src/gcode/feature/trinamic/M914.h
@@ -0,0 +1,45 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
+ SERIAL_CHAR(name);
+ SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+ SERIAL_ECHOLN(st.sgt());
+}
+static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
+ st.sgt(sgt_val);
+ tmc2130_get_sgt(st, name);
+}
+
+/**
+ * M914: Set SENSORLESS_HOMING sensitivity.
+ */
+void gcode_M914() {
+ #if ENABLED(X_IS_TMC2130)
+ if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
+ else tmc2130_get_sgt(stepperX, 'X');
+ #endif
+ #if ENABLED(Y_IS_TMC2130)
+ if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
+ else tmc2130_get_sgt(stepperY, 'Y');
+ #endif
+}
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
new file mode 100644
index 0000000000000000000000000000000000000000..90e91898fa479429742f558b65b83ed2a63b4275
--- /dev/null
+++ b/Marlin/src/gcode/gcode.h
@@ -0,0 +1,682 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * gcode.h - Temporary container for all gcode handlers
+ */
+
+/**
+ * -----------------
+ * G-Codes in Marlin
+ * -----------------
+ *
+ * Helpful G-code references:
+ * - http://linuxcnc.org/handbook/gcode/g-code.html
+ * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
+ *
+ * Help to document Marlin's G-codes online:
+ * - http://reprap.org/wiki/G-code
+ * - https://github.com/MarlinFirmware/MarlinDocumentation
+ *
+ * -----------------
+ *
+ * "G" Codes
+ *
+ * G0 -> G1
+ * G1 - Coordinated Movement X Y Z E
+ * G2 - CW ARC
+ * G3 - CCW ARC
+ * G4 - Dwell S<seconds> or P<milliseconds>
+ * G5 - Cubic B-spline with XYZE destination and IJPQ offsets
+ * G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
+ * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
+ * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
+ * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
+ * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
+ * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
+ * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
+ * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
+ * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION)
+ * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
+ * G28 - Home one or more axes
+ * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
+ * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
+ * G31 - Dock sled (Z_PROBE_SLED only)
+ * G32 - Undock sled (Z_PROBE_SLED only)
+ * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
+ * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
+ * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL)
+ * G90 - Use Absolute Coordinates
+ * G91 - Use Relative Coordinates
+ * G92 - Set current position to coordinates given
+ *
+ * "M" Codes
+ *
+ * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
+ * M1 -> M0
+ * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise
+ * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise
+ * M5 - Turn laser/spindle off
+ * M17 - Enable/Power all stepper motors
+ * M18 - Disable all stepper motors; same as M84
+ * M20 - List SD card. (Requires SDSUPPORT)
+ * M21 - Init SD card. (Requires SDSUPPORT)
+ * M22 - Release SD card. (Requires SDSUPPORT)
+ * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
+ * M24 - Start/resume SD print. (Requires SDSUPPORT)
+ * M25 - Pause SD print. (Requires SDSUPPORT)
+ * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
+ * M27 - Report SD print status. (Requires SDSUPPORT)
+ * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
+ * M29 - Stop SD write. (Requires SDSUPPORT)
+ * M30 - Delete file from SD: "M30 /path/file.gco"
+ * M31 - Report time since last M109 or SD card start to serial.
+ * M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
+ * Use P to run other files as sub-programs: "M32 P !filename#"
+ * The '#' is necessary when calling from within sd files, as it stops buffer prereading
+ * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
+ * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
+ * M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
+ * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
+ * M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
+ * M75 - Start the print job timer.
+ * M76 - Pause the print job timer.
+ * M77 - Stop the print job timer.
+ * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
+ * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0)
+ * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0)
+ * M82 - Set E codes absolute (default).
+ * M83 - Set E codes relative while in Absolute (G90) mode.
+ * M84 - Disable steppers until next move, or use S<seconds> to specify an idle
+ * duration after which steppers should turn off. S0 disables the timeout.
+ * M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+ * M92 - Set planner.axis_steps_per_mm for one or more axes.
+ * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
+ * M104 - Set extruder target temp.
+ * M105 - Report current temperatures.
+ * M106 - Fan on.
+ * M107 - Fan off.
+ * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
+ * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
+ * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
+ * If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
+ * M110 - Set the current line number. (Used by host printing)
+ * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
+ * M112 - Emergency stop.
+ * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
+ * M114 - Report current position.
+ * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
+ * M117 - Display a message on the controller screen. (Requires an LCD)
+ * M118 - Display a message in the host console.
+ * M119 - Report endstops status.
+ * M120 - Enable endstops detection.
+ * M121 - Disable endstops detection.
+ * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
+ * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
+ * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
+ * M128 - EtoP Open. (Requires BARICUDA)
+ * M129 - EtoP Closed. (Requires BARICUDA)
+ * M140 - Set bed target temp. S<temp>
+ * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
+ * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
+ * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632)
+ * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
+ * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
+ * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
+ * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
+ * 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 for heating or cooling. **
+ * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
+ * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
+ * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
+ * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
+ * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
+ * M205 - Set advanced settings. Current units apply:
+ S<print> T<travel> minimum speeds
+ B<minimum segment time>
+ X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
+ * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
+ * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
+ * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
+ * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
+ Every normal extrude-only move will be classified as retract depending on the direction.
+ * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
+ * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
+ * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
+ * M221 - Set Flow Percentage: "M221 S<percent>"
+ * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
+ * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
+ * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
+ * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
+ * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
+ * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
+ * M300 - Play beep sound S<frequency Hz> P<duration ms>
+ * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
+ * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
+ * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
+ * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
+ * M350 - Set microstepping mode. (Requires digital microstepping pins.)
+ * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
+ * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
+ * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
+ * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
+ * M400 - Finish all moves.
+ * M401 - Lower Z probe. (Requires a probe)
+ * M402 - Raise Z probe. (Requires a probe)
+ * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
+ * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
+ * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
+ * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
+ * M410 - Quickstop. Abort all planned moves.
+ * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
+ * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL)
+ * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
+ * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
+ * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
+ * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
+ * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
+ * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+ * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
+ * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
+ * M666 - Set delta endstop adjustment. (Requires DELTA)
+ * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
+ * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
+ * M860 - Report the position of position encoder modules.
+ * M861 - Report the status of position encoder modules.
+ * M862 - Perform an axis continuity test for position encoder modules.
+ * M863 - Perform steps-per-mm calibration for position encoder modules.
+ * M864 - Change position encoder module I2C address.
+ * M865 - Check position encoder module firmware version.
+ * M866 - Report or reset position encoder module error count.
+ * M867 - Enable/disable or toggle error correction for position encoder modules.
+ * M868 - Report or set position encoder module error correction threshold.
+ * M869 - Report position encoder module error.
+ * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
+ * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
+ * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
+ * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
+ * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
+ * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
+ * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130)
+ * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
+ * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
+ * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
+ *
+ * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+ * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+ * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+ * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
+ *
+ * ************ Custom codes - This can change to suit future G-code regulations
+ * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
+ * M999 - Restart after being stopped by error
+ *
+ * "T" Codes
+ *
+ * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
+ *
+ */
+
+#ifndef GCODE_H
+#define GCODE_H
+
+#include "../inc/MarlinConfig.h"
+#include "parser.h"
+
+#if ENABLED(I2C_POSITION_ENCODERS)
+ #include "../feature/I2CPositionEncoder.h"
+#endif
+
+class GcodeSuite {
+public:
+
+ GcodeSuite() {}
+
+private:
+
+ static void G0_G1(
+ #if IS_SCARA
+ bool fast_move=false
+ #endif
+ );
+
+ #if ENABLED(ARC_SUPPORT)
+ static void G2_G3(bool clockwise);
+ #endif
+
+ static void G4();
+
+ #if ENABLED(BEZIER_CURVE_SUPPORT)
+ static void G5();
+ #endif
+
+ #if ENABLED(FWRETRACT)
+ static void G10();
+ static void G11();
+ #endif
+
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+ static void G12();
+ #endif
+
+ #if ENABLED(CNC_WORKSPACE_PLANES)
+ static void G17();
+ static void G18();
+ static void G19();
+ #endif
+
+ #if ENABLED(INCH_MODE_SUPPORT)
+ static void G20();
+ static void G21();
+ #endif
+
+ #if ENABLED(UBL_G26_MESH_VALIDATION)
+ static void G26();
+ #endif
+
+ #if ENABLED(NOZZLE_PARK_FEATURE)
+ static void G27();
+ #endif
+
+ static void G28(const bool always_home_all);
+
+ #if HAS_LEVELING
+ static void G29();
+ #endif
+
+ #if HAS_BED_PROBE
+ static void G30();
+ #if ENABLED(Z_PROBE_SLED)
+ static void G31();
+ static void G32();
+ #endif
+ #endif
+
+ #if PROBE_SELECTED && ENABLED(DELTA_AUTO_CALIBRATION)
+ static void G33();
+ #endif
+
+ #if ENABLED(G38_PROBE_TARGET)
+ static void G38(bool is_38_2);
+ #endif
+
+ #if HAS_MESH
+ static void G42();
+ #endif
+
+ static void G92();
+
+ #if HAS_RESUME_CONTINUE
+ static void M0_M1();
+ #endif
+
+ #if ENABLED(SPINDLE_LASER_ENABLE)
+ static void M3_M4(bool is_M3);
+ static void M5();
+ #endif
+
+ static void M17();
+
+ static void M18_M84();
+
+ #if ENABLED(SDSUPPORT)
+ static void M20();
+ static void M21();
+ static void M22();
+ static void M23();
+ static void M24();
+ static void M25();
+ static void M26();
+ static void M27();
+ static void M28();
+ static void M29();
+ static void M30();
+ #endif
+
+ static void M31();
+
+ #if ENABLED(SDSUPPORT)
+ static void M32();
+ #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
+ static void M33();
+ #endif
+ #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
+ static void M34();
+ #endif
+ #endif
+
+ static void M42();
+
+ #if ENABLED(PINS_DEBUGGING)
+ static void M43();
+ #endif
+
+ #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
+ static void M48();
+ #endif
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+ static void M49();
+ #endif
+
+ static void M75();
+ static void M76();
+ static void M77();
+
+ #if ENABLED(PRINTCOUNTER)
+ static void M78();
+ #endif
+
+ #if HAS_POWER_SWITCH
+ static void M80();
+ #endif
+
+ static void M81();
+ static void M82();
+ static void M83();
+ static void M85();
+ static void M92();
+
+ #if ENABLED(M100_FREE_MEMORY_WATCHER)
+ static void M100();
+ #endif
+
+ static void M104();
+ static void M105();
+ static void M106();
+ static void M107();
+
+ #if DISABLED(EMERGENCY_PARSER)
+ static void M108();
+ #endif
+
+ static void M109();
+
+ static void M110();
+ static void M111();
+
+ #if DISABLED(EMERGENCY_PARSER)
+ static void M112();
+ #endif
+
+ #if ENABLED(HOST_KEEPALIVE_FEATURE)
+ static void M113();
+ #endif
+
+ static void M114();
+ static void M115();
+ static void M117();
+ static void M118();
+ static void M119();
+ static void M120();
+ static void M121();
+
+ #if ENABLED(PARK_HEAD_ON_PAUSE)
+ static void M125();
+ #endif
+
+ #if ENABLED(BARICUDA)
+ #if HAS_HEATER_1
+ static void M126();
+ static void M127();
+ #endif
+ #if HAS_HEATER_2
+ static void M128();
+ static void M129();
+ #endif
+ #endif
+
+ #if HAS_TEMP_BED
+ static void M140();
+ #endif
+
+ #if ENABLED(ULTIPANEL)
+ static void M145();
+ #endif
+
+ #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
+ static void M149();
+ #endif
+
+ #if HAS_COLOR_LEDS
+ static void M150();
+ #endif
+
+ #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
+ static void M155();
+ #endif
+
+ #if ENABLED(MIXING_EXTRUDER)
+ static void M163();
+ #if MIXING_VIRTUAL_TOOLS > 1
+ static void M164();
+ #endif
+ #if ENABLED(DIRECT_MIXING_IN_G1)
+ static void M165();
+ #endif
+ #endif
+
+ #if HAS_TEMP_BED
+ static void M190();
+ #endif
+
+ static void M200();
+ static void M201();
+
+ #if 0
+ static void M202(); // Not used for Sprinter/grbl gen6
+ #endif
+
+ static void M203();
+ static void M204();
+ static void M205();
+
+ #if HAS_M206_COMMAND
+ static void M206();
+ #endif
+
+ #if ENABLED(FWRETRACT)
+ static void M207();
+ static void M208();
+ static void M209();
+ #endif
+
+ static void M211();
+
+ #if HOTENDS > 1
+ static void M218();
+ #endif
+
+ static void M220();
+ static void M221();
+ static void M226();
+
+ #if defined(CHDK) || HAS_PHOTOGRAPH
+ static void M240();
+ #endif
+
+ #if HAS_LCD_CONTRAST
+ static void M250();
+ #endif
+
+ #if ENABLED(EXPERIMENTAL_I2CBUS)
+ static void M260();
+ static void M261();
+ #endif
+
+ #if HAS_SERVOS
+ static void M280();
+ #endif
+
+ #if HAS_BUZZER
+ static void M300();
+ #endif
+
+ #if ENABLED(PIDTEMP)
+ static void M301();
+ #endif
+
+ #if ENABLED(PREVENT_COLD_EXTRUSION)
+ static void M302();
+ #endif
+
+ static void M303();
+
+ #if ENABLED(PIDTEMPBED)
+ static void M304();
+ #endif
+
+ #if HAS_MICROSTEPS
+ static void M350();
+ static void M351();
+ #endif
+
+ static void M355();
+
+ #if ENABLED(MORGAN_SCARA)
+ static bool M360();
+ static bool M361();
+ static bool M362();
+ static bool M363();
+ static bool M364();
+ #endif
+
+ #if ENABLED(EXT_SOLENOID)
+ static void M380();
+ static void M381();
+ #endif
+
+ static void M400();
+
+ #if HAS_BED_PROBE
+ static void M401();
+ static void M402();
+ #endif
+
+ #if ENABLED(FILAMENT_WIDTH_SENSOR)
+ static void M404();
+ static void M405();
+ static void M406();
+ static void M407();
+ #endif
+
+ #if DISABLED(EMERGENCY_PARSER)
+ static void M410();
+ #endif
+
+ #if HAS_LEVELING
+ static void M420();
+ static void M421();
+ #endif
+
+ #if HAS_M206_COMMAND
+ static void M428();
+ #endif
+
+ static void M500();
+ static void M501();
+ static void M502();
+ #if DISABLED(DISABLE_M503)
+ static void M503();
+ #endif
+
+ #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+ static void M540();
+ #endif
+
+ #if ENABLED(ADVANCED_PAUSE_FEATURE)
+ static void M600();
+ #endif
+
+ #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+ static void M605();
+ #endif
+
+ #if IS_KINEMATIC
+ static void M665();
+ #endif
+
+ #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
+ static void M666();
+ #endif
+
+ #if ENABLED(MK2_MULTIPLEXER)
+ static void M702();
+ #endif
+
+ #if HAS_BED_PROBE
+ static void M851();
+ #endif
+
+ #if ENABLED(I2C_POSITION_ENCODERS)
+ FORCE_INLINE static void M860() { I2CPEM.M860(); }
+ FORCE_INLINE static void M861() { I2CPEM.M861(); }
+ FORCE_INLINE static void M862() { I2CPEM.M862(); }
+ FORCE_INLINE static void M863() { I2CPEM.M863(); }
+ FORCE_INLINE static void M864() { I2CPEM.M864(); }
+ FORCE_INLINE static void M865() { I2CPEM.M865(); }
+ FORCE_INLINE static void M866() { I2CPEM.M866(); }
+ FORCE_INLINE static void M867() { I2CPEM.M867(); }
+ FORCE_INLINE static void M868() { I2CPEM.M868(); }
+ FORCE_INLINE static void M869() { I2CPEM.M869(); }
+ #endif
+
+ #if ENABLED(LIN_ADVANCE)
+ static void M900();
+ #endif
+
+ #if ENABLED(HAVE_TMC2130)
+ static void M906();
+ static void M911();
+ static void M912();
+ #if ENABLED(HYBRID_THRESHOLD)
+ static void M913();
+ #endif
+ #if ENABLED(SENSORLESS_HOMING)
+ static void M914();
+ #endif
+ #endif
+
+ static void M907();
+
+ #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
+ static void M908();
+ #if ENABLED(DAC_STEPPER_CURRENT)
+ static void M909();
+ static void M910();
+ #endif
+ #endif
+
+ #if ENABLED(SDSUPPORT)
+ static void M928();
+ #endif
+
+ static void M999();
+
+ static void T(uint8_t tmp_extruder);
+
+};
+
+extern GcodeSuite gcode;
+
+#endif // GCODE_H
diff --git a/Marlin/src/gcode/geometry/G17-G19.h b/Marlin/src/gcode/geometry/G17-G19.h
new file mode 100644
index 0000000000000000000000000000000000000000..7bff34fe400d43595b37c04573849720c8259447
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G17-G19.h
@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void report_workspace_plane() {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM("Workspace Plane ");
+ serialprintPGM(workspace_plane == PLANE_YZ ? PSTR("YZ\n") : workspace_plane == PLANE_ZX ? PSTR("ZX\n") : PSTR("XY\n"));
+}
+
+/**
+ * G17: Select Plane XY
+ * G18: Select Plane ZX
+ * G19: Select Plane YZ
+ */
+void gcode_G17() { workspace_plane = PLANE_XY; }
+void gcode_G18() { workspace_plane = PLANE_ZX; }
+void gcode_G19() { workspace_plane = PLANE_YZ; }
diff --git a/Marlin/src/gcode/geometry/G92.h b/Marlin/src/gcode/geometry/G92.h
new file mode 100644
index 0000000000000000000000000000000000000000..98569248df62e6d77a3c8b6dfae2b2a621485108
--- /dev/null
+++ b/Marlin/src/gcode/geometry/G92.h
@@ -0,0 +1,66 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G92: Set current position to given X Y Z E
+ */
+void gcode_G92() {
+ bool didXYZ = false,
+ didE = parser.seenval('E');
+
+ if (!didE) stepper.synchronize();
+
+ LOOP_XYZE(i) {
+ if (parser.seenval(axis_codes[i])) {
+ #if IS_SCARA
+ current_position[i] = parser.value_axis_units((AxisEnum)i);
+ if (i != E_AXIS) didXYZ = true;
+ #else
+ #if HAS_POSITION_SHIFT
+ const float p = current_position[i];
+ #endif
+ const float v = parser.value_axis_units((AxisEnum)i);
+
+ current_position[i] = v;
+
+ if (i != E_AXIS) {
+ didXYZ = true;
+ #if HAS_POSITION_SHIFT
+ position_shift[i] += v - p; // Offset the coordinate space
+ update_software_endstops((AxisEnum)i);
+
+ #if ENABLED(I2C_POSITION_ENCODERS)
+ I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]);
+ #endif
+
+ #endif
+ }
+ #endif
+ }
+ }
+ if (didXYZ)
+ SYNC_PLAN_POSITION_KINEMATIC();
+ else if (didE)
+ sync_plan_position_e();
+
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/geometry/M206.h b/Marlin/src/gcode/geometry/M206.h
new file mode 100644
index 0000000000000000000000000000000000000000..bf0e4e528ce8e26d8c3d009cd84ff5cd71df5877
--- /dev/null
+++ b/Marlin/src/gcode/geometry/M206.h
@@ -0,0 +1,42 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
+ *
+ * *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
+ * *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
+ * *** In the 2.0 release, it will simply be disabled by default.
+ */
+void gcode_M206() {
+ LOOP_XYZ(i)
+ if (parser.seen(axis_codes[i]))
+ set_home_offset((AxisEnum)i, parser.value_linear_units());
+
+ #if ENABLED(MORGAN_SCARA)
+ if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta
+ if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi
+ #endif
+
+ SYNC_PLAN_POSITION_KINEMATIC();
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/geometry/M428.h b/Marlin/src/gcode/geometry/M428.h
new file mode 100644
index 0000000000000000000000000000000000000000..77b58cf303415dd4ff272fcefcb65731b1200772
--- /dev/null
+++ b/Marlin/src/gcode/geometry/M428.h
@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M428: Set home_offset based on the distance between the
+ * current_position and the nearest "reference point."
+ * If an axis is past center its endstop position
+ * is the reference-point. Otherwise it uses 0. This allows
+ * the Z offset to be set near the bed when using a max endstop.
+ *
+ * M428 can't be used more than 2cm away from 0 or an endstop.
+ *
+ * Use M206 to set these values directly.
+ */
+void gcode_M428() {
+ bool err = false;
+ LOOP_XYZ(i) {
+ if (axis_homed[i]) {
+ const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
+ diff = base - RAW_POSITION(current_position[i], i);
+ if (WITHIN(diff, -20, 20)) {
+ set_home_offset((AxisEnum)i, diff);
+ }
+ else {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
+ LCD_ALERTMESSAGEPGM("Err: Too far!");
+ BUZZ(200, 40);
+ err = true;
+ break;
+ }
+ }
+ }
+
+ if (!err) {
+ SYNC_PLAN_POSITION_KINEMATIC();
+ report_current_position();
+ LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
+ BUZZ(100, 659);
+ BUZZ(100, 698);
+ }
+}
diff --git a/Marlin/src/gcode/host/M110.h b/Marlin/src/gcode/host/M110.h
new file mode 100644
index 0000000000000000000000000000000000000000..711c05dbb691f48cbfda2f92be6e879a82b3ff9e
--- /dev/null
+++ b/Marlin/src/gcode/host/M110.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M110: Set Current Line Number
+ */
+void gcode_M110() {
+ if (parser.seenval('N')) gcode_LastN = parser.value_long();
+}
diff --git a/Marlin/src/gcode/host/M113.h b/Marlin/src/gcode/host/M113.h
new file mode 100644
index 0000000000000000000000000000000000000000..e7310dfa4e57b58065c3d80789c5e669dfd61de4
--- /dev/null
+++ b/Marlin/src/gcode/host/M113.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M113: Get or set Host Keepalive interval (0 to disable)
+ *
+ * S<seconds> Optional. Set the keepalive interval.
+ */
+void gcode_M113() {
+ if (parser.seenval('S')) {
+ host_keepalive_interval = parser.value_byte();
+ NOMORE(host_keepalive_interval, 60);
+ }
+ else {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
+ }
+}
diff --git a/Marlin/src/gcode/host/M114.h b/Marlin/src/gcode/host/M114.h
new file mode 100644
index 0000000000000000000000000000000000000000..e0ed295cc684b233a46afddf3c5a951b4609d474
--- /dev/null
+++ b/Marlin/src/gcode/host/M114.h
@@ -0,0 +1,113 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef M114_DETAIL
+
+ void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
+ char str[12];
+ for (uint8_t i = 0; i < n; i++) {
+ SERIAL_CHAR(' ');
+ SERIAL_CHAR(axis_codes[i]);
+ SERIAL_CHAR(':');
+ SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
+ }
+ SERIAL_EOL();
+ }
+
+ inline void report_xyz(const float pos[XYZ]) { report_xyze(pos, 3); }
+
+ void report_current_position_detail() {
+
+ stepper.synchronize();
+
+ SERIAL_PROTOCOLPGM("\nLogical:");
+ report_xyze(current_position);
+
+ SERIAL_PROTOCOLPGM("Raw: ");
+ const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
+ report_xyz(raw);
+
+ SERIAL_PROTOCOLPGM("Leveled:");
+ float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
+ planner.apply_leveling(leveled);
+ report_xyz(leveled);
+
+ SERIAL_PROTOCOLPGM("UnLevel:");
+ float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
+ planner.unapply_leveling(unleveled);
+ report_xyz(unleveled);
+
+ #if IS_KINEMATIC
+ #if IS_SCARA
+ SERIAL_PROTOCOLPGM("ScaraK: ");
+ #else
+ SERIAL_PROTOCOLPGM("DeltaK: ");
+ #endif
+ inverse_kinematics(leveled); // writes delta[]
+ report_xyz(delta);
+ #endif
+
+ SERIAL_PROTOCOLPGM("Stepper:");
+ const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
+ report_xyze(step_count, 4, 0);
+
+ #if IS_SCARA
+ const float deg[XYZ] = {
+ stepper.get_axis_position_degrees(A_AXIS),
+ stepper.get_axis_position_degrees(B_AXIS)
+ };
+ SERIAL_PROTOCOLPGM("Degrees:");
+ report_xyze(deg, 2);
+ #endif
+
+ SERIAL_PROTOCOLPGM("FromStp:");
+ get_cartesian_from_steppers(); // writes cartes[XYZ] (with forward kinematics)
+ const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
+ report_xyze(from_steppers);
+
+ const float diff[XYZE] = {
+ from_steppers[X_AXIS] - leveled[X_AXIS],
+ from_steppers[Y_AXIS] - leveled[Y_AXIS],
+ from_steppers[Z_AXIS] - leveled[Z_AXIS],
+ from_steppers[E_AXIS] - current_position[E_AXIS]
+ };
+ SERIAL_PROTOCOLPGM("Differ: ");
+ report_xyze(diff);
+ }
+
+#endif // M114_DETAIL
+
+/**
+ * M114: Report current position to host
+ */
+void gcode_M114() {
+
+ #ifdef M114_DETAIL
+ if (parser.seen('D')) {
+ report_current_position_detail();
+ return;
+ }
+ #endif
+
+ stepper.synchronize();
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/host/M115.h b/Marlin/src/gcode/host/M115.h
new file mode 100644
index 0000000000000000000000000000000000000000..a58a474ee270fce12fe95022ff4aeb388bd7c55a
--- /dev/null
+++ b/Marlin/src/gcode/host/M115.h
@@ -0,0 +1,100 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M115: Capabilities string
+ */
+void gcode_M115() {
+ SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
+
+ #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
+
+ // EEPROM (M500, M501)
+ #if ENABLED(EEPROM_SETTINGS)
+ SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
+ #endif
+
+ // AUTOREPORT_TEMP (M155)
+ #if ENABLED(AUTO_REPORT_TEMPERATURES)
+ SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
+ #endif
+
+ // PROGRESS (M530 S L, M531 <file>, M532 X L)
+ SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
+
+ // Print Job timer M75, M76, M77
+ SERIAL_PROTOCOLLNPGM("Cap:PRINT_JOB:1");
+
+ // AUTOLEVEL (G29)
+ #if HAS_AUTOLEVEL
+ SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
+ #endif
+
+ // Z_PROBE (G30)
+ #if HAS_BED_PROBE
+ SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
+ #endif
+
+ // MESH_REPORT (M420 V)
+ #if HAS_LEVELING
+ SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:LEVELING_DATA:0");
+ #endif
+
+ // SOFTWARE_POWER (M80, M81)
+ #if HAS_POWER_SWITCH
+ SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
+ #endif
+
+ // CASE LIGHTS (M355)
+ #if HAS_CASE_LIGHT
+ SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
+ if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
+ SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:1");
+ }
+ else
+ SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
+ SERIAL_PROTOCOLLNPGM("Cap:CASE_LIGHT_BRIGHTNESS:0");
+ #endif
+
+ // EMERGENCY_PARSER (M108, M112, M410)
+ #if ENABLED(EMERGENCY_PARSER)
+ SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
+ #else
+ SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
+ #endif
+
+ #endif // EXTENDED_CAPABILITIES_REPORT
+}
diff --git a/Marlin/src/gcode/host/M118.h b/Marlin/src/gcode/host/M118.h
new file mode 100644
index 0000000000000000000000000000000000000000..70e8c5f5deb0c62d6946e92fb2dcf31c7e637da2
--- /dev/null
+++ b/Marlin/src/gcode/host/M118.h
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M118: Display a message in the host console.
+ *
+ * A Append '// ' for an action command, as in OctoPrint
+ * E Have the host 'echo:' the text
+ */
+void gcode_M118() {
+ if (parser.boolval('E')) SERIAL_ECHO_START();
+ if (parser.boolval('A')) SERIAL_ECHOPGM("// ");
+ SERIAL_ECHOLN(parser.string_arg);
+}
diff --git a/Marlin/src/gcode/host/M119.h b/Marlin/src/gcode/host/M119.h
new file mode 100644
index 0000000000000000000000000000000000000000..6b68ba0903134ebcdcb8297a7e5f65e19bd4d9c2
--- /dev/null
+++ b/Marlin/src/gcode/host/M119.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M119: Output endstop states to serial output
+ */
+void gcode_M119() { endstops.M119(); }
diff --git a/Marlin/src/gcode/lcd/M0_M1.h b/Marlin/src/gcode/lcd/M0_M1.h
new file mode 100644
index 0000000000000000000000000000000000000000..599dfbd5ef13c8c6439ce91e85770f191ee8a09f
--- /dev/null
+++ b/Marlin/src/gcode/lcd/M0_M1.h
@@ -0,0 +1,84 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M0: Unconditional stop - Wait for user button press on LCD
+ * M1: Conditional stop - Wait for user button press on LCD
+ */
+void gcode_M0_M1() {
+ const char * const args = parser.string_arg;
+
+ millis_t ms = 0;
+ bool hasP = false, hasS = false;
+ if (parser.seenval('P')) {
+ ms = parser.value_millis(); // milliseconds to wait
+ hasP = ms > 0;
+ }
+ if (parser.seenval('S')) {
+ ms = parser.value_millis_from_seconds(); // seconds to wait
+ hasS = ms > 0;
+ }
+
+ #if ENABLED(ULTIPANEL)
+
+ if (!hasP && !hasS && args && *args)
+ lcd_setstatus(args, true);
+ else {
+ LCD_MESSAGEPGM(MSG_USERWAIT);
+ #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
+ dontExpireStatus();
+ #endif
+ }
+
+ #else
+
+ if (!hasP && !hasS && args && *args) {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLN(args);
+ }
+
+ #endif
+
+ KEEPALIVE_STATE(PAUSED_FOR_USER);
+ wait_for_user = true;
+
+ stepper.synchronize();
+ refresh_cmd_timeout();
+
+ if (ms > 0) {
+ ms += previous_cmd_ms; // wait until this time for a click
+ while (PENDING(millis(), ms) && wait_for_user) idle();
+ }
+ else {
+ #if ENABLED(ULTIPANEL)
+ if (lcd_detected()) {
+ while (wait_for_user) idle();
+ IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
+ }
+ #else
+ while (wait_for_user) idle();
+ #endif
+ }
+
+ wait_for_user = false;
+ KEEPALIVE_STATE(IN_HANDLER);
+}
diff --git a/Marlin/src/gcode/lcd/M117.h b/Marlin/src/gcode/lcd/M117.h
new file mode 100644
index 0000000000000000000000000000000000000000..ea0ed877a0044a20c336601685d3b044926e29ed
--- /dev/null
+++ b/Marlin/src/gcode/lcd/M117.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M117: Set LCD Status Message
+ */
+void gcode_M117() {
+
+ lcd_setstatus(parser.string_arg);
+
+}
diff --git a/Marlin/src/gcode/lcd/M145.h b/Marlin/src/gcode/lcd/M145.h
new file mode 100644
index 0000000000000000000000000000000000000000..3d203f1c33f8d56dea3525a3c2e305285b0615fb
--- /dev/null
+++ b/Marlin/src/gcode/lcd/M145.h
@@ -0,0 +1,54 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M145: Set the heatup state for a material in the LCD menu
+ *
+ * S<material> (0=PLA, 1=ABS)
+ * H<hotend temp>
+ * B<bed temp>
+ * F<fan speed>
+ */
+void gcode_M145() {
+ const uint8_t material = (uint8_t)parser.intval('S');
+ if (material >= COUNT(lcd_preheat_hotend_temp)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
+ }
+ else {
+ int v;
+ if (parser.seenval('H')) {
+ v = parser.value_int();
+ lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
+ }
+ if (parser.seenval('F')) {
+ v = parser.value_int();
+ lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
+ }
+ #if TEMP_SENSOR_BED != 0
+ if (parser.seenval('B')) {
+ v = parser.value_int();
+ lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
+ }
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/lcd/M250.h b/Marlin/src/gcode/lcd/M250.h
new file mode 100644
index 0000000000000000000000000000000000000000..fbcb9045c99762f72c4a5e3a23e9020eae60dbd2
--- /dev/null
+++ b/Marlin/src/gcode/lcd/M250.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M250: Read and optionally set the LCD contrast
+ */
+void gcode_M250() {
+ if (parser.seen('C')) set_lcd_contrast(parser.value_int());
+ SERIAL_PROTOCOLPGM("lcd contrast value: ");
+ SERIAL_PROTOCOL(lcd_contrast);
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/lcd/M300.h b/Marlin/src/gcode/lcd/M300.h
new file mode 100644
index 0000000000000000000000000000000000000000..9acfb2842f25b88fbff4770017c34cd095a206cf
--- /dev/null
+++ b/Marlin/src/gcode/lcd/M300.h
@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M300: Play beep sound S<frequency Hz> P<duration ms>
+ */
+void gcode_M300() {
+ uint16_t const frequency = parser.ushortval('S', 260);
+ uint16_t duration = parser.ushortval('P', 1000);
+
+ // Limits the tone duration to 0-5 seconds.
+ NOMORE(duration, 5000);
+
+ BUZZ(duration, frequency);
+}
diff --git a/Marlin/src/gcode/motion/G0_G1.h b/Marlin/src/gcode/motion/G0_G1.h
new file mode 100644
index 0000000000000000000000000000000000000000..077e664bde697b7e02613559f2f20aa21a64ee95
--- /dev/null
+++ b/Marlin/src/gcode/motion/G0_G1.h
@@ -0,0 +1,55 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G0, G1: Coordinated movement of X Y Z E axes
+ */
+void gcode_G0_G1(
+ #if IS_SCARA
+ bool fast_move=false
+ #endif
+) {
+ if (IsRunning()) {
+ gcode_get_destination(); // For X Y Z E F
+
+ #if ENABLED(FWRETRACT)
+ if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
+ // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
+ if (autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
+ const float echange = destination[E_AXIS] - current_position[E_AXIS];
+ // Is this a retract or recover move?
+ if (WITHIN(FABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && retracted[active_extruder] == (echange > 0.0)) {
+ current_position[E_AXIS] = destination[E_AXIS]; // Hide a G1-based retract/recover from calculations
+ sync_plan_position_e(); // AND from the planner
+ return retract(echange < 0.0); // Firmware-based retract/recover (double-retract ignored)
+ }
+ }
+ }
+ #endif // FWRETRACT
+
+ #if IS_SCARA
+ fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
+ #else
+ prepare_move_to_destination();
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/motion/G2_G3.h b/Marlin/src/gcode/motion/G2_G3.h
new file mode 100644
index 0000000000000000000000000000000000000000..f06e623a1a1ea099b76c3a61ee68bd54338ae7e1
--- /dev/null
+++ b/Marlin/src/gcode/motion/G2_G3.h
@@ -0,0 +1,263 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if N_ARC_CORRECTION < 1
+ #undef N_ARC_CORRECTION
+ #define N_ARC_CORRECTION 1
+#endif
+
+/**
+ * Plan an arc in 2 dimensions
+ *
+ * The arc is approximated by generating many small linear segments.
+ * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
+ * Arcs should only be made relatively large (over 5mm), as larger arcs with
+ * larger segments will tend to be more efficient. Your slicer should have
+ * options for G2/G3 arc generation. In future these options may be GCode tunable.
+ */
+void plan_arc(
+ float logical[XYZE], // Destination position
+ float *offset, // Center of rotation relative to current_position
+ uint8_t clockwise // Clockwise?
+) {
+ #if ENABLED(CNC_WORKSPACE_PLANES)
+ AxisEnum p_axis, q_axis, l_axis;
+ switch (workspace_plane) {
+ case PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
+ case PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
+ case PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
+ }
+ #else
+ constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
+ #endif
+
+ // Radius vector from center to current location
+ float r_P = -offset[0], r_Q = -offset[1];
+
+ const float radius = HYPOT(r_P, r_Q),
+ center_P = current_position[p_axis] - r_P,
+ center_Q = current_position[q_axis] - r_Q,
+ rt_X = logical[p_axis] - center_P,
+ rt_Y = logical[q_axis] - center_Q,
+ linear_travel = logical[l_axis] - current_position[l_axis],
+ extruder_travel = logical[E_AXIS] - current_position[E_AXIS];
+
+ // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
+ float angular_travel = ATAN2(r_P * rt_Y - r_Q * rt_X, r_P * rt_X + r_Q * rt_Y);
+ if (angular_travel < 0) angular_travel += RADIANS(360);
+ if (clockwise) angular_travel -= RADIANS(360);
+
+ // Make a circle if the angular rotation is 0 and the target is current position
+ if (angular_travel == 0 && current_position[p_axis] == logical[p_axis] && current_position[q_axis] == logical[q_axis])
+ angular_travel = RADIANS(360);
+
+ const float mm_of_travel = HYPOT(angular_travel * radius, FABS(linear_travel));
+ if (mm_of_travel < 0.001) return;
+
+ uint16_t segments = FLOOR(mm_of_travel / (MM_PER_ARC_SEGMENT));
+ if (segments == 0) segments = 1;
+
+ /**
+ * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
+ * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
+ * r_T = [cos(phi) -sin(phi);
+ * sin(phi) cos(phi)] * r ;
+ *
+ * For arc generation, the center of the circle is the axis of rotation and the radius vector is
+ * defined from the circle center to the initial position. Each line segment is formed by successive
+ * vector rotations. This requires only two cos() and sin() computations to form the rotation
+ * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
+ * all double numbers are single precision on the Arduino. (True double precision will not have
+ * round off issues for CNC applications.) Single precision error can accumulate to be greater than
+ * tool precision in some cases. Therefore, arc path correction is implemented.
+ *
+ * Small angle approximation may be used to reduce computation overhead further. This approximation
+ * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
+ * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
+ * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
+ * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
+ * issue for CNC machines with the single precision Arduino calculations.
+ *
+ * This approximation also allows plan_arc to immediately insert a line segment into the planner
+ * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
+ * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
+ * This is important when there are successive arc motions.
+ */
+ // Vector rotation matrix values
+ float arc_target[XYZE];
+ const float theta_per_segment = angular_travel / segments,
+ linear_per_segment = linear_travel / segments,
+ extruder_per_segment = extruder_travel / segments,
+ sin_T = theta_per_segment,
+ cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
+
+ // Initialize the linear axis
+ arc_target[l_axis] = current_position[l_axis];
+
+ // Initialize the extruder axis
+ arc_target[E_AXIS] = current_position[E_AXIS];
+
+ const float fr_mm_s = MMS_SCALED(feedrate_mm_s);
+
+ millis_t next_idle_ms = millis() + 200UL;
+
+ #if N_ARC_CORRECTION > 1
+ int8_t arc_recalc_count = N_ARC_CORRECTION;
+ #endif
+
+ for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
+
+ thermalManager.manage_heater();
+ if (ELAPSED(millis(), next_idle_ms)) {
+ next_idle_ms = millis() + 200UL;
+ idle();
+ }
+
+ #if N_ARC_CORRECTION > 1
+ if (--arc_recalc_count) {
+ // Apply vector rotation matrix to previous r_P / 1
+ const float r_new_Y = r_P * sin_T + r_Q * cos_T;
+ r_P = r_P * cos_T - r_Q * sin_T;
+ r_Q = r_new_Y;
+ }
+ else
+ #endif
+ {
+ #if N_ARC_CORRECTION > 1
+ arc_recalc_count = N_ARC_CORRECTION;
+ #endif
+
+ // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+ // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+ // To reduce stuttering, the sin and cos could be computed at different times.
+ // For now, compute both at the same time.
+ const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
+ r_P = -offset[0] * cos_Ti + offset[1] * sin_Ti;
+ r_Q = -offset[0] * sin_Ti - offset[1] * cos_Ti;
+ }
+
+ // Update arc_target location
+ arc_target[p_axis] = center_P + r_P;
+ arc_target[q_axis] = center_Q + r_Q;
+ arc_target[l_axis] += linear_per_segment;
+ arc_target[E_AXIS] += extruder_per_segment;
+
+ clamp_to_software_endstops(arc_target);
+
+ planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
+ }
+
+ // Ensure last segment arrives at target location.
+ planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
+
+ // As far as the parser is concerned, the position is now == target. In reality the
+ // motion control system might still be processing the action and the real tool position
+ // in any intermediate location.
+ set_current_to_destination();
+} // plan_arc
+
+/**
+ * G2: Clockwise Arc
+ * G3: Counterclockwise Arc
+ *
+ * This command has two forms: IJ-form and R-form.
+ *
+ * - I specifies an X offset. J specifies a Y offset.
+ * At least one of the IJ parameters is required.
+ * X and Y can be omitted to do a complete circle.
+ * The given XY is not error-checked. The arc ends
+ * based on the angle of the destination.
+ * Mixing I or J with R will throw an error.
+ *
+ * - R specifies the radius. X or Y is required.
+ * Omitting both X and Y will throw an error.
+ * X or Y must differ from the current XY.
+ * Mixing R with I or J will throw an error.
+ *
+ * - P specifies the number of full circles to do
+ * before the specified arc move.
+ *
+ * Examples:
+ *
+ * G2 I10 ; CW circle centered at X+10
+ * G3 X20 Y12 R14 ; CCW circle with r=14 ending at X20 Y12
+ */
+void gcode_G2_G3(bool clockwise) {
+ if (IsRunning()) {
+
+ #if ENABLED(SF_ARC_FIX)
+ const bool relative_mode_backup = relative_mode;
+ relative_mode = true;
+ #endif
+
+ gcode_get_destination();
+
+ #if ENABLED(SF_ARC_FIX)
+ relative_mode = relative_mode_backup;
+ #endif
+
+ float arc_offset[2] = { 0.0, 0.0 };
+ if (parser.seenval('R')) {
+ const float r = parser.value_linear_units(),
+ p1 = current_position[X_AXIS], q1 = current_position[Y_AXIS],
+ p2 = destination[X_AXIS], q2 = destination[Y_AXIS];
+ if (r && (p2 != p1 || q2 != q1)) {
+ const float e = clockwise ^ (r < 0) ? -1 : 1, // clockwise -1/1, counterclockwise 1/-1
+ dx = p2 - p1, dy = q2 - q1, // X and Y differences
+ d = HYPOT(dx, dy), // Linear distance between the points
+ h = SQRT(sq(r) - sq(d * 0.5)), // Distance to the arc pivot-point
+ mx = (p1 + p2) * 0.5, my = (q1 + q2) * 0.5, // Point between the two points
+ sx = -dy / d, sy = dx / d, // Slope of the perpendicular bisector
+ cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
+ arc_offset[0] = cx - p1;
+ arc_offset[1] = cy - q1;
+ }
+ }
+ else {
+ if (parser.seenval('I')) arc_offset[0] = parser.value_linear_units();
+ if (parser.seenval('J')) arc_offset[1] = parser.value_linear_units();
+ }
+
+ if (arc_offset[0] || arc_offset[1]) {
+
+ #if ENABLED(ARC_P_CIRCLES)
+ // P indicates number of circles to do
+ int8_t circles_to_do = parser.byteval('P');
+ if (!WITHIN(circles_to_do, 0, 100)) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
+ }
+ while (circles_to_do--)
+ plan_arc(current_position, arc_offset, clockwise);
+ #endif
+
+ // Send the arc to the planner
+ plan_arc(destination, arc_offset, clockwise);
+ refresh_cmd_timeout();
+ }
+ else {
+ // Bad arguments
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
+ }
+ }
+}
diff --git a/Marlin/src/gcode/motion/G4.h b/Marlin/src/gcode/motion/G4.h
new file mode 100644
index 0000000000000000000000000000000000000000..a10b974afa84f339d95b59335e1fb7e86a180bd1
--- /dev/null
+++ b/Marlin/src/gcode/motion/G4.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G4: Dwell S<seconds> or P<milliseconds>
+ */
+void gcode_G4() {
+ millis_t dwell_ms = 0;
+
+ if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
+ if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
+
+ stepper.synchronize();
+
+ if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
+
+ dwell(dwell_ms);
+}
diff --git a/Marlin/src/gcode/motion/G5.h b/Marlin/src/gcode/motion/G5.h
new file mode 100644
index 0000000000000000000000000000000000000000..9dc1625089d2866531e21f17bfcf095081262fad
--- /dev/null
+++ b/Marlin/src/gcode/motion/G5.h
@@ -0,0 +1,66 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../module/planner_bezier.h"
+
+void plan_cubic_move(const float offset[4]) {
+ cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
+
+ // As far as the parser is concerned, the position is now == destination. In reality the
+ // motion control system might still be processing the action and the real tool position
+ // in any intermediate location.
+ set_current_to_destination();
+}
+
+/**
+ * Parameters interpreted according to:
+ * http://linuxcnc.org/docs/2.6/html/gcode/parser.html#sec:G5-Cubic-Spline
+ * However I, J omission is not supported at this point; all
+ * parameters can be omitted and default to zero.
+ */
+
+/**
+ * G5: Cubic B-spline
+ */
+void gcode_G5() {
+ if (IsRunning()) {
+
+ #if ENABLED(CNC_WORKSPACE_PLANES)
+ if (workspace_plane != PLANE_XY) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_BAD_PLANE_MODE);
+ return;
+ }
+ #endif
+
+ gcode_get_destination();
+
+ const float offset[] = {
+ parser.linearval('I'),
+ parser.linearval('J'),
+ parser.linearval('P'),
+ parser.linearval('Q')
+ };
+
+ plan_cubic_move(offset);
+ }
+}
diff --git a/Marlin/src/gcode/parser.cpp b/Marlin/src/gcode/parser.cpp
index edeb00e226a01c1de5669fc48333e6c6516da079..6cf8b8ee07f631d528309fe9f788306e118feb51 100644
--- a/Marlin/src/gcode/parser.cpp
+++ b/Marlin/src/gcode/parser.cpp
@@ -21,13 +21,16 @@
*/
/**
- * gcode.cpp - Parser for a GCode line, providing a parameter interface.
+ * parser.cpp - Parser for a GCode line, providing a parameter interface.
*/
-#include "gcode.h"
+#include "parser.h"
-#include "Marlin.h"
-#include "language.h"
+#include "../Marlin.h"
+
+#if ENABLED(DEBUG_GCODE_PARSER)
+ #include "../../libs/hex_print_routines.h"
+#endif
// Must be declared for allocation and to satisfy the linker
// Zero values need no initialization.
diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h
index 36549b851ff669bb2faeeb1218715311b33a010e..2a9a81c6db14147b1eddaba845536d8cafb502f7 100644
--- a/Marlin/src/gcode/parser.h
+++ b/Marlin/src/gcode/parser.h
@@ -21,29 +21,18 @@
*/
/**
- * gcode.h - Parser for a GCode line, providing a parameter interface.
+ * parser.h - Parser for a GCode line, providing a parameter interface.
* Codes like M149 control the way the GCode parser behaves,
* so settings for these codes are located in this class.
*/
-#ifndef GCODE_H
-#define GCODE_H
+#ifndef _PARSER_H_
+#define _PARSER_H_
-#include "enum.h"
-#include "types.h"
-#include "MarlinConfig.h"
+#include "../inc/MarlinConfig.h"
//#define DEBUG_GCODE_PARSER
-#if ENABLED(DEBUG_GCODE_PARSER)
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- extern char* hex_address(const void * const w);
- #else
- #include "hex_print_routines.h"
- #endif
- #include "serial.h"
-#endif
-
#if ENABLED(INCH_MODE_SUPPORT)
extern bool volumetric_enabled;
#endif
@@ -320,4 +309,4 @@ public:
extern GCodeParser parser;
-#endif // GCODE_H
+#endif // _PARSER_H_
diff --git a/Marlin/src/gcode/probe/G30.h b/Marlin/src/gcode/probe/G30.h
new file mode 100644
index 0000000000000000000000000000000000000000..80cab18153964c93a6d7dd33bbebe16e49ca480b
--- /dev/null
+++ b/Marlin/src/gcode/probe/G30.h
@@ -0,0 +1,56 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G30: Do a single Z probe at the current XY
+ *
+ * Parameters:
+ *
+ * X Probe X position (default current X)
+ * Y Probe Y position (default current Y)
+ * S0 Leave the probe deployed
+ */
+void gcode_G30() {
+ const float xpos = parser.linearval('X', current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER),
+ ypos = parser.linearval('Y', current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER);
+
+ if (!position_is_reachable_by_probe_xy(xpos, ypos)) return;
+
+ // Disable leveling so the planner won't mess with us
+ #if HAS_LEVELING
+ set_bed_leveling_enabled(false);
+ #endif
+
+ setup_for_endstop_or_probe_move();
+
+ const float measured_z = probe_pt(xpos, ypos, parser.boolval('S', true), 1);
+
+ if (!isnan(measured_z)) {
+ SERIAL_PROTOCOLPAIR("Bed X: ", FIXFLOAT(xpos));
+ SERIAL_PROTOCOLPAIR(" Y: ", FIXFLOAT(ypos));
+ SERIAL_PROTOCOLLNPAIR(" Z: ", FIXFLOAT(measured_z));
+ }
+
+ clean_up_after_endstop_or_probe_move();
+
+ report_current_position();
+}
diff --git a/Marlin/src/gcode/probe/G31_G32.h b/Marlin/src/gcode/probe/G31_G32.h
new file mode 100644
index 0000000000000000000000000000000000000000..280226b5c61034c5da7b18f8d71ab574349a8fdf
--- /dev/null
+++ b/Marlin/src/gcode/probe/G31_G32.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G31: Deploy the Z probe
+ */
+void gcode_G31() { DEPLOY_PROBE(); }
+
+/**
+ * G32: Stow the Z probe
+ */
+void gcode_G32() { STOW_PROBE(); }
diff --git a/Marlin/src/gcode/probe/G38.h b/Marlin/src/gcode/probe/G38.h
new file mode 100644
index 0000000000000000000000000000000000000000..ec9ad806a7e89bfa06cef350e0ea56325dc3844f
--- /dev/null
+++ b/Marlin/src/gcode/probe/G38.h
@@ -0,0 +1,108 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static bool G38_run_probe() {
+
+ bool G38_pass_fail = false;
+
+ #if ENABLED(PROBE_DOUBLE_TOUCH)
+ // Get direction of move and retract
+ float retract_mm[XYZ];
+ LOOP_XYZ(i) {
+ float dist = destination[i] - current_position[i];
+ retract_mm[i] = FABS(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
+ }
+ #endif
+
+ stepper.synchronize(); // wait until the machine is idle
+
+ // Move until destination reached or target hit
+ endstops.enable(true);
+ G38_move = true;
+ G38_endstop_hit = false;
+ prepare_move_to_destination();
+ stepper.synchronize();
+ G38_move = false;
+
+ endstops.hit_on_purpose();
+ set_current_from_steppers_for_axis(ALL_AXES);
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ if (G38_endstop_hit) {
+
+ G38_pass_fail = true;
+
+ #if ENABLED(PROBE_DOUBLE_TOUCH)
+ // Move away by the retract distance
+ set_destination_to_current();
+ LOOP_XYZ(i) destination[i] += retract_mm[i];
+ endstops.enable(false);
+ prepare_move_to_destination();
+ stepper.synchronize();
+
+ feedrate_mm_s /= 4;
+
+ // Bump the target more slowly
+ LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
+
+ endstops.enable(true);
+ G38_move = true;
+ prepare_move_to_destination();
+ stepper.synchronize();
+ G38_move = false;
+
+ set_current_from_steppers_for_axis(ALL_AXES);
+ SYNC_PLAN_POSITION_KINEMATIC();
+ #endif
+ }
+
+ endstops.hit_on_purpose();
+ endstops.not_homing();
+ return G38_pass_fail;
+}
+
+/**
+ * G38.2 - probe toward workpiece, stop on contact, signal error if failure
+ * G38.3 - probe toward workpiece, stop on contact
+ *
+ * Like G28 except uses Z min probe for all axes
+ */
+void gcode_G38(bool is_38_2) {
+ // Get X Y Z E F
+ gcode_get_destination();
+
+ setup_for_endstop_or_probe_move();
+
+ // If any axis has enough movement, do the move
+ LOOP_XYZ(i)
+ if (FABS(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
+ if (!parser.seenval('F')) feedrate_mm_s = homing_feedrate((AxisEnum)i);
+ // If G38.2 fails throw an error
+ if (!G38_run_probe() && is_38_2) {
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM("Failed to reach target");
+ }
+ break;
+ }
+
+ clean_up_after_endstop_or_probe_move();
+}
diff --git a/Marlin/src/gcode/probe/G42.h b/Marlin/src/gcode/probe/G42.h
new file mode 100644
index 0000000000000000000000000000000000000000..374887700dc5293b2055fb1f6823b6e7f360b6fc
--- /dev/null
+++ b/Marlin/src/gcode/probe/G42.h
@@ -0,0 +1,67 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G42: Move X & Y axes to mesh coordinates (I & J)
+ */
+void gcode_G42() {
+ if (IsRunning()) {
+ const bool hasI = parser.seenval('I');
+ const int8_t ix = hasI ? parser.value_int() : 0;
+ const bool hasJ = parser.seenval('J');
+ const int8_t iy = hasJ ? parser.value_int() : 0;
+
+ if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
+ SERIAL_ECHOLNPGM(MSG_ERR_MESH_XY);
+ return;
+ }
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ #define _GET_MESH_X(I) bilinear_start[X_AXIS] + I * bilinear_grid_spacing[X_AXIS]
+ #define _GET_MESH_Y(J) bilinear_start[Y_AXIS] + J * bilinear_grid_spacing[Y_AXIS]
+ #elif ENABLED(AUTO_BED_LEVELING_UBL)
+ #define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I)
+ #define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J)
+ #elif ENABLED(MESH_BED_LEVELING)
+ #define _GET_MESH_X(I) mbl.index_to_xpos[I]
+ #define _GET_MESH_Y(J) mbl.index_to_ypos[J]
+ #endif
+
+ set_destination_to_current();
+ if (hasI) destination[X_AXIS] = LOGICAL_X_POSITION(_GET_MESH_X(ix));
+ if (hasJ) destination[Y_AXIS] = LOGICAL_Y_POSITION(_GET_MESH_Y(iy));
+ if (parser.boolval('P')) {
+ if (hasI) destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
+ if (hasJ) destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
+ }
+
+ const float fval = parser.linearval('F');
+ if (fval > 0.0) feedrate_mm_s = MMM_TO_MMS(fval);
+
+ // SCARA kinematic has "safe" XY raw moves
+ #if IS_SCARA
+ prepare_uninterpolated_move_to_destination();
+ #else
+ prepare_move_to_destination();
+ #endif
+ }
+}
diff --git a/Marlin/src/gcode/probe/M401_M402.h b/Marlin/src/gcode/probe/M401_M402.h
new file mode 100644
index 0000000000000000000000000000000000000000..95f2456b29c0fd69c647d42eb6aa7459b9cd507a
--- /dev/null
+++ b/Marlin/src/gcode/probe/M401_M402.h
@@ -0,0 +1,32 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M401: Engage Z Servo endstop if available
+ */
+void gcode_M401() { DEPLOY_PROBE(); }
+
+/**
+ * M402: Retract Z Servo endstop if enabled
+ */
+void gcode_M402() { STOW_PROBE(); }
+
diff --git a/Marlin/src/gcode/probe/M851.h b/Marlin/src/gcode/probe/M851.h
new file mode 100644
index 0000000000000000000000000000000000000000..02ced5291044392a05484d21439bca3e0ebcaa6c
--- /dev/null
+++ b/Marlin/src/gcode/probe/M851.h
@@ -0,0 +1,76 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void refresh_zprobe_zoffset(const bool no_babystep/*=false*/) {
+ static float last_zoffset = NAN;
+
+ if (!isnan(last_zoffset)) {
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(BABYSTEP_ZPROBE_OFFSET) || ENABLED(DELTA)
+ const float diff = zprobe_zoffset - last_zoffset;
+ #endif
+
+ #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ // Correct bilinear grid for new probe offset
+ if (diff) {
+ for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
+ for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
+ z_values[x][y] -= diff;
+ }
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ bed_level_virt_interpolate();
+ #endif
+ #endif
+
+ #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+ if (!no_babystep && leveling_is_active())
+ thermalManager.babystep_axis(Z_AXIS, -LROUND(diff * planner.axis_steps_per_mm[Z_AXIS]));
+ #else
+ UNUSED(no_babystep);
+ #endif
+
+ #if ENABLED(DELTA) // correct the delta_height
+ home_offset[Z_AXIS] -= diff;
+ #endif
+ }
+
+ last_zoffset = zprobe_zoffset;
+}
+
+void gcode_M851() {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET " ");
+ if (parser.seen('Z')) {
+ const float value = parser.value_linear_units();
+ if (WITHIN(value, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX)) {
+ zprobe_zoffset = value;
+ refresh_zprobe_zoffset();
+ SERIAL_ECHO(zprobe_zoffset);
+ }
+ else
+ SERIAL_ECHOPGM(MSG_Z_MIN " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MIN) " " MSG_Z_MAX " " STRINGIFY(Z_PROBE_OFFSET_RANGE_MAX));
+ }
+ else
+ SERIAL_ECHOPAIR(": ", zprobe_zoffset);
+
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/process_next_command.h b/Marlin/src/gcode/process_next_command.h
new file mode 100644
index 0000000000000000000000000000000000000000..c4108751e9ae7807eb7cc58f8b8bdeb3d5ef153b
--- /dev/null
+++ b/Marlin/src/gcode/process_next_command.h
@@ -0,0 +1,871 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * Process a single command and dispatch it to its handler
+ * This is called from the main loop()
+ */
+void process_next_command() {
+ char * const current_command = command_queue[cmd_queue_index_r];
+
+ if (DEBUGGING(ECHO)) {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLN(current_command);
+ #if ENABLED(M100_FREE_MEMORY_WATCHER)
+ SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
+ M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
+ #endif
+ }
+
+ KEEPALIVE_STATE(IN_HANDLER);
+
+ // Parse the next command in the queue
+ parser.parse(current_command);
+
+ // Handle a known G, M, or T
+ switch (parser.command_letter) {
+ case 'G': switch (parser.codenum) {
+
+ // G0, G1
+ case 0:
+ case 1:
+ #if IS_SCARA
+ gcode_G0_G1(parser.codenum == 0);
+ #else
+ gcode_G0_G1();
+ #endif
+ break;
+
+ // G2, G3
+ #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
+ case 2: // G2: CW ARC
+ case 3: // G3: CCW ARC
+ gcode_G2_G3(parser.codenum == 2);
+ break;
+ #endif
+
+ // G4 Dwell
+ case 4:
+ gcode_G4();
+ break;
+
+ #if ENABLED(BEZIER_CURVE_SUPPORT)
+ case 5: // G5: Cubic B_spline
+ gcode_G5();
+ break;
+ #endif // BEZIER_CURVE_SUPPORT
+
+ #if ENABLED(FWRETRACT)
+ case 10: // G10: retract
+ gcode_G10();
+ break;
+ case 11: // G11: retract_recover
+ gcode_G11();
+ break;
+ #endif // FWRETRACT
+
+ #if ENABLED(NOZZLE_CLEAN_FEATURE)
+ case 12:
+ gcode_G12(); // G12: Nozzle Clean
+ break;
+ #endif // NOZZLE_CLEAN_FEATURE
+
+ #if ENABLED(CNC_WORKSPACE_PLANES)
+ case 17: // G17: Select Plane XY
+ gcode_G17();
+ break;
+ case 18: // G18: Select Plane ZX
+ gcode_G18();
+ break;
+ case 19: // G19: Select Plane YZ
+ gcode_G19();
+ break;
+ #endif // CNC_WORKSPACE_PLANES
+
+ #if ENABLED(INCH_MODE_SUPPORT)
+ case 20: // G20: Inch Mode
+ gcode_G20();
+ break;
+
+ case 21: // G21: MM Mode
+ gcode_G21();
+ break;
+ #endif // INCH_MODE_SUPPORT
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+ case 26: // G26: Mesh Validation Pattern generation
+ gcode_G26();
+ break;
+ #endif // AUTO_BED_LEVELING_UBL
+
+ #if ENABLED(NOZZLE_PARK_FEATURE)
+ case 27: // G27: Nozzle Park
+ gcode_G27();
+ break;
+ #endif // NOZZLE_PARK_FEATURE
+
+ case 28: // G28: Home all axes, one at a time
+ gcode_G28(false);
+ break;
+
+ #if HAS_LEVELING
+ case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
+ // or provides access to the UBL System if enabled.
+ gcode_G29();
+ break;
+ #endif // HAS_LEVELING
+
+ #if HAS_BED_PROBE
+
+ case 30: // G30 Single Z probe
+ gcode_G30();
+ break;
+
+ #if ENABLED(Z_PROBE_SLED)
+
+ case 31: // G31: dock the sled
+ gcode_G31();
+ break;
+
+ case 32: // G32: undock the sled
+ gcode_G32();
+ break;
+
+ #endif // Z_PROBE_SLED
+
+ #endif // HAS_BED_PROBE
+
+ #if PROBE_SELECTED
+
+ #if ENABLED(DELTA_AUTO_CALIBRATION)
+
+ case 33: // G33: Delta Auto-Calibration
+ gcode_G33();
+ break;
+
+ #endif // DELTA_AUTO_CALIBRATION
+
+ #endif // PROBE_SELECTED
+
+ #if ENABLED(G38_PROBE_TARGET)
+ case 38: // G38.2 & G38.3
+ if (parser.subcode == 2 || parser.subcode == 3)
+ gcode_G38(parser.subcode == 2);
+ break;
+ #endif
+
+ case 90: // G90
+ relative_mode = false;
+ break;
+ case 91: // G91
+ relative_mode = true;
+ break;
+
+ case 92: // G92
+ gcode_G92();
+ break;
+
+ #if HAS_MESH
+ case 42:
+ gcode_G42();
+ break;
+ #endif
+
+ #if ENABLED(DEBUG_GCODE_PARSER)
+ case 800:
+ parser.debug(); // GCode Parser Test for G
+ break;
+ #endif
+ }
+ break;
+
+ case 'M': switch (parser.codenum) {
+ #if HAS_RESUME_CONTINUE
+ 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
+
+ #if ENABLED(SPINDLE_LASER_ENABLE)
+ case 3:
+ gcode_M3_M4(true); // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
+ break; // synchronizes with movement commands
+ case 4:
+ gcode_M3_M4(false); // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
+ break; // synchronizes with movement commands
+ case 5:
+ gcode_M5(); // M5 - turn spindle/laser off
+ break; // synchronizes with movement commands
+ #endif
+ case 17: // M17: Enable all stepper motors
+ gcode_M17();
+ break;
+
+ #if ENABLED(SDSUPPORT)
+ case 20: // M20: list SD card
+ gcode_M20(); break;
+ case 21: // M21: init SD card
+ gcode_M21(); break;
+ case 22: // M22: release SD card
+ gcode_M22(); break;
+ case 23: // M23: Select file
+ gcode_M23(); break;
+ case 24: // M24: Start SD print
+ gcode_M24(); break;
+ case 25: // M25: Pause SD print
+ gcode_M25(); break;
+ case 26: // M26: Set SD index
+ gcode_M26(); break;
+ case 27: // M27: Get SD status
+ gcode_M27(); break;
+ case 28: // M28: Start SD write
+ gcode_M28(); break;
+ case 29: // M29: Stop SD write
+ gcode_M29(); break;
+ case 30: // M30 <filename> Delete File
+ gcode_M30(); break;
+ case 32: // M32: Select file and start SD print
+ gcode_M32(); break;
+
+ #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
+ case 33: // M33: Get the long full path to a file or folder
+ gcode_M33(); break;
+ #endif
+
+ #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
+ case 34: // M34: Set SD card sorting options
+ gcode_M34(); break;
+ #endif // SDCARD_SORT_ALPHA && SDSORT_GCODE
+
+ case 928: // M928: Start SD write
+ gcode_M928(); break;
+ #endif // SDSUPPORT
+
+ case 31: // M31: Report time since the start of SD print or last M109
+ gcode_M31(); break;
+
+ case 42: // M42: Change pin state
+ gcode_M42(); break;
+
+ #if ENABLED(PINS_DEBUGGING)
+ case 43: // M43: Read pin state
+ gcode_M43(); break;
+ #endif
+
+
+ #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
+ case 48: // M48: Z probe repeatability test
+ gcode_M48();
+ break;
+ #endif // Z_MIN_PROBE_REPEATABILITY_TEST
+
+ #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+ case 49: // M49: Turn on or off G26 debug flag for verbose output
+ gcode_M49();
+ break;
+ #endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION
+
+ case 75: // M75: Start print timer
+ gcode_M75(); break;
+ case 76: // M76: Pause print timer
+ gcode_M76(); break;
+ case 77: // M77: Stop print timer
+ gcode_M77(); break;
+
+ #if ENABLED(PRINTCOUNTER)
+ case 78: // M78: Show print statistics
+ gcode_M78(); break;
+ #endif
+
+ #if ENABLED(M100_FREE_MEMORY_WATCHER)
+ case 100: // M100: Free Memory Report
+ gcode_M100();
+ break;
+ #endif
+
+ case 104: // M104: Set hot end temperature
+ gcode_M104();
+ break;
+
+ case 110: // M110: Set Current Line Number
+ gcode_M110();
+ break;
+
+ case 111: // M111: Set debug level
+ gcode_M111();
+ break;
+
+ #if DISABLED(EMERGENCY_PARSER)
+
+ case 108: // M108: Cancel Waiting
+ gcode_M108();
+ break;
+
+ case 112: // M112: Emergency Stop
+ gcode_M112();
+ break;
+
+ case 410: // M410 quickstop - Abort all the planned moves.
+ gcode_M410();
+ break;
+
+ #endif
+
+ #if ENABLED(HOST_KEEPALIVE_FEATURE)
+ case 113: // M113: Set Host Keepalive interval
+ gcode_M113();
+ break;
+ #endif
+
+ case 140: // M140: Set bed temperature
+ gcode_M140();
+ break;
+
+
+ case 105: // M105: Report current temperature
+ gcode_M105();
+ KEEPALIVE_STATE(NOT_BUSY);
+ return; // "ok" already printed
+
+ #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
+ case 155: // M155: Set temperature auto-report interval
+ gcode_M155();
+ break;
+ #endif
+
+ case 109: // M109: Wait for hotend temperature to reach target
+ gcode_M109();
+ break;
+
+ #if HAS_TEMP_BED
+ case 190: // M190: Wait for bed temperature to reach target
+ gcode_M190();
+ break;
+ #endif // HAS_TEMP_BED
+
+ #if FAN_COUNT > 0
+ case 106: // M106: Fan On
+ gcode_M106();
+ break;
+ case 107: // M107: Fan Off
+ gcode_M107();
+ break;
+ #endif // FAN_COUNT > 0
+
+ #if ENABLED(PARK_HEAD_ON_PAUSE)
+ case 125: // M125: Store current position and move to filament change position
+ gcode_M125(); break;
+ #endif
+
+ #if ENABLED(BARICUDA)
+ // PWM for HEATER_1_PIN
+ #if HAS_HEATER_1
+ case 126: // M126: valve open
+ gcode_M126();
+ break;
+ case 127: // M127: valve closed
+ gcode_M127();
+ break;
+ #endif // HAS_HEATER_1
+
+ // PWM for HEATER_2_PIN
+ #if HAS_HEATER_2
+ case 128: // M128: valve open
+ gcode_M128();
+ break;
+ case 129: // M129: valve closed
+ gcode_M129();
+ break;
+ #endif // HAS_HEATER_2
+ #endif // BARICUDA
+
+ #if HAS_POWER_SWITCH
+
+ case 80: // M80: Turn on Power Supply
+ gcode_M80();
+ break;
+
+ #endif // HAS_POWER_SWITCH
+
+ case 81: // M81: Turn off Power, including Power Supply, if possible
+ gcode_M81();
+ break;
+
+ case 82: // M82: Set E axis normal mode (same as other axes)
+ gcode_M82();
+ break;
+ case 83: // M83: Set E axis relative mode
+ gcode_M83();
+ break;
+ case 18: // M18 => M84
+ case 84: // M84: Disable all steppers or set timeout
+ gcode_M18_M84();
+ break;
+ case 85: // M85: Set inactivity stepper shutdown timeout
+ gcode_M85();
+ break;
+ case 92: // M92: Set the steps-per-unit for one or more axes
+ gcode_M92();
+ break;
+ case 114: // M114: Report current position
+ gcode_M114();
+ break;
+ case 115: // M115: Report capabilities
+ gcode_M115();
+ break;
+ case 117: // M117: Set LCD message text, if possible
+ gcode_M117();
+ break;
+ case 118: // M118: Display a message in the host console
+ gcode_M118();
+ break;
+ case 119: // M119: Report endstop states
+ gcode_M119();
+ break;
+ case 120: // M120: Enable endstops
+ gcode_M120();
+ break;
+ case 121: // M121: Disable endstops
+ gcode_M121();
+ break;
+
+ #if ENABLED(ULTIPANEL)
+
+ case 145: // M145: Set material heatup parameters
+ gcode_M145();
+ break;
+
+ #endif
+
+ #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
+ case 149: // M149: Set temperature units
+ gcode_M149();
+ break;
+ #endif
+
+ #if HAS_COLOR_LEDS
+
+ case 150: // M150: Set Status LED Color
+ gcode_M150();
+ break;
+
+ #endif // HAS_COLOR_LEDS
+
+ #if ENABLED(MIXING_EXTRUDER)
+ case 163: // M163: Set a component weight for mixing extruder
+ gcode_M163();
+ break;
+ #if MIXING_VIRTUAL_TOOLS > 1
+ case 164: // M164: Save current mix as a virtual extruder
+ gcode_M164();
+ break;
+ #endif
+ #if ENABLED(DIRECT_MIXING_IN_G1)
+ case 165: // M165: Set multiple mix weights
+ gcode_M165();
+ break;
+ #endif
+ #endif
+
+ case 200: // M200: Set filament diameter, E to cubic units
+ gcode_M200();
+ break;
+ case 201: // M201: Set max acceleration for print moves (units/s^2)
+ gcode_M201();
+ break;
+ #if 0 // Not used for Sprinter/grbl gen6
+ case 202: // M202
+ gcode_M202();
+ break;
+ #endif
+ case 203: // M203: Set max feedrate (units/sec)
+ gcode_M203();
+ break;
+ case 204: // M204: Set acceleration
+ gcode_M204();
+ break;
+ case 205: // M205: Set advanced settings
+ gcode_M205();
+ break;
+
+ #if HAS_M206_COMMAND
+ case 206: // M206: Set home offsets
+ gcode_M206();
+ break;
+ #endif
+
+ #if ENABLED(DELTA)
+ case 665: // M665: Set delta configurations
+ gcode_M665();
+ break;
+ #endif
+
+ #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
+ case 666: // M666: Set delta or dual endstop adjustment
+ gcode_M666();
+ break;
+ #endif
+
+ #if ENABLED(FWRETRACT)
+ case 207: // M207: Set Retract Length, Feedrate, and Z lift
+ gcode_M207();
+ break;
+ case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
+ gcode_M208();
+ break;
+ case 209: // M209: Turn Automatic Retract Detection on/off
+ if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209();
+ break;
+ #endif // FWRETRACT
+
+ case 211: // M211: Enable, Disable, and/or Report software endstops
+ gcode_M211();
+ break;
+
+ #if HOTENDS > 1
+ case 218: // M218: Set a tool offset
+ gcode_M218();
+ break;
+ #endif
+
+ case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
+ gcode_M220();
+ break;
+
+ case 221: // M221: Set Flow Percentage
+ gcode_M221();
+ break;
+
+ case 226: // M226: Wait until a pin reaches a state
+ gcode_M226();
+ break;
+
+ #if HAS_SERVOS
+ case 280: // M280: Set servo position absolute
+ gcode_M280();
+ break;
+ #endif // HAS_SERVOS
+
+ #if HAS_BUZZER
+ case 300: // M300: Play beep tone
+ gcode_M300();
+ break;
+ #endif // HAS_BUZZER
+
+ #if ENABLED(PIDTEMP)
+ case 301: // M301: Set hotend PID parameters
+ gcode_M301();
+ break;
+ #endif // PIDTEMP
+
+ #if ENABLED(PIDTEMPBED)
+ case 304: // M304: Set bed PID parameters
+ gcode_M304();
+ break;
+ #endif // PIDTEMPBED
+
+ #if defined(CHDK) || HAS_PHOTOGRAPH
+ case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
+ gcode_M240();
+ break;
+ #endif // CHDK || PHOTOGRAPH_PIN
+
+ #if HAS_LCD_CONTRAST
+ case 250: // M250: Set LCD contrast
+ gcode_M250();
+ break;
+ #endif // HAS_LCD_CONTRAST
+
+ #if ENABLED(EXPERIMENTAL_I2CBUS)
+
+ case 260: // M260: Send data to an i2c slave
+ gcode_M260();
+ break;
+
+ case 261: // M261: Request data from an i2c slave
+ gcode_M261();
+ break;
+
+ #endif // EXPERIMENTAL_I2CBUS
+
+ #if ENABLED(PREVENT_COLD_EXTRUSION)
+ case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
+ gcode_M302();
+ break;
+ #endif // PREVENT_COLD_EXTRUSION
+
+ case 303: // M303: PID autotune
+ gcode_M303();
+ break;
+
+ #if ENABLED(MORGAN_SCARA)
+ case 360: // M360: SCARA Theta pos1
+ if (gcode_M360()) return;
+ break;
+ case 361: // M361: SCARA Theta pos2
+ if (gcode_M361()) return;
+ break;
+ case 362: // M362: SCARA Psi pos1
+ if (gcode_M362()) return;
+ break;
+ case 363: // M363: SCARA Psi pos2
+ if (gcode_M363()) return;
+ break;
+ case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
+ if (gcode_M364()) return;
+ break;
+ #endif // SCARA
+
+ case 400: // M400: Finish all moves
+ gcode_M400();
+ break;
+
+ #if HAS_BED_PROBE
+ case 401: // M401: Deploy probe
+ gcode_M401();
+ break;
+ case 402: // M402: Stow probe
+ gcode_M402();
+ break;
+ #endif // HAS_BED_PROBE
+
+ #if ENABLED(FILAMENT_WIDTH_SENSOR)
+ case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
+ gcode_M404();
+ break;
+ case 405: // M405: Turn on filament sensor for control
+ gcode_M405();
+ break;
+ case 406: // M406: Turn off filament sensor for control
+ gcode_M406();
+ break;
+ case 407: // M407: Display measured filament diameter
+ gcode_M407();
+ break;
+ #endif // FILAMENT_WIDTH_SENSOR
+
+ #if HAS_LEVELING
+ case 420: // M420: Enable/Disable Bed Leveling
+ gcode_M420();
+ break;
+ #endif
+
+ #if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_UBL) || ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ case 421: // M421: Set a Mesh Bed Leveling Z coordinate
+ gcode_M421();
+ break;
+ #endif
+
+ #if HAS_M206_COMMAND
+ case 428: // M428: Apply current_position to home_offset
+ gcode_M428();
+ break;
+ #endif
+
+ case 500: // M500: Store settings in EEPROM
+ gcode_M500();
+ break;
+ case 501: // M501: Read settings from EEPROM
+ gcode_M501();
+ break;
+ case 502: // M502: Revert to default settings
+ gcode_M502();
+ break;
+
+ #if DISABLED(DISABLE_M503)
+ case 503: // M503: print settings currently in memory
+ gcode_M503();
+ break;
+ #endif
+
+ #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+ case 540: // M540: Set abort on endstop hit for SD printing
+ gcode_M540();
+ break;
+ #endif
+
+ #if HAS_BED_PROBE
+ case 851: // M851: Set Z Probe Z Offset
+ gcode_M851();
+ break;
+ #endif // HAS_BED_PROBE
+
+ #if ENABLED(ADVANCED_PAUSE_FEATURE)
+ case 600: // M600: Pause for filament change
+ gcode_M600();
+ break;
+ #endif // ADVANCED_PAUSE_FEATURE
+
+ #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+ case 605: // M605: Set Dual X Carriage movement mode
+ gcode_M605();
+ break;
+ #endif // DUAL_X_CARRIAGE
+
+ #if ENABLED(MK2_MULTIPLEXER)
+ case 702: // M702: Unload all extruders
+ gcode_M702();
+ break;
+ #endif
+
+ #if ENABLED(LIN_ADVANCE)
+ case 900: // M900: Set advance K factor.
+ gcode_M900();
+ break;
+ #endif
+
+ #if ENABLED(HAVE_TMC2130)
+ case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
+ gcode_M906();
+ break;
+ #endif
+
+ case 907: // M907: Set digital trimpot motor current using axis codes.
+ gcode_M907();
+ break;
+
+ #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
+
+ case 908: // M908: Control digital trimpot directly.
+ gcode_M908();
+ break;
+
+ #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
+
+ case 909: // M909: Print digipot/DAC current value
+ gcode_M909();
+ break;
+
+ case 910: // M910: Commit digipot/DAC value to external EEPROM
+ gcode_M910();
+ break;
+
+ #endif
+
+ #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
+
+ #if ENABLED(HAVE_TMC2130)
+ case 911: // M911: Report TMC2130 prewarn triggered flags
+ gcode_M911();
+ break;
+
+ case 912: // M911: Clear TMC2130 prewarn triggered flags
+ gcode_M912();
+ break;
+
+ #if ENABLED(HYBRID_THRESHOLD)
+ case 913: // M913: Set HYBRID_THRESHOLD speed.
+ gcode_M913();
+ break;
+ #endif
+
+ #if ENABLED(SENSORLESS_HOMING)
+ case 914: // M914: Set SENSORLESS_HOMING sensitivity.
+ gcode_M914();
+ break;
+ #endif
+ #endif
+
+ #if HAS_MICROSTEPS
+
+ case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+ gcode_M350();
+ break;
+
+ case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
+ gcode_M351();
+ break;
+
+ #endif // HAS_MICROSTEPS
+
+ case 355: // M355 set case light brightness
+ gcode_M355();
+ break;
+
+ #if ENABLED(DEBUG_GCODE_PARSER)
+ case 800:
+ parser.debug(); // GCode Parser Test for M
+ break;
+ #endif
+
+ #if ENABLED(I2C_POSITION_ENCODERS)
+
+ case 860: // M860 Report encoder module position
+ gcode_M860();
+ break;
+
+ case 861: // M861 Report encoder module status
+ gcode_M861();
+ break;
+
+ case 862: // M862 Perform axis test
+ gcode_M862();
+ break;
+
+ case 863: // M863 Calibrate steps/mm
+ gcode_M863();
+ break;
+
+ case 864: // M864 Change module address
+ gcode_M864();
+ break;
+
+ case 865: // M865 Check module firmware version
+ gcode_M865();
+ break;
+
+ case 866: // M866 Report axis error count
+ gcode_M866();
+ break;
+
+ case 867: // M867 Toggle error correction
+ gcode_M867();
+ break;
+
+ case 868: // M868 Set error correction threshold
+ gcode_M868();
+ break;
+
+ case 869: // M869 Report axis error
+ gcode_M869();
+ break;
+
+ #endif // I2C_POSITION_ENCODERS
+
+ case 999: // M999: Restart after being Stopped
+ gcode_M999();
+ break;
+ }
+ break;
+
+ case 'T':
+ gcode_T(parser.codenum);
+ break;
+
+ default: parser.unknown_command_error();
+ }
+
+ KEEPALIVE_STATE(NOT_BUSY);
+
+ ok_to_send();
+}
\ No newline at end of file
diff --git a/Marlin/src/gcode/scara/M360-M364.h b/Marlin/src/gcode/scara/M360-M364.h
new file mode 100644
index 0000000000000000000000000000000000000000..0fabb751be217dc0285ac3b3b76b906bca6f67a4
--- /dev/null
+++ b/Marlin/src/gcode/scara/M360-M364.h
@@ -0,0 +1,73 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
+ if (IsRunning()) {
+ forward_kinematics_SCARA(delta_a, delta_b);
+ destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
+ destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
+ destination[Z_AXIS] = current_position[Z_AXIS];
+ prepare_move_to_destination();
+ return true;
+ }
+ return false;
+}
+
+/**
+ * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+ */
+bool gcode_M360() {
+ SERIAL_ECHOLNPGM(" Cal: Theta 0");
+ return SCARA_move_to_cal(0, 120);
+}
+
+/**
+ * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+ */
+bool gcode_M361() {
+ SERIAL_ECHOLNPGM(" Cal: Theta 90");
+ return SCARA_move_to_cal(90, 130);
+}
+
+/**
+ * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+ */
+bool gcode_M362() {
+ SERIAL_ECHOLNPGM(" Cal: Psi 0");
+ return SCARA_move_to_cal(60, 180);
+}
+
+/**
+ * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+ */
+bool gcode_M363() {
+ SERIAL_ECHOLNPGM(" Cal: Psi 90");
+ return SCARA_move_to_cal(50, 90);
+}
+
+/**
+ * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
+ */
+bool gcode_M364() {
+ SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
+ return SCARA_move_to_cal(45, 135);
+}
diff --git a/Marlin/src/gcode/sdcard/M20.h b/Marlin/src/gcode/sdcard/M20.h
new file mode 100644
index 0000000000000000000000000000000000000000..89b2d6d448161a6fcd9c8bf6aa45349b96cbe8b3
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M20.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M20: List SD card to serial output
+ */
+void gcode_M20() {
+ SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
+ card.ls();
+ SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
+}
diff --git a/Marlin/src/gcode/sdcard/M21.h b/Marlin/src/gcode/sdcard/M21.h
new file mode 100644
index 0000000000000000000000000000000000000000..3812bca034fad2b8450ac5a70ee367d3d50542da
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M21.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M21: Init SD Card
+ */
+void gcode_M21() { card.initsd(); }
diff --git a/Marlin/src/gcode/sdcard/M22.h b/Marlin/src/gcode/sdcard/M22.h
new file mode 100644
index 0000000000000000000000000000000000000000..3a8848829bf1607c3cca036aeca751cf3304dfea
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M22.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M22: Release SD Card
+ */
+void gcode_M22() { card.release(); }
diff --git a/Marlin/src/gcode/sdcard/M23.h b/Marlin/src/gcode/sdcard/M23.h
new file mode 100644
index 0000000000000000000000000000000000000000..46059e2d4f69ab0726e28dec18b3bff5dd0f8802
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M23.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M23: Open a file
+ */
+void gcode_M23() {
+ // Simplify3D includes the size, so zero out all spaces (#7227)
+ for (char *fn = parser.string_arg; *fn; ++fn) if (*fn == ' ') *fn = '\0';
+ card.openFile(parser.string_arg, true);
+}
diff --git a/Marlin/src/gcode/sdcard/M24.h b/Marlin/src/gcode/sdcard/M24.h
new file mode 100644
index 0000000000000000000000000000000000000000..7e5caf30b5fe4a22ddf6c2134335f57adfc797ac
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M24.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if ENABLED(PARK_HEAD_ON_PAUSE)
+ #include "../feature/pause/common.h"
+#endif
+
+/**
+ * M24: Start or Resume SD Print
+ */
+void gcode_M24() {
+ #if ENABLED(PARK_HEAD_ON_PAUSE)
+ resume_print();
+ #endif
+
+ card.startFileprint();
+ print_job_timer.start();
+}
diff --git a/Marlin/src/gcode/sdcard/M25.h b/Marlin/src/gcode/sdcard/M25.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f466ad92ffe2b8955e1236a3bcadfbaf96a9ff6
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M25.h
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M25: Pause SD Print
+ */
+void gcode_M25() {
+ card.pauseSDPrint();
+ print_job_timer.pause();
+
+ #if ENABLED(PARK_HEAD_ON_PAUSE)
+ enqueue_and_echo_commands_P(PSTR("M125")); // Must be enqueued with pauseSDPrint set to be last in the buffer
+ #endif
+}
diff --git a/Marlin/src/gcode/sdcard/M26.h b/Marlin/src/gcode/sdcard/M26.h
new file mode 100644
index 0000000000000000000000000000000000000000..a3eaf6121b38669860f347e6a69a12156dfaadce
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M26.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M26: Set SD Card file index
+ */
+void gcode_M26() {
+ if (card.cardOK && parser.seenval('S'))
+ card.setIndex(parser.value_long());
+}
diff --git a/Marlin/src/gcode/sdcard/M27.h b/Marlin/src/gcode/sdcard/M27.h
new file mode 100644
index 0000000000000000000000000000000000000000..6825e8466b58a258e99df6c4059a074ec83d0d2d
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M27.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M27: Get SD Card status
+ */
+void gcode_M27() { card.getStatus(); }
diff --git a/Marlin/src/gcode/sdcard/M28.h b/Marlin/src/gcode/sdcard/M28.h
new file mode 100644
index 0000000000000000000000000000000000000000..5e8689f4389cb3ec77b08d6afb13c4a1e935732b
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M28.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M28: Start SD Write
+ */
+void gcode_M28() { card.openFile(parser.string_arg, false); }
diff --git a/Marlin/src/gcode/sdcard/M29.h b/Marlin/src/gcode/sdcard/M29.h
new file mode 100644
index 0000000000000000000000000000000000000000..341640981cd72dd0459814ab83302540b0fe0eaf
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M29.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M29: Stop SD Write
+ * Processed in write to file routine above
+ */
+void gcode_M29() {
+ // card.saving = false;
+}
diff --git a/Marlin/src/gcode/sdcard/M30.h b/Marlin/src/gcode/sdcard/M30.h
new file mode 100644
index 0000000000000000000000000000000000000000..5d584a39b4e8c2d62e99bf863cd937f119979ac5
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M30.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M30 <filename>: Delete SD Card file
+ */
+void gcode_M30() {
+ if (card.cardOK) {
+ card.closefile();
+ card.removeFile(parser.string_arg);
+ }
+}
diff --git a/Marlin/src/gcode/sdcard/M32.h b/Marlin/src/gcode/sdcard/M32.h
new file mode 100644
index 0000000000000000000000000000000000000000..5938d8c5d72741853015faa322d8a9e6c3daed8f
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M32.h
@@ -0,0 +1,44 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M32: Select file and start SD Print
+ */
+void gcode_M32() {
+ if (IS_SD_PRINTING)
+ stepper.synchronize();
+
+ char* namestartpos = parser.string_arg;
+ const bool call_procedure = parser.boolval('P');
+
+ if (card.cardOK) {
+ card.openFile(namestartpos, true, call_procedure);
+
+ if (parser.seenval('S'))
+ card.setIndex(parser.value_long());
+
+ card.startFileprint();
+
+ // Procedure calls count as normal print time.
+ if (!call_procedure) print_job_timer.start();
+ }
+}
diff --git a/Marlin/src/gcode/sdcard/M33.h b/Marlin/src/gcode/sdcard/M33.h
new file mode 100644
index 0000000000000000000000000000000000000000..2380c9f532c3c275714c53e1ef3979a1315d44fd
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M33.h
@@ -0,0 +1,37 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M33: Get the long full path of a file or folder
+ *
+ * Parameters:
+ * <dospath> Case-insensitive DOS-style path to a file or folder
+ *
+ * Example:
+ * M33 miscel~1/armchair/armcha~1.gco
+ *
+ * Output:
+ * /Miscellaneous/Armchair/Armchair.gcode
+ */
+void gcode_M33() {
+ card.printLongPath(parser.string_arg);
+}
diff --git a/Marlin/src/gcode/sdcard/M34.h b/Marlin/src/gcode/sdcard/M34.h
new file mode 100644
index 0000000000000000000000000000000000000000..189eaa2da9b3c0d8ed5356ced75118622b9067f2
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M34.h
@@ -0,0 +1,33 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M34: Set SD Card Sorting Options
+ */
+void gcode_M34() {
+ if (parser.seen('S')) card.setSortOn(parser.value_bool());
+ if (parser.seenval('F')) {
+ const int v = parser.value_long();
+ card.setSortFolders(v < 0 ? -1 : v > 0 ? 1 : 0);
+ }
+ //if (parser.seen('R')) card.setSortReverse(parser.value_bool());
+}
diff --git a/Marlin/src/gcode/sdcard/M928.h b/Marlin/src/gcode/sdcard/M928.h
new file mode 100644
index 0000000000000000000000000000000000000000..41c83fe9f1a4f5d3438b3fbec7a0a9a268c886a2
--- /dev/null
+++ b/Marlin/src/gcode/sdcard/M928.h
@@ -0,0 +1,28 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M928: Start SD Write
+ */
+void gcode_M928() {
+ card.openLogFile(parser.string_arg);
+}
diff --git a/Marlin/src/gcode/sensor/M404.h b/Marlin/src/gcode/sensor/M404.h
new file mode 100644
index 0000000000000000000000000000000000000000..f94cdc2dccdfd7c433da976777907d13388456fb
--- /dev/null
+++ b/Marlin/src/gcode/sensor/M404.h
@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
+ */
+void gcode_M404() {
+ if (parser.seen('W')) {
+ filament_width_nominal = parser.value_linear_units();
+ }
+ else {
+ SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
+ SERIAL_PROTOCOLLN(filament_width_nominal);
+ }
+}
diff --git a/Marlin/src/gcode/sensor/M405.h b/Marlin/src/gcode/sensor/M405.h
new file mode 100644
index 0000000000000000000000000000000000000000..ed7496e9b645a2508116c4f0b24aaef917aa7703
--- /dev/null
+++ b/Marlin/src/gcode/sensor/M405.h
@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M405: Turn on filament sensor for control
+ */
+void gcode_M405() {
+ // This is technically a linear measurement, but since it's quantized to centimeters and is a different
+ // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units().
+ if (parser.seen('D')) {
+ meas_delay_cm = parser.value_byte();
+ NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
+ }
+
+ if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
+ const uint8_t temp_ratio = thermalManager.widthFil_to_size_ratio() - 100; // -100 to scale within a signed byte
+
+ for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
+ measurement_delay[i] = temp_ratio;
+
+ filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
+ }
+
+ filament_sensor = true;
+
+ //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
+ //SERIAL_PROTOCOL(filament_width_meas);
+ //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
+ //SERIAL_PROTOCOL(flow_percentage[active_extruder]);
+}
diff --git a/Marlin/src/gcode/sensor/M406.h b/Marlin/src/gcode/sensor/M406.h
new file mode 100644
index 0000000000000000000000000000000000000000..0074d8eb58f1eabb68268a16837c95e9fc4ab75a
--- /dev/null
+++ b/Marlin/src/gcode/sensor/M406.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M406: Turn off filament sensor for control
+ */
+void gcode_M406() {
+ filament_sensor = false;
+ calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value
+}
diff --git a/Marlin/src/gcode/sensor/M407.h b/Marlin/src/gcode/sensor/M407.h
new file mode 100644
index 0000000000000000000000000000000000000000..a68bc89632dc867b0f6752d141309c81ef11052a
--- /dev/null
+++ b/Marlin/src/gcode/sensor/M407.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M407: Get measured filament diameter on serial output
+ */
+void gcode_M407() {
+ SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
+ SERIAL_PROTOCOLLN(filament_width_meas);
+}
diff --git a/Marlin/src/gcode/stats/M31.h b/Marlin/src/gcode/stats/M31.h
new file mode 100644
index 0000000000000000000000000000000000000000..06cf7835601a7d517df157edc03562bd9d861b27
--- /dev/null
+++ b/Marlin/src/gcode/stats/M31.h
@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M31: Get the time since the start of SD Print (or last M109)
+ */
+void gcode_M31() {
+ char buffer[21];
+ duration_t elapsed = print_job_timer.duration();
+ elapsed.toString(buffer);
+ lcd_setstatus(buffer);
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPAIR("Print time: ", buffer);
+}
diff --git a/Marlin/src/gcode/stats/M75.h b/Marlin/src/gcode/stats/M75.h
new file mode 100644
index 0000000000000000000000000000000000000000..14ea71723e668f56e5dd907ab68766689da9e026
--- /dev/null
+++ b/Marlin/src/gcode/stats/M75.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M75: Start print timer
+ */
+void gcode_M75() { print_job_timer.start(); }
diff --git a/Marlin/src/gcode/stats/M76.h b/Marlin/src/gcode/stats/M76.h
new file mode 100644
index 0000000000000000000000000000000000000000..bacbdd89e14b8528568c6df55d4bb58b602ec015
--- /dev/null
+++ b/Marlin/src/gcode/stats/M76.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M76: Pause print timer
+ */
+void gcode_M76() { print_job_timer.pause(); }
diff --git a/Marlin/src/gcode/stats/M77.h b/Marlin/src/gcode/stats/M77.h
new file mode 100644
index 0000000000000000000000000000000000000000..424d8498efe6a9ac5c0cde07a0f34970bc6cdc8a
--- /dev/null
+++ b/Marlin/src/gcode/stats/M77.h
@@ -0,0 +1,26 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M77: Stop print timer
+ */
+void gcode_M77() { print_job_timer.stop(); }
diff --git a/Marlin/src/gcode/stats/M78.h b/Marlin/src/gcode/stats/M78.h
new file mode 100644
index 0000000000000000000000000000000000000000..af1c0ddc92a6b7cf087b9378fcd97f3aeb68a144
--- /dev/null
+++ b/Marlin/src/gcode/stats/M78.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M78: Show print statistics
+ */
+void gcode_M78() {
+ if (parser.intval('S') == 78) // "M78 S78" will reset the statistics
+ print_job_timer.initStats();
+ else
+ print_job_timer.showStats();
+}
diff --git a/Marlin/src/gcode/temperature/M104.h b/Marlin/src/gcode/temperature/M104.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d5facb28a1a50be12322b5107fb2c2c5e92f5f2
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M104.h
@@ -0,0 +1,63 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M104: Set hot end temperature
+ */
+void gcode_M104() {
+ if (get_target_extruder_from_command(104)) return;
+ if (DEBUGGING(DRYRUN)) return;
+
+ #if ENABLED(SINGLENOZZLE)
+ if (target_extruder != active_extruder) return;
+ #endif
+
+ if (parser.seenval('S')) {
+ const int16_t temp = parser.value_celsius();
+ thermalManager.setTargetHotend(temp, target_extruder);
+
+ #if ENABLED(DUAL_X_CARRIAGE)
+ if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
+ thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
+ #endif
+
+ #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+ /**
+ * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
+ * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
+ * standby mode, for instance in a dual extruder setup, without affecting
+ * the running print timer.
+ */
+ if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
+ print_job_timer.stop();
+ LCD_MESSAGEPGM(WELCOME_MSG);
+ }
+ #endif
+
+ if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
+ lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+ }
+
+ #if ENABLED(AUTOTEMP)
+ planner.autotemp_M104_M109();
+ #endif
+}
diff --git a/Marlin/src/gcode/temperature/M105.h b/Marlin/src/gcode/temperature/M105.h
new file mode 100644
index 0000000000000000000000000000000000000000..351ff25c9d1d4a6af53ba68d4908956e92a51a41
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M105.h
@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M105: Read hot end and bed temperature
+ */
+void gcode_M105() {
+ if (get_target_extruder_from_command(105)) return;
+
+ #if HAS_TEMP_HOTEND || HAS_TEMP_BED
+ SERIAL_PROTOCOLPGM(MSG_OK);
+ print_heaterstates();
+ #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
+ #endif
+
+ SERIAL_EOL();
+}
diff --git a/Marlin/src/gcode/temperature/M106.h b/Marlin/src/gcode/temperature/M106.h
new file mode 100644
index 0000000000000000000000000000000000000000..14c1b2ca7d5dbcd5fe2095706c6096a67e01a363
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M106.h
@@ -0,0 +1,34 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M106: Set Fan Speed
+ *
+ * S<int> Speed between 0-255
+ * P<index> Fan index, if more than one fan
+ */
+void gcode_M106() {
+ uint16_t s = parser.ushortval('S', 255);
+ NOMORE(s, 255);
+ const uint8_t p = parser.byteval('P', 0);
+ if (p < FAN_COUNT) fanSpeeds[p] = s;
+}
diff --git a/Marlin/src/gcode/temperature/M107.h b/Marlin/src/gcode/temperature/M107.h
new file mode 100644
index 0000000000000000000000000000000000000000..ed95801f659c530dd147203e1f9e07af04d144a6
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M107.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M107: Fan Off
+ */
+void gcode_M107() {
+ const uint16_t p = parser.ushortval('P');
+ if (p < FAN_COUNT) fanSpeeds[p] = 0;
+}
diff --git a/Marlin/src/gcode/temperature/M109.h b/Marlin/src/gcode/temperature/M109.h
new file mode 100644
index 0000000000000000000000000000000000000000..b51cf3049839b5f6b0d6c6e4028fd9e60d1d2448
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M109.h
@@ -0,0 +1,185 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
+ * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
+ */
+
+#ifndef MIN_COOLING_SLOPE_DEG
+ #define MIN_COOLING_SLOPE_DEG 1.50
+#endif
+#ifndef MIN_COOLING_SLOPE_TIME
+ #define MIN_COOLING_SLOPE_TIME 60
+#endif
+
+void gcode_M109() {
+
+ if (get_target_extruder_from_command(109)) return;
+ if (DEBUGGING(DRYRUN)) return;
+
+ #if ENABLED(SINGLENOZZLE)
+ if (target_extruder != active_extruder) return;
+ #endif
+
+ const bool no_wait_for_cooling = parser.seenval('S');
+ if (no_wait_for_cooling || parser.seenval('R')) {
+ const int16_t temp = parser.value_celsius();
+ thermalManager.setTargetHotend(temp, target_extruder);
+
+ #if ENABLED(DUAL_X_CARRIAGE)
+ if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
+ thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
+ #endif
+
+ #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+ /**
+ * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
+ * standby mode, (e.g., in a dual extruder setup) without affecting
+ * the running print timer.
+ */
+ if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
+ print_job_timer.stop();
+ LCD_MESSAGEPGM(WELCOME_MSG);
+ }
+ else
+ print_job_timer.start();
+ #endif
+
+ if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+ }
+ else return;
+
+ #if ENABLED(AUTOTEMP)
+ planner.autotemp_M104_M109();
+ #endif
+
+ #if TEMP_RESIDENCY_TIME > 0
+ millis_t residency_start_ms = 0;
+ // Loop until the temperature has stabilized
+ #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
+ #else
+ // Loop until the temperature is very close target
+ #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
+ #endif
+
+ float target_temp = -1.0, old_temp = 9999.0;
+ bool wants_to_cool = false;
+ wait_for_heatup = true;
+ millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
+
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(NOT_BUSY);
+ #endif
+
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ const float start_temp = thermalManager.degHotend(target_extruder);
+ uint8_t old_blue = 0;
+ #endif
+
+ do {
+ // Target temperature might be changed during the loop
+ if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
+ wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
+ target_temp = thermalManager.degTargetHotend(target_extruder);
+
+ // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
+ if (no_wait_for_cooling && wants_to_cool) break;
+ }
+
+ now = millis();
+ if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
+ next_temp_ms = now + 1000UL;
+ print_heaterstates();
+ #if TEMP_RESIDENCY_TIME > 0
+ SERIAL_PROTOCOLPGM(" W:");
+ if (residency_start_ms)
+ SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
+ else
+ SERIAL_PROTOCOLCHAR('?');
+ #endif
+ SERIAL_EOL();
+ }
+
+ idle();
+ refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+
+ const float temp = thermalManager.degHotend(target_extruder);
+
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ // Gradually change LED strip from violet to red as nozzle heats up
+ if (!wants_to_cool) {
+ const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
+ if (blue != old_blue) {
+ old_blue = blue;
+ set_led_color(255, 0, blue
+ #if ENABLED(NEOPIXEL_RGBW_LED)
+ , 0, true
+ #endif
+ );
+ }
+ }
+ #endif
+
+ #if TEMP_RESIDENCY_TIME > 0
+
+ const float temp_diff = FABS(target_temp - temp);
+
+ if (!residency_start_ms) {
+ // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
+ if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
+ }
+ else if (temp_diff > TEMP_HYSTERESIS) {
+ // Restart the timer whenever the temperature falls outside the hysteresis.
+ residency_start_ms = now;
+ }
+
+ #endif
+
+ // Prevent a wait-forever situation if R is misused i.e. M109 R0
+ if (wants_to_cool) {
+ // break after MIN_COOLING_SLOPE_TIME seconds
+ // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
+ if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
+ if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
+ next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
+ old_temp = temp;
+ }
+ }
+
+ } while (wait_for_heatup && TEMP_CONDITIONS);
+
+ if (wait_for_heatup) {
+ LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED)
+ set_led_color(0, 0, 0, 255); // Turn on the WHITE LED
+ #else
+ set_led_color(255, 255, 255); // Set LEDs All On
+ #endif
+ #endif
+ }
+
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(IN_HANDLER);
+ #endif
+}
diff --git a/Marlin/src/gcode/temperature/M140.h b/Marlin/src/gcode/temperature/M140.h
new file mode 100644
index 0000000000000000000000000000000000000000..3cf7d42bce11720e002b03da569e0c219a384242
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M140.h
@@ -0,0 +1,29 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M140: Set bed temperature
+ */
+void gcode_M140() {
+ if (DEBUGGING(DRYRUN)) return;
+ if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
+}
diff --git a/Marlin/src/gcode/temperature/M155.h b/Marlin/src/gcode/temperature/M155.h
new file mode 100644
index 0000000000000000000000000000000000000000..b5d4248db40bf370756994753cb8c8a647e2d337
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M155.h
@@ -0,0 +1,32 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M155: Set temperature auto-report interval. M155 S<seconds>
+ */
+void gcode_M155() {
+ if (parser.seenval('S')) {
+ auto_report_temp_interval = parser.value_byte();
+ NOMORE(auto_report_temp_interval, 60);
+ next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
+ }
+}
diff --git a/Marlin/src/gcode/temperature/M190.h b/Marlin/src/gcode/temperature/M190.h
new file mode 100644
index 0000000000000000000000000000000000000000..7eab1031f33c0bcc44df2e483244ca66f0b93ffe
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M190.h
@@ -0,0 +1,149 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef MIN_COOLING_SLOPE_DEG_BED
+ #define MIN_COOLING_SLOPE_DEG_BED 1.50
+#endif
+#ifndef MIN_COOLING_SLOPE_TIME_BED
+ #define MIN_COOLING_SLOPE_TIME_BED 60
+#endif
+
+/**
+ * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
+ * Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
+ */
+void gcode_M190() {
+ if (DEBUGGING(DRYRUN)) return;
+
+ LCD_MESSAGEPGM(MSG_BED_HEATING);
+ const bool no_wait_for_cooling = parser.seenval('S');
+ if (no_wait_for_cooling || parser.seenval('R')) {
+ thermalManager.setTargetBed(parser.value_celsius());
+ #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+ if (parser.value_celsius() > BED_MINTEMP)
+ print_job_timer.start();
+ #endif
+ }
+ else return;
+
+ #if TEMP_BED_RESIDENCY_TIME > 0
+ millis_t residency_start_ms = 0;
+ // Loop until the temperature has stabilized
+ #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
+ #else
+ // Loop until the temperature is very close target
+ #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
+ #endif
+
+ float target_temp = -1.0, old_temp = 9999.0;
+ bool wants_to_cool = false;
+ wait_for_heatup = true;
+ millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
+
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(NOT_BUSY);
+ #endif
+
+ target_extruder = active_extruder; // for print_heaterstates
+
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ const float start_temp = thermalManager.degBed();
+ uint8_t old_red = 255;
+ #endif
+
+ do {
+ // Target temperature might be changed during the loop
+ if (target_temp != thermalManager.degTargetBed()) {
+ wants_to_cool = thermalManager.isCoolingBed();
+ target_temp = thermalManager.degTargetBed();
+
+ // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
+ if (no_wait_for_cooling && wants_to_cool) break;
+ }
+
+ now = millis();
+ if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
+ next_temp_ms = now + 1000UL;
+ print_heaterstates();
+ #if TEMP_BED_RESIDENCY_TIME > 0
+ SERIAL_PROTOCOLPGM(" W:");
+ if (residency_start_ms)
+ SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
+ else
+ SERIAL_PROTOCOLCHAR('?');
+ #endif
+ SERIAL_EOL();
+ }
+
+ idle();
+ refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+
+ const float temp = thermalManager.degBed();
+
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ // Gradually change LED strip from blue to violet as bed heats up
+ if (!wants_to_cool) {
+ const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
+ if (red != old_red) {
+ old_red = red;
+ set_led_color(red, 0, 255
+ #if ENABLED(NEOPIXEL_RGBW_LED)
+ , 0, true
+ #endif
+ );
+ }
+ }
+ #endif
+
+ #if TEMP_BED_RESIDENCY_TIME > 0
+
+ const float temp_diff = FABS(target_temp - temp);
+
+ if (!residency_start_ms) {
+ // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
+ if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
+ }
+ else if (temp_diff > TEMP_BED_HYSTERESIS) {
+ // Restart the timer whenever the temperature falls outside the hysteresis.
+ residency_start_ms = now;
+ }
+
+ #endif // TEMP_BED_RESIDENCY_TIME > 0
+
+ // Prevent a wait-forever situation if R is misused i.e. M190 R0
+ if (wants_to_cool) {
+ // Break after MIN_COOLING_SLOPE_TIME_BED seconds
+ // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
+ if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
+ if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
+ next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
+ old_temp = temp;
+ }
+ }
+
+ } while (wait_for_heatup && TEMP_BED_CONDITIONS);
+
+ if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(IN_HANDLER);
+ #endif
+}
diff --git a/Marlin/src/gcode/temperature/M303.h b/Marlin/src/gcode/temperature/M303.h
new file mode 100644
index 0000000000000000000000000000000000000000..6dec8dc174bfd46f1eb31e74a551b49ca824211f
--- /dev/null
+++ b/Marlin/src/gcode/temperature/M303.h
@@ -0,0 +1,54 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M303: PID relay autotune
+ *
+ * S<temperature> sets the target temperature. (default 150C)
+ * E<extruder> (-1 for the bed) (default 0)
+ * C<cycles>
+ * U<bool> with a non-zero value will apply the result to current settings
+ */
+void gcode_M303() {
+ #if HAS_PID_HEATING
+ const int e = parser.intval('E'), c = parser.intval('C', 5);
+ const bool u = parser.boolval('U');
+
+ int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
+
+ if (WITHIN(e, 0, HOTENDS - 1))
+ target_extruder = e;
+
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(NOT_BUSY);
+ #endif
+
+ thermalManager.PID_autotune(temp, e, c, u);
+
+ #if DISABLED(BUSY_WHILE_HEATING)
+ KEEPALIVE_STATE(IN_HANDLER);
+ #endif
+ #else
+ SERIAL_ERROR_START();
+ SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
+ #endif
+}
diff --git a/Marlin/src/gcode/units/G20_G21.h b/Marlin/src/gcode/units/G20_G21.h
new file mode 100644
index 0000000000000000000000000000000000000000..6f57f04d288edc1c4a4bd6aea25bf49e3f6db4fa
--- /dev/null
+++ b/Marlin/src/gcode/units/G20_G21.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G20: Set input mode to inches
+ */
+void gcode_G20() { parser.set_input_linear_units(LINEARUNIT_INCH); }
+
+/**
+ * G21: Set input mode to millimeters
+ */
+void gcode_G21() { parser.set_input_linear_units(LINEARUNIT_MM); }
diff --git a/Marlin/src/gcode/units/M149.h b/Marlin/src/gcode/units/M149.h
new file mode 100644
index 0000000000000000000000000000000000000000..7de58cb8e41a474f5558801e87225abc41db5086
--- /dev/null
+++ b/Marlin/src/gcode/units/M149.h
@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M149: Set temperature units
+ */
+void gcode_M149() {
+ if (parser.seenval('C')) parser.set_input_temp_units(TEMPUNIT_C);
+ else if (parser.seenval('K')) parser.set_input_temp_units(TEMPUNIT_K);
+ else if (parser.seenval('F')) parser.set_input_temp_units(TEMPUNIT_F);
+}
diff --git a/Marlin/src/gcode/units/M82_M83.h b/Marlin/src/gcode/units/M82_M83.h
new file mode 100644
index 0000000000000000000000000000000000000000..63e0436e5c42e2c34b22b32adfc7e1d256812ec6
--- /dev/null
+++ b/Marlin/src/gcode/units/M82_M83.h
@@ -0,0 +1,31 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M82: Set E codes absolute (default)
+ */
+void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
+
+/**
+ * M83: Set E codes relative while in Absolute Coordinates (G90) mode
+ */
+void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..17a986e10ed7d1a40de7deea077cada3cf6e42e8
--- /dev/null
+++ b/Marlin/src/module/tool_change.cpp
@@ -0,0 +1,550 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "tool_change.h"
+
+#include "motion.h"
+#include "planner.h"
+#include "stepper.h"
+
+#include "../Marlin.h"
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(SWITCHING_EXTRUDER)
+
+ #if EXTRUDERS > 3
+ #define REQ_ANGLES 4
+ #define _SERVO_NR (e < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR)
+ #else
+ #define REQ_ANGLES 2
+ #define _SERVO_NR SWITCHING_EXTRUDER_SERVO_NR
+ #endif
+
+ void move_extruder_servo(const uint8_t e) {
+ constexpr int16_t angles[] = SWITCHING_EXTRUDER_SERVO_ANGLES;
+ static_assert(COUNT(angles) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles.");
+ stepper.synchronize();
+ #if EXTRUDERS & 1
+ if (e < EXTRUDERS - 1)
+ #endif
+ {
+ MOVE_SERVO(_SERVO_NR, angles[e]);
+ safe_delay(500);
+ }
+ }
+
+#endif // SWITCHING_EXTRUDER
+
+#if ENABLED(SWITCHING_NOZZLE)
+
+ void move_nozzle_servo(const uint8_t e) {
+ const int16_t angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES;
+ stepper.synchronize();
+ MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, angles[e]);
+ safe_delay(500);
+ }
+
+#endif // SWITCHING_NOZZLE
+
+#if ENABLED(PARKING_EXTRUDER)
+
+ void pe_set_magnet(const uint8_t extruder_num, const uint8_t state) {
+ switch (extruder_num) {
+ case 1: OUT_WRITE(SOL1_PIN, state); break;
+ default: OUT_WRITE(SOL0_PIN, state); break;
+ }
+ #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0
+ dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY);
+ #endif
+ }
+
+#endif // PARKING_EXTRUDER
+
+#if HAS_FANMUX
+
+ void fanmux_switch(const uint8_t e) {
+ WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
+ #if PIN_EXISTS(FANMUX1)
+ WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
+ #if PIN_EXISTS(FANMUX2)
+ WRITE(FANMUX2, TEST(e, 2) ? HIGH : LOW);
+ #endif
+ #endif
+ }
+
+ FORCE_INLINE void fanmux_init(void){
+ SET_OUTPUT(FANMUX0_PIN);
+ #if PIN_EXISTS(FANMUX1)
+ SET_OUTPUT(FANMUX1_PIN);
+ #if PIN_EXISTS(FANMUX2)
+ SET_OUTPUT(FANMUX2_PIN);
+ #endif
+ #endif
+ fanmux_switch(0);
+ }
+
+#endif // HAS_FANMUX
+
+inline void invalid_extruder_error(const uint8_t e) {
+ SERIAL_ECHO_START();
+ SERIAL_CHAR('T');
+ SERIAL_ECHO_F(e, DEC);
+ SERIAL_CHAR(' ');
+ SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
+}
+
+/**
+ * Perform a tool-change, which may result in moving the
+ * previous tool out of the way and the new tool into place.
+ */
+void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
+ #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
+
+ if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
+ return invalid_extruder_error(tmp_extruder);
+
+ // T0-Tnnn: Switch virtual tool by changing the mix
+ for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
+ mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
+
+ #else // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
+
+ if (tmp_extruder >= EXTRUDERS)
+ return invalid_extruder_error(tmp_extruder);
+
+ #if HOTENDS > 1
+
+ const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
+
+ feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
+
+ if (tmp_extruder != active_extruder) {
+ if (!no_move && axis_unhomed_error()) {
+ no_move = true;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("No move on toolchange");
+ #endif
+ }
+
+ // Save current position to destination, for use later
+ set_destination_to_current();
+
+ #if ENABLED(DUAL_X_CARRIAGE)
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPGM("Dual X Carriage Mode ");
+ switch (dual_x_carriage_mode) {
+ case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
+ case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
+ case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
+ }
+ }
+ #endif
+
+ const float xhome = x_home_pos(active_extruder);
+ if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
+ && IsRunning()
+ && (delayed_move_time || current_position[X_AXIS] != xhome)
+ ) {
+ float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
+ #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+ NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
+ #endif
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPAIR("Raise to ", raised_z);
+ SERIAL_ECHOLNPAIR("MoveX to ", xhome);
+ SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
+ }
+ #endif
+ // Park old head: 1) raise 2) move to park position 3) lower
+ for (uint8_t i = 0; i < 3; i++)
+ planner.buffer_line(
+ i == 0 ? current_position[X_AXIS] : xhome,
+ current_position[Y_AXIS],
+ i == 2 ? current_position[Z_AXIS] : raised_z,
+ current_position[E_AXIS],
+ planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
+ active_extruder
+ );
+ stepper.synchronize();
+ }
+
+ // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
+ current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
+ current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+
+ // Activate the new extruder ahead of calling set_axis_is_at_home!
+ active_extruder = tmp_extruder;
+
+ // This function resets the max/min values - the current position may be overwritten below.
+ set_axis_is_at_home(X_AXIS);
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
+ #endif
+
+ // Only when auto-parking are carriages safe to move
+ if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
+
+ switch (dual_x_carriage_mode) {
+ case DXC_FULL_CONTROL_MODE:
+ // New current position is the position of the activated extruder
+ current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
+ // Save the inactive extruder's position (from the old current_position)
+ inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
+ break;
+ case DXC_AUTO_PARK_MODE:
+ // record raised toolhead position for use by unpark
+ COPY(raised_parked_position, current_position);
+ raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
+ #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+ NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
+ #endif
+ active_extruder_parked = true;
+ delayed_move_time = 0;
+ break;
+ case DXC_DUPLICATION_MODE:
+ // If the new extruder is the left one, set it "parked"
+ // This triggers the second extruder to move into the duplication position
+ active_extruder_parked = (active_extruder == 0);
+
+ if (active_extruder_parked)
+ current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
+ else
+ current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
+ inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
+ extruder_duplication_enabled = false;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPAIR("Set inactive_extruder_x_pos=", inactive_extruder_x_pos);
+ SERIAL_ECHOLNPGM("Clear extruder_duplication_enabled");
+ }
+ #endif
+ break;
+ }
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
+ DEBUG_POS("New extruder (parked)", current_position);
+ }
+ #endif
+
+ // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
+
+ #else // !DUAL_X_CARRIAGE
+
+ #if ENABLED(PARKING_EXTRUDER) // Dual Parking extruder
+ const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
+ float z_raise = 0;
+ if (!no_move) {
+
+ const float parkingposx[] = PARKING_EXTRUDER_PARKING_X,
+ midpos = ((parkingposx[1] - parkingposx[0])/2) + parkingposx[0] + hotend_offset[X_AXIS][active_extruder],
+ grabpos = parkingposx[tmp_extruder] + hotend_offset[X_AXIS][active_extruder]
+ + (tmp_extruder == 0 ? -(PARKING_EXTRUDER_GRAB_DISTANCE) : PARKING_EXTRUDER_GRAB_DISTANCE);
+ /**
+ * Steps:
+ * 1. raise Z-Axis to have enough clearance
+ * 2. move to park poition of old extruder
+ * 3. disengage magnetc field, wait for delay
+ * 4. move near new extruder
+ * 5. engage magnetic field for new extruder
+ * 6. move to parking incl. offset of new extruder
+ * 7. lower Z-Axis
+ */
+
+ // STEP 1
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("Starting Autopark");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("current position:", current_position);
+ #endif
+ z_raise = PARKING_EXTRUDER_SECURITY_RAISE;
+ current_position[Z_AXIS] += z_raise;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(1) Raise Z-Axis ");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving to Raised Z-Position", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 2
+ current_position[X_AXIS] = parkingposx[active_extruder] + hotend_offset[X_AXIS][active_extruder];
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPAIR("(2) Park extruder ", active_extruder);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving ParkPos", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 3
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(3) Disengage magnet ");
+ #endif
+ pe_deactivate_magnet(active_extruder);
+
+ // STEP 4
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(4) Move to position near new extruder");
+ #endif
+ current_position[X_AXIS] += (active_extruder == 0 ? 10 : -10); // move 10mm away from parked extruder
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Moving away from parked extruder", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+
+ // STEP 5
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(5) Engage magnetic field");
+ #endif
+
+ #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
+ pe_activate_magnet(active_extruder); //just save power for inverted magnets
+ #endif
+ pe_activate_magnet(tmp_extruder);
+
+ // STEP 6
+ current_position[X_AXIS] = grabpos + (tmp_extruder == 0 ? (+10) : (-10));
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ current_position[X_AXIS] = grabpos;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPAIR("(6) Unpark extruder ", tmp_extruder);
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Move UnparkPos", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS]/2, active_extruder);
+ stepper.synchronize();
+
+ // Step 7
+ current_position[X_AXIS] = midpos - hotend_offset[X_AXIS][tmp_extruder];
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("(7) Move midway between hotends");
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Move midway to new extruder", current_position);
+ #endif
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[X_AXIS], active_extruder);
+ stepper.synchronize();
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ SERIAL_ECHOLNPGM("Autopark done.");
+ #endif
+ }
+ else { // nomove == true
+ // Only engage magnetic field for new extruder
+ pe_activate_magnet(tmp_extruder);
+ #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
+ pe_activate_magnet(active_extruder); // Just save power for inverted magnets
+ #endif
+ }
+ current_position[Z_AXIS] -= hotend_offset[Z_AXIS][tmp_extruder] - hotend_offset[Z_AXIS][active_extruder]; // Apply Zoffset
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Applying Z-offset", current_position);
+ #endif
+
+ #endif // dualParking extruder
+
+ #if ENABLED(SWITCHING_NOZZLE)
+ #define DONT_SWITCH (SWITCHING_EXTRUDER_SERVO_NR == SWITCHING_NOZZLE_SERVO_NR)
+ // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
+ const float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
+ z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
+
+ // Always raise by some amount (destination copied from current_position earlier)
+ current_position[Z_AXIS] += z_raise;
+ planner.buffer_line_kinematic(current_position, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
+ move_nozzle_servo(tmp_extruder);
+ #endif
+
+ /**
+ * Set current_position to the position of the new nozzle.
+ * Offsets are based on linear distance, so we need to get
+ * the resulting position in coordinate space.
+ *
+ * - With grid or 3-point leveling, offset XYZ by a tilted vector
+ * - With mesh leveling, update Z for the new position
+ * - Otherwise, just use the raw linear distance
+ *
+ * Software endstops are altered here too. Consider a case where:
+ * E0 at X=0 ... E1 at X=10
+ * When we switch to E1 now X=10, but E1 can't move left.
+ * To express this we apply the change in XY to the software endstops.
+ * E1 can move farther right than E0, so the right limit is extended.
+ *
+ * Note that we don't adjust the Z software endstops. Why not?
+ * Consider a case where Z=0 (here) and switching to E1 makes Z=1
+ * because the bed is 1mm lower at the new position. As long as
+ * the first nozzle is out of the way, the carriage should be
+ * allowed to move 1mm lower. This technically "breaks" the
+ * Z software endstop. But this is technically correct (and
+ * there is no viable alternative).
+ */
+ #if ABL_PLANAR
+ // Offset extruder, make sure to apply the bed level rotation matrix
+ vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
+ hotend_offset[Y_AXIS][tmp_extruder],
+ 0),
+ act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
+ hotend_offset[Y_AXIS][active_extruder],
+ 0),
+ offset_vec = tmp_offset_vec - act_offset_vec;
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ tmp_offset_vec.debug(PSTR("tmp_offset_vec"));
+ act_offset_vec.debug(PSTR("act_offset_vec"));
+ offset_vec.debug(PSTR("offset_vec (BEFORE)"));
+ }
+ #endif
+
+ offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) offset_vec.debug(PSTR("offset_vec (AFTER)"));
+ #endif
+
+ // Adjustments to the current position
+ const float xydiff[2] = { offset_vec.x, offset_vec.y };
+ current_position[Z_AXIS] += offset_vec.z;
+
+ #else // !ABL_PLANAR
+
+ const float xydiff[2] = {
+ hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
+ hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
+ };
+
+ #if ENABLED(MESH_BED_LEVELING)
+
+ if (leveling_is_active()) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
+ #endif
+ float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
+ y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
+ z1 = current_position[Z_AXIS], z2 = z1;
+ planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
+ planner.apply_leveling(x2, y2, z2);
+ current_position[Z_AXIS] += z2 - z1;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING))
+ SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
+ #endif
+ }
+
+ #endif // MESH_BED_LEVELING
+
+ #endif // !HAS_ABL
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
+ SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
+ SERIAL_ECHOLNPGM(" }");
+ }
+ #endif
+
+ // The newly-selected extruder XY is actually at...
+ current_position[X_AXIS] += xydiff[X_AXIS];
+ current_position[Y_AXIS] += xydiff[Y_AXIS];
+ #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) || ENABLED(PARKING_EXTRUDER)
+ for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
+ #if HAS_POSITION_SHIFT
+ position_shift[i] += xydiff[i];
+ #endif
+ update_software_endstops((AxisEnum)i);
+ }
+ #endif
+
+ // Set the new active extruder
+ active_extruder = tmp_extruder;
+
+ #endif // !DUAL_X_CARRIAGE
+
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
+ #endif
+
+ // Tell the planner the new "current position"
+ SYNC_PLAN_POSITION_KINEMATIC();
+
+ // Move to the "old position" (move the extruder into place)
+ if (!no_move && IsRunning()) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
+ #endif
+ prepare_move_to_destination();
+ }
+
+ #if ENABLED(SWITCHING_NOZZLE)
+ // Move back down, if needed. (Including when the new tool is higher.)
+ if (z_raise != z_diff) {
+ destination[Z_AXIS] += z_diff;
+ feedrate_mm_s = planner.max_feedrate_mm_s[Z_AXIS];
+ prepare_move_to_destination();
+ }
+ #endif
+
+ } // (tmp_extruder != active_extruder)
+
+ stepper.synchronize();
+
+ #if ENABLED(EXT_SOLENOID) && !ENABLED(PARKING_EXTRUDER)
+ disable_all_solenoids();
+ enable_solenoid_on_active_extruder();
+ #endif // EXT_SOLENOID
+
+ feedrate_mm_s = old_feedrate_mm_s;
+
+ #else // HOTENDS <= 1
+
+ UNUSED(fr_mm_s);
+ UNUSED(no_move);
+
+ #if ENABLED(MK2_MULTIPLEXER)
+ if (tmp_extruder >= E_STEPPERS)
+ return invalid_extruder_error(tmp_extruder);
+
+ select_multiplexed_stepper(tmp_extruder);
+ #endif
+
+ // Set the new active extruder
+ active_extruder = tmp_extruder;
+
+ #endif // HOTENDS <= 1
+
+ #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH
+ stepper.synchronize();
+ move_extruder_servo(active_extruder);
+ #endif
+
+ #if HAS_FANMUX
+ fanmux_switch(active_extruder);
+ #endif
+
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
+
+ #endif // !MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
+}
diff --git a/Marlin/src/module/tool_change.h b/Marlin/src/module/tool_change.h
new file mode 100644
index 0000000000000000000000000000000000000000..cfd1c1605d482258b0dcb0a0fff120ae25320405
--- /dev/null
+++ b/Marlin/src/module/tool_change.h
@@ -0,0 +1,57 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef TOOL_CHANGE_H
+#define TOOL_CHANGE_H
+
+#include "../inc/MarlinConfig.h"
+
+#if ENABLED(SWITCHING_EXTRUDER)
+ void move_extruder_servo(const uint8_t e);
+#endif
+
+#if ENABLED(SWITCHING_NOZZLE)
+ void move_nozzle_servo(const uint8_t e);
+#endif
+
+#if ENABLED(PARKING_EXTRUDER)
+
+ #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT)
+ #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
+ #else
+ #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE
+ #endif
+
+ void pe_set_magnet(const uint8_t extruder_num, const uint8_t state);
+
+ inline void pe_activate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, PE_MAGNET_ON_STATE); }
+ inline void pe_deactivate_magnet(const uint8_t extruder_num) { pe_set_magnet(extruder_num, !PE_MAGNET_ON_STATE); }
+
+#endif // PARKING_EXTRUDER
+
+/**
+ * Perform a tool-change, which may result in moving the
+ * previous tool out of the way and the new tool into place.
+ */
+void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
+
+#endif // TOOL_CHANGE_H