diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp
index 6eb0ee164d4ce8db4f9d5d0d11e2acaea63ba27a..dcd8599af02c6a8ff16ecb09ab294a31cde1e3bd 100644
--- a/Marlin/src/Marlin.cpp
+++ b/Marlin/src/Marlin.cpp
@@ -31,6 +31,7 @@
#include "Marlin.h"
#include "lcd/ultralcd.h"
+#include "module/motion.h"
#include "module/planner.h"
#include "module/stepper.h"
#include "module/endstops.h"
@@ -43,7 +44,10 @@
#include <math.h>
#include "libs/nozzle.h"
#include "libs/duration_t.h"
+
+#include "gcode/gcode.h"
#include "gcode/parser.h"
+#include "gcode/queue.h"
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "libs/buzzer.h"
@@ -58,6 +62,10 @@
#include "feature/mbl/mesh_bed_leveling.h"
#endif
+#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE)
+ #include "module/tool_change.h"
+#endif
+
#if ENABLED(BEZIER_CURVE_SUPPORT)
#include "module/planner_bezier.h"
#endif
@@ -136,22 +144,6 @@
bool Running = true;
-/**
- * Cartesian Current Position
- * Used to track the logical position as moves are queued.
- * Used by 'line_to_current_position' to do a move after changing it.
- * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
- */
-float current_position[XYZE] = { 0.0 };
-
-/**
- * Cartesian Destination
- * A temporary position, usually applied to 'current_position'.
- * Set with 'gcode_get_destination' or 'set_destination_to_current'.
- * 'line_to_destination' sets 'current_position' to 'destination'.
- */
-float destination[XYZE] = { 0.0 };
-
/**
* axis_homed
* Flags that each linear axis was homed.
@@ -163,38 +155,6 @@ float destination[XYZE] = { 0.0 };
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
-/**
- * GCode line number handling. Hosts may opt to include line numbers when
- * sending commands to Marlin, and lines will be checked for sequentiality.
- * M110 N<int> sets the current line number.
- */
-static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
-/**
- * GCode Command Queue
- * A simple ring buffer of BUFSIZE command strings.
- *
- * Commands are copied into this buffer by the command injectors
- * (immediate, serial, sd card) and they are processed sequentially by
- * the main loop. The process_next_command function parses the next
- * command and hands off execution to individual handler functions.
- */
-uint8_t commands_in_queue = 0; // Count of commands in the queue
-static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
- cmd_queue_index_w = 0; // Ring buffer write position
-#if ENABLED(M100_FREE_MEMORY_WATCHER)
- char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption
-#else // This can be collapsed back to the way it was soon.
-static char command_queue[BUFSIZE][MAX_CMD_SIZE];
-#endif
-
-/**
- * Next Injected Command pointer. NULL if no commands are being injected.
- * Used by Marlin internally to ensure that commands initiated from within
- * are enqueued ahead of any pending serial or sd card commands.
- */
-static const char *injected_commands_P = NULL;
-
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
@@ -213,14 +173,12 @@ static const float homing_feedrate_mm_s[] PROGMEM = {
};
FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); }
-float feedrate_mm_s = MMM_TO_MMS(1500.0);
static float saved_feedrate_mm_s;
int16_t feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
// Initialized by settings.load()
-bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
- volumetric_enabled;
+bool volumetric_enabled;
float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
#if HAS_WORKSPACE_OFFSET
@@ -239,13 +197,6 @@ float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS];
#endif
#endif
-// Software Endstops are based on the configured limits.
-#if HAS_SOFTWARE_ENDSTOPS
- bool soft_endstops_enabled = true;
-#endif
-float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
- soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
-
#if FAN_COUNT > 0
int16_t fanSpeeds[FAN_COUNT] = { 0 };
#if ENABLED(PROBING_FANS_OFF)
@@ -254,12 +205,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
#endif
#endif
-// The active extruder (tool). Set with T<extruder> command.
-uint8_t active_extruder = 0;
-
-// Relative Mode. Enable with G91, disable with G90.
-static bool relative_mode = false;
-
// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
volatile bool wait_for_heatup = true;
@@ -268,11 +213,6 @@ volatile bool wait_for_heatup = true;
volatile bool wait_for_user = false;
#endif
-const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
-
-// Number of characters read in the current line of serial input
-static int serial_count = 0;
-
// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
@@ -285,8 +225,6 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL
Stopwatch print_job_timer = Stopwatch();
#endif
-static uint8_t target_extruder;
-
#if HAS_BED_PROBE
float zprobe_zoffset; // Initialized by settings.load()
#endif
@@ -423,8 +361,6 @@ float cartes[XYZ] = { 0 };
#endif
#endif
-static bool send_ok[BUFSIZE];
-
#if HAS_SERVOS
HAL_SERVO_LIB servo[NUM_SERVOS];
#define MOVE_SERVO(I, P) servo[I].move(P)
@@ -461,21 +397,6 @@ static bool send_ok[BUFSIZE];
static WorkspacePlane workspace_plane = PLANE_XY;
#endif
-FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
-FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
-
-#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
- typedef void __void_##CONFIG##__
-
-XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
-XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
-XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM);
-XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
-
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
@@ -484,10 +405,6 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
void stop();
-void get_available_commands();
-void process_next_command();
-void prepare_move_to_destination();
-
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(const AxisEnum axis);
@@ -497,112 +414,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis);
void report_current_position();
-/**
- * sync_plan_position
- *
- * Set the planner/stepper positions directly from current_position with
- * no kinematic translation. Used for homing axes and cartesian/core syncing.
- */
-void sync_plan_position() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
- #endif
- planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-}
-inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
-
-#if IS_KINEMATIC
-
- inline void sync_plan_position_kinematic() {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
- #endif
- planner.set_position_mm_kinematic(current_position);
- }
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
-
-#else
-
- #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
-
-#endif
-
#if ENABLED(DIGIPOT_I2C)
extern void digipot_i2c_set_current(uint8_t channel, float current);
extern void digipot_i2c_init();
#endif
-/**
- * Inject the next "immediate" command, when possible, onto the front of the queue.
- * Return true if any immediate commands remain to inject.
- */
-static bool drain_injected_commands_P() {
- if (injected_commands_P != NULL) {
- size_t i = 0;
- char c, cmd[30];
- strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
- cmd[sizeof(cmd) - 1] = '\0';
- while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
- cmd[i] = '\0';
- if (enqueue_and_echo_command(cmd)) // success?
- injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
- }
- return (injected_commands_P != NULL); // return whether any more remain
-}
-
-/**
- * Record one or many commands to run from program memory.
- * Aborts the current queue, if any.
- * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
- */
-void enqueue_and_echo_commands_P(const char * const pgcode) {
- injected_commands_P = pgcode;
- drain_injected_commands_P(); // first command executed asap (when possible)
-}
-
-/**
- * Clear the Marlin command queue
- */
-void clear_command_queue() {
- cmd_queue_index_r = cmd_queue_index_w;
- commands_in_queue = 0;
-}
-
-/**
- * Once a new command is in the ring buffer, call this to commit it
- */
-inline void _commit_command(bool say_ok) {
- send_ok[cmd_queue_index_w] = say_ok;
- if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
- commands_in_queue++;
-}
-
-/**
- * Copy a command from RAM into the main command buffer.
- * Return true if the command was successfully added.
- * Return false for a full buffer, or if the 'command' is a comment.
- */
-inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
- if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
- strcpy(command_queue[cmd_queue_index_w], cmd);
- _commit_command(say_ok);
- return true;
-}
-
-/**
- * Enqueue with Serial Echo
- */
-bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
- if (_enqueuecommand(cmd, say_ok)) {
- SERIAL_ECHO_START();
- SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
- SERIAL_CHAR('"');
- SERIAL_EOL();
- return true;
- }
- return false;
-}
-
void setup_killpin() {
#if HAS_KILL
SET_INPUT_PULLUP(KILL_PIN);
@@ -784,305 +600,6 @@ void servo_init() {
#endif // HAS_COLOR_LEDS
-void gcode_line_error(const char* err, bool doFlush = true) {
- SERIAL_ERROR_START();
- serialprintPGM(err);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- if (doFlush) FlushSerialRequestResend();
- serial_count = 0;
-}
-
-/**
- * Get all commands waiting on the serial port and queue them.
- * Exit when the buffer is full or when no more characters are
- * left on the serial port.
- */
-inline void get_serial_commands() {
- static char serial_line_buffer[MAX_CMD_SIZE];
- static bool serial_comment_mode = false;
-
- // If the command buffer is empty for too long,
- // send "wait" to indicate Marlin is still waiting.
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- static millis_t last_command_time = 0;
- const millis_t ms = millis();
- if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
- SERIAL_ECHOLNPGM(MSG_WAIT);
- last_command_time = ms;
- }
- #endif
-
- /**
- * Loop while serial characters are incoming and the queue is not full
- */
- while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
-
- char serial_char = MYSERIAL.read();
-
- /**
- * If the character ends the line
- */
- if (serial_char == '\n' || serial_char == '\r') {
-
- serial_comment_mode = false; // end of line == end of comment
-
- if (!serial_count) continue; // skip empty lines
-
- serial_line_buffer[serial_count] = 0; // terminate string
- serial_count = 0; //reset buffer
-
- char* command = serial_line_buffer;
-
- while (*command == ' ') command++; // skip any leading spaces
- char *npos = (*command == 'N') ? command : NULL, // Require the N parameter to start the line
- *apos = strchr(command, '*');
-
- if (npos) {
-
- bool M110 = strstr_P(command, PSTR("M110")) != NULL;
-
- if (M110) {
- char* n2pos = strchr(command + 4, 'N');
- if (n2pos) npos = n2pos;
- }
-
- gcode_N = strtol(npos + 1, NULL, 10);
-
- if (gcode_N != gcode_LastN + 1 && !M110) {
- gcode_line_error(PSTR(MSG_ERR_LINE_NO));
- return;
- }
-
- if (apos) {
- byte checksum = 0, count = 0;
- while (command[count] != '*') checksum ^= command[count++];
-
- if (strtol(apos + 1, NULL, 10) != checksum) {
- gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
- return;
- }
- // if no errors, continue parsing
- }
- else {
- gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
- return;
- }
-
- gcode_LastN = gcode_N;
- // if no errors, continue parsing
- }
- else if (apos) { // No '*' without 'N'
- gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
- return;
- }
-
- // Movement commands alert when stopped
- if (IsStopped()) {
- char* gpos = strchr(command, 'G');
- if (gpos) {
- const int codenum = strtol(gpos + 1, NULL, 10);
- switch (codenum) {
- case 0:
- case 1:
- case 2:
- case 3:
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- break;
- }
- }
- }
-
- #if DISABLED(EMERGENCY_PARSER)
- // If command was e-stop process now
- if (strcmp(command, "M108") == 0) {
- wait_for_heatup = false;
- #if ENABLED(ULTIPANEL)
- wait_for_user = false;
- #endif
- }
- if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
- if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
- #endif
-
- #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
- last_command_time = ms;
- #endif
-
- // Add the command to the queue
- _enqueuecommand(serial_line_buffer, true);
- }
- else if (serial_count >= MAX_CMD_SIZE - 1) {
- // Keep fetching, but ignore normal characters beyond the max length
- // The command will be injected when EOL is reached
- }
- else if (serial_char == '\\') { // Handle escapes
- if (MYSERIAL.available() > 0) {
- // if we have one more character, copy it over
- serial_char = MYSERIAL.read();
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
- // otherwise do nothing
- }
- else { // it's not a newline, carriage return or escape char
- if (serial_char == ';') serial_comment_mode = true;
- if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
- }
-
- } // queue has space, serial has data
-}
-
-#if ENABLED(SDSUPPORT)
-
- /**
- * Get commands from the SD Card until the command buffer is full
- * or until the end of the file is reached. The special character '#'
- * can also interrupt buffering.
- */
- inline void get_sdcard_commands() {
- static bool stop_buffering = false,
- sd_comment_mode = false;
-
- if (!IS_SD_PRINTING) return;
-
- /**
- * '#' stops reading from SD to the buffer prematurely, so procedural
- * macro calls are possible. If it occurs, stop_buffering is triggered
- * and the buffer is run dry; this character _can_ occur in serial com
- * due to checksums, however, no checksums are used in SD printing.
- */
-
- if (commands_in_queue == 0) stop_buffering = false;
-
- uint16_t sd_count = 0;
- bool card_eof = card.eof();
- while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
- const int16_t n = card.get();
- char sd_char = (char)n;
- card_eof = card.eof();
- if (card_eof || n == -1
- || sd_char == '\n' || sd_char == '\r'
- || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
- ) {
- if (card_eof) {
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- card.printingHasFinished();
- #if ENABLED(PRINTER_EVENT_LEDS)
- LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
- set_led_color(0, 255, 0); // Green
- #if HAS_RESUME_CONTINUE
- enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
- #else
- safe_delay(1000);
- #endif
- set_led_color(0, 0, 0); // OFF
- #endif
- card.checkautostart(true);
- }
- else if (n == -1) {
- SERIAL_ERROR_START();
- SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
- }
- if (sd_char == '#') stop_buffering = true;
-
- sd_comment_mode = false; // for new command
-
- if (!sd_count) continue; // skip empty lines (and comment lines)
-
- command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
- sd_count = 0; // clear sd line buffer
-
- _commit_command(false);
- }
- else if (sd_count >= MAX_CMD_SIZE - 1) {
- /**
- * Keep fetching, but ignore normal characters beyond the max length
- * The command will be injected when EOL is reached
- */
- }
- else {
- if (sd_char == ';') sd_comment_mode = true;
- if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
- }
- }
- }
-
-#endif // SDSUPPORT
-
-/**
- * Add to the circular command queue the next command from:
- * - The command-injection queue (injected_commands_P)
- * - The active serial input (usually USB)
- * - The SD card file being actively printed
- */
-void get_available_commands() {
-
- // if any immediate commands remain, don't get other commands yet
- if (drain_injected_commands_P()) return;
-
- get_serial_commands();
-
- #if ENABLED(SDSUPPORT)
- get_sdcard_commands();
- #endif
-}
-
-/**
- * Set target_extruder from the T parameter or the active_extruder
- *
- * Returns TRUE if the target is invalid
- */
-bool get_target_extruder_from_command(const uint16_t code) {
- if (parser.seenval('T')) {
- const int8_t e = parser.value_byte();
- if (e >= EXTRUDERS) {
- SERIAL_ECHO_START();
- SERIAL_CHAR('M');
- SERIAL_ECHO(code);
- SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
- return true;
- }
- target_extruder = e;
- }
- else
- target_extruder = active_extruder;
-
- return false;
-}
-
-#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
- bool extruder_duplication_enabled = false; // Used in Dual X mode 2
-#endif
-
-#if ENABLED(DUAL_X_CARRIAGE)
-
- static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
-
- static float x_home_pos(const int extruder) {
- if (extruder == 0)
- return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
- else
- /**
- * In dual carriage mode the extruder offset provides an override of the
- * second X-carriage position when homed - otherwise X2_HOME_POS is used.
- * This allows soft recalibration of the second extruder home position
- * without firmware reflash (through the M218 command).
- */
- return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
- }
-
- static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
-
- static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
- static bool active_extruder_parked = false; // used in mode 1 & 2
- static float raised_parked_position[XYZE]; // used in mode 1
- static millis_t delayed_move_time = 0; // used in mode 1
- static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
- static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
-
-#endif // DUAL_X_CARRIAGE
-
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
/**
@@ -1312,54 +829,6 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) {
return homing_feedrate(axis) / hbd;
}
-/**
- * Move the planner to the current position from wherever it last moved
- * (or from wherever it has been told it is located).
- */
-inline void line_to_current_position() {
- planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
-}
-
-/**
- * Move the planner to the position stored in the destination array, which is
- * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
- */
-inline void line_to_destination(const float fr_mm_s) {
- planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
-}
-inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
-
-inline void set_current_to_destination() { COPY(current_position, destination); }
-inline void set_destination_to_current() { COPY(destination, current_position); }
-
-#if IS_KINEMATIC
- /**
- * Calculate delta, start a line, and set current_position to destination
- */
- void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
- #endif
-
- refresh_cmd_timeout();
-
- #if UBL_DELTA
- // ubl segmented line will do z-only moves in single segment
- ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
- #else
- if ( current_position[X_AXIS] == destination[X_AXIS]
- && current_position[Y_AXIS] == destination[Y_AXIS]
- && current_position[Z_AXIS] == destination[Z_AXIS]
- && current_position[E_AXIS] == destination[E_AXIS]
- ) return;
-
- planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
- #endif
-
- set_current_to_destination();
- }
-#endif // IS_KINEMATIC
-
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
@@ -1506,7 +975,7 @@ static void setup_for_endstop_or_probe_move() {
saved_feedrate_mm_s = feedrate_mm_s;
saved_feedrate_percentage = feedrate_percentage;
feedrate_percentage = 100;
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
}
static void clean_up_after_endstop_or_probe_move() {
@@ -1515,7 +984,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
feedrate_mm_s = saved_feedrate_mm_s;
feedrate_percentage = saved_feedrate_percentage;
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
}
#if HAS_BED_PROBE
@@ -2016,7 +1485,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
#if ENABLED(PROBE_DOUBLE_TOUCH)
@@ -3024,35 +2493,6 @@ static void homeaxis(const AxisEnum axis) {
* ***************************************************************************
*/
-/**
- * Set XYZE destination and feedrate from the current GCode command
- *
- * - Set destination from included axis codes
- * - Set to current for missing axis codes
- * - Set the feedrate, if included
- */
-void gcode_get_destination() {
- LOOP_XYZE(i) {
- if (parser.seen(axis_codes[i]))
- destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
- else
- destination[i] = current_position[i];
- }
-
- if (parser.linearval('F') > 0.0)
- feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
-
- #if ENABLED(PRINTCOUNTER)
- if (!DEBUGGING(DRYRUN))
- print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
- #endif
-
- // Get ABCDHI mixing factors
- #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
- gcode_get_mix();
- #endif
-}
-
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
@@ -3091,14 +2531,12 @@ void gcode_get_destination() {
***************** GCode Handlers *****************
**************************************************/
-#include "gcode/motion/G0_G1.h"
-
#if ENABLED(ARC_SUPPORT)
#include "gcode/motion/G2_G3.h"
#endif
void dwell(millis_t time) {
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
time += previous_cmd_ms;
while (PENDING(millis(), time)) idle();
}
@@ -3250,8 +2688,6 @@ static bool pin_is_protected(const int8_t pin) {
#include "gcode/stats/M78.h"
#endif
-#include "gcode/temperature/M104.h"
-
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
void print_heater_state(const float &c, const float &t,
@@ -3288,9 +2724,9 @@ static bool pin_is_protected(const int8_t pin) {
void print_heaterstates() {
#if HAS_TEMP_HOTEND
- print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder)
+ print_heater_state(thermalManager.degHotend(gcode.target_extruder), thermalManager.degTargetHotend(gcode.target_extruder)
#if ENABLED(SHOW_TEMP_ADC_VALUES)
- , thermalManager.rawHotendTemp(target_extruder)
+ , thermalManager.rawHotendTemp(gcode.target_extruder)
#endif
);
#endif
@@ -3311,7 +2747,7 @@ static bool pin_is_protected(const int8_t pin) {
);
#endif
SERIAL_PROTOCOLPGM(" @:");
- SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
+ SERIAL_PROTOCOL(thermalManager.getHeaterPower(gcode.target_extruder));
#if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B@:");
SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
@@ -3357,8 +2793,6 @@ static bool pin_is_protected(const int8_t pin) {
#include "gcode/control/M410.h"
#endif
-#include "gcode/temperature/M109.h"
-
#if HAS_TEMP_BED
#include "gcode/temperature/M190.h"
#endif
@@ -3404,17 +2838,6 @@ static bool pin_is_protected(const int8_t pin) {
#include "gcode/control/M85.h"
-/**
- * Multi-stepper support for M92, M201, M203
- */
-#if ENABLED(DISTINCT_E_FACTORS)
- #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
- #define TARGET_EXTRUDER target_extruder
-#else
- #define GET_TARGET_EXTRUDER(CMD) NOOP
- #define TARGET_EXTRUDER 0
-#endif
-
#include "gcode/config/M92.h"
#if ENABLED(M100_FREE_MEMORY_WATCHER)
@@ -3461,7 +2884,6 @@ void report_current_position() {
#include "gcode/feature/leds/M150.h"
#endif
-#include "gcode/config/M200.h"
#include "gcode/config/M201.h"
#if 0 // Not used for Sprinter/grbl gen6
@@ -3484,20 +2906,9 @@ void report_current_position() {
#include "gcode/calibrate/M666.h"
#endif
-#if ENABLED(FWRETRACT)
- #include "gcode/feature/fwretract/M207.h"
- #include "gcode/feature/fwretract/M208.h"
- #include "gcode/feature/fwretract/M209.h"
-#endif
-
#include "gcode/control/M211.h"
-#if HOTENDS > 1
- #include "gcode/config/M218.h"
-#endif
-
#include "gcode/config/M220.h"
-#include "gcode/config/M221.h"
#include "gcode/control/M226.h"
@@ -3533,8 +2944,6 @@ void report_current_position() {
#include "gcode/config/M302.h"
#endif
-#include "gcode/temperature/M303.h"
-
#if ENABLED(MORGAN_SCARA)
#include "gcode/scara/M360-M364.h"
#endif
@@ -3647,80 +3056,6 @@ void quickstop_stepper() {
#include "gcode/control/T.h"
-#include "gcode/process_next_command.h"
-
-/**
- * Send a "Resend: nnn" message to the host to
- * indicate that a command needs to be re-sent.
- */
-void FlushSerialRequestResend() {
- //char command_queue[cmd_queue_index_r][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ok_to_send();
-}
-
-/**
- * Send an "ok" message to the host, indicating
- * that a command was successfully processed.
- *
- * If ADVANCED_OK is enabled also include:
- * N<int> Line number of the command, if any
- * P<int> Planner space remaining
- * B<int> Block queue space remaining
- */
-void ok_to_send() {
- refresh_cmd_timeout();
- if (!send_ok[cmd_queue_index_r]) return;
- SERIAL_PROTOCOLPGM(MSG_OK);
- #if ENABLED(ADVANCED_OK)
- char* p = command_queue[cmd_queue_index_r];
- if (*p == 'N') {
- SERIAL_PROTOCOL(' ');
- SERIAL_ECHO(*p++);
- while (NUMERIC_SIGNED(*p))
- SERIAL_ECHO(*p++);
- }
- SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
- SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
- #endif
- SERIAL_EOL();
-}
-
-#if HAS_SOFTWARE_ENDSTOPS
-
- /**
- * Constrain the given coordinates to the software endstops.
- */
-
- // NOTE: This makes no sense for delta beds other than Z-axis.
- // For delta the X/Y would need to be clamped at
- // DELTA_PRINTABLE_RADIUS from center of bed, but delta
- // now enforces is_position_reachable for X/Y regardless
- // of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
- // redundant here.
-
- void clamp_to_software_endstops(float target[XYZ]) {
- if (!soft_endstops_enabled) return;
- #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
- #if DISABLED(DELTA)
- NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
- NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
- #endif
- NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
- #endif
- #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
- #if DISABLED(DELTA)
- NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
- NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
- #endif
- NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
- #endif
- }
-
-#endif
-
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
@@ -4090,426 +3425,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
current_position[axis] = cartes[axis];
}
-#if ENABLED(MESH_BED_LEVELING)
-
- /**
- * Prepare a mesh-leveled linear move in a Cartesian setup,
- * splitting the move where it crosses mesh borders.
- */
- void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) {
- int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
- cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
- cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
- cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
- NOMORE(cx1, GRID_MAX_POINTS_X - 2);
- NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
- NOMORE(cx2, GRID_MAX_POINTS_X - 2);
- NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
-
- if (cx1 == cx2 && cy1 == cy2) {
- // Start and end on same mesh square
- line_to_destination(fr_mm_s);
- set_current_to_destination();
- return;
- }
-
- #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
-
- float normalized_dist, end[XYZE];
-
- // Split at the left/front border of the right/top square
- const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
- if (cx2 != cx1 && TEST(x_splits, gcx)) {
- COPY(end, destination);
- destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
- normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
- destination[Y_AXIS] = MBL_SEGMENT_END(Y);
- CBI(x_splits, gcx);
- }
- else if (cy2 != cy1 && TEST(y_splits, gcy)) {
- COPY(end, destination);
- destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
- normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
- destination[X_AXIS] = MBL_SEGMENT_END(X);
- CBI(y_splits, gcy);
- }
- else {
- // Already split on a border
- line_to_destination(fr_mm_s);
- set_current_to_destination();
- return;
- }
-
- destination[Z_AXIS] = MBL_SEGMENT_END(Z);
- destination[E_AXIS] = MBL_SEGMENT_END(E);
-
- // Do the split and look for more borders
- mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
-
- // Restore destination from stack
- COPY(destination, end);
- mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
- }
-
-#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
-
- #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
-
- /**
- * Prepare a bilinear-leveled linear move on Cartesian,
- * splitting the move where it crosses grid borders.
- */
- void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
- int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
- cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
- cx2 = CELL_INDEX(X, destination[X_AXIS]),
- cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
- cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
- cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
- cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
- cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
-
- if (cx1 == cx2 && cy1 == cy2) {
- // Start and end on same mesh square
- line_to_destination(fr_mm_s);
- set_current_to_destination();
- return;
- }
-
- #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
-
- float normalized_dist, end[XYZE];
-
- // Split at the left/front border of the right/top square
- const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
- if (cx2 != cx1 && TEST(x_splits, gcx)) {
- COPY(end, destination);
- destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
- normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
- destination[Y_AXIS] = LINE_SEGMENT_END(Y);
- CBI(x_splits, gcx);
- }
- else if (cy2 != cy1 && TEST(y_splits, gcy)) {
- COPY(end, destination);
- destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
- normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
- destination[X_AXIS] = LINE_SEGMENT_END(X);
- CBI(y_splits, gcy);
- }
- else {
- // Already split on a border
- line_to_destination(fr_mm_s);
- set_current_to_destination();
- return;
- }
-
- destination[Z_AXIS] = LINE_SEGMENT_END(Z);
- destination[E_AXIS] = LINE_SEGMENT_END(E);
-
- // Do the split and look for more borders
- bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
-
- // Restore destination from stack
- COPY(destination, end);
- bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
- }
-
-#endif // AUTO_BED_LEVELING_BILINEAR
-
-#if IS_KINEMATIC && !UBL_DELTA
-
- /**
- * Prepare a linear move in a DELTA or SCARA setup.
- *
- * This calls planner.buffer_line several times, adding
- * small incremental moves for DELTA or SCARA.
- */
- inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
-
- // Get the top feedrate of the move in the XY plane
- const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
-
- // If the move is only in Z/E don't split up the move
- if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
- planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
- return false;
- }
-
- // Fail if attempting move outside printable radius
- if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
-
- // Get the cartesian distances moved in XYZE
- const float difference[XYZE] = {
- ltarget[X_AXIS] - current_position[X_AXIS],
- ltarget[Y_AXIS] - current_position[Y_AXIS],
- ltarget[Z_AXIS] - current_position[Z_AXIS],
- ltarget[E_AXIS] - current_position[E_AXIS]
- };
-
- // Get the linear distance in XYZ
- float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
-
- // If the move is very short, check the E move distance
- if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
-
- // No E move either? Game over.
- if (UNEAR_ZERO(cartesian_mm)) return true;
-
- // Minimum number of seconds to move the given distance
- const float seconds = cartesian_mm / _feedrate_mm_s;
-
- // The number of segments-per-second times the duration
- // gives the number of segments
- uint16_t segments = delta_segments_per_second * seconds;
-
- // For SCARA minimum segment size is 0.25mm
- #if IS_SCARA
- NOMORE(segments, cartesian_mm * 4);
- #endif
-
- // At least one segment is required
- NOLESS(segments, 1);
-
- // The approximate length of each segment
- const float inv_segments = 1.0 / float(segments),
- segment_distance[XYZE] = {
- difference[X_AXIS] * inv_segments,
- difference[Y_AXIS] * inv_segments,
- difference[Z_AXIS] * inv_segments,
- difference[E_AXIS] * inv_segments
- };
-
- // SERIAL_ECHOPAIR("mm=", cartesian_mm);
- // SERIAL_ECHOPAIR(" seconds=", seconds);
- // SERIAL_ECHOLNPAIR(" segments=", segments);
-
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
- // SCARA needs to scale the feed rate from mm/s to degrees/s
- const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
- feed_factor = inv_segment_length * _feedrate_mm_s;
- float oldA = stepper.get_axis_position_degrees(A_AXIS),
- oldB = stepper.get_axis_position_degrees(B_AXIS);
- #endif
-
- // Get the logical current position as starting point
- float logical[XYZE];
- COPY(logical, current_position);
-
- // Drop one segment so the last move is to the exact target.
- // If there's only 1 segment, loops will be skipped entirely.
- --segments;
-
- // Calculate and execute the segments
- for (uint16_t s = segments + 1; --s;) {
- LOOP_XYZE(i) logical[i] += segment_distance[i];
- #if ENABLED(DELTA)
- DELTA_LOGICAL_IK(); // Delta can inline its kinematics
- #else
- inverse_kinematics(logical);
- #endif
-
- ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
-
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
- // For SCARA scale the feed rate from mm/s to degrees/s
- // Use ratio between the length of the move and the larger angle change
- const float adiff = abs(delta[A_AXIS] - oldA),
- bdiff = abs(delta[B_AXIS] - oldB);
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
- oldA = delta[A_AXIS];
- oldB = delta[B_AXIS];
- #else
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
- #endif
- }
-
- // Since segment_distance is only approximate,
- // the final move must be to the exact destination.
-
- #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
- // For SCARA scale the feed rate from mm/s to degrees/s
- // With segments > 1 length is 1 segment, otherwise total length
- inverse_kinematics(ltarget);
- ADJUST_DELTA(ltarget);
- const float adiff = abs(delta[A_AXIS] - oldA),
- bdiff = abs(delta[B_AXIS] - oldB);
- planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
- #else
- planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
- #endif
-
- return false;
- }
-
-#else // !IS_KINEMATIC || UBL_DELTA
-
- /**
- * Prepare a linear move in a Cartesian setup.
- * If Mesh Bed Leveling is enabled, perform a mesh move.
- *
- * Returns true if the caller didn't update current_position.
- */
- inline bool prepare_move_to_destination_cartesian() {
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- const float fr_scaled = MMS_SCALED(feedrate_mm_s);
- if (ubl.state.active) { // direct use of ubl.state.active for speed
- ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
- return true;
- }
- else
- line_to_destination(fr_scaled);
- #else
- // Do not use feedrate_percentage for E or Z only moves
- if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS])
- line_to_destination();
- else {
- const float fr_scaled = MMS_SCALED(feedrate_mm_s);
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl.active()) { // direct used of mbl.active() for speed
- mesh_line_to_destination(fr_scaled);
- return true;
- }
- else
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- if (planner.abl_enabled) { // direct use of abl_enabled for speed
- bilinear_line_to_destination(fr_scaled);
- return true;
- }
- else
- #endif
- line_to_destination(fr_scaled);
- }
- #endif
- return false;
- }
-
-#endif // !IS_KINEMATIC || UBL_DELTA
-
-#if ENABLED(DUAL_X_CARRIAGE)
-
- /**
- * Prepare a linear move in a dual X axis setup
- */
- inline bool prepare_move_to_destination_dualx() {
- if (active_extruder_parked) {
- switch (dual_x_carriage_mode) {
- case DXC_FULL_CONTROL_MODE:
- break;
- case DXC_AUTO_PARK_MODE:
- if (current_position[E_AXIS] == destination[E_AXIS]) {
- // This is a travel move (with no extrusion)
- // Skip it, but keep track of the current position
- // (so it can be used as the start of the next non-travel move)
- if (delayed_move_time != 0xFFFFFFFFUL) {
- set_current_to_destination();
- NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
- delayed_move_time = millis();
- return true;
- }
- }
- // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
- for (uint8_t i = 0; i < 3; i++)
- planner.buffer_line(
- i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
- i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
- i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
- current_position[E_AXIS],
- i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
- active_extruder
- );
- delayed_move_time = 0;
- active_extruder_parked = false;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
- #endif
- break;
- case DXC_DUPLICATION_MODE:
- if (active_extruder == 0) {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) {
- SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
- SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
- }
- #endif
- // move duplicate extruder into correct duplication position.
- planner.set_position_mm(
- LOGICAL_X_POSITION(inactive_extruder_x_pos),
- current_position[Y_AXIS],
- current_position[Z_AXIS],
- current_position[E_AXIS]
- );
- planner.buffer_line(
- current_position[X_AXIS] + duplicate_extruder_x_offset,
- current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
- planner.max_feedrate_mm_s[X_AXIS], 1
- );
- SYNC_PLAN_POSITION_KINEMATIC();
- stepper.synchronize();
- extruder_duplication_enabled = true;
- active_extruder_parked = false;
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
- #endif
- }
- else {
- #if ENABLED(DEBUG_LEVELING_FEATURE)
- if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
- #endif
- }
- break;
- }
- }
- return false;
- }
-
-#endif // DUAL_X_CARRIAGE
-
-/**
- * Prepare a single move and get ready for the next one
- *
- * This may result in several calls to planner.buffer_line to
- * do smaller moves for DELTA, SCARA, mesh moves, etc.
- */
-void prepare_move_to_destination() {
- clamp_to_software_endstops(destination);
- refresh_cmd_timeout();
-
- #if ENABLED(PREVENT_COLD_EXTRUSION)
-
- if (!DEBUGGING(DRYRUN)) {
- if (destination[E_AXIS] != current_position[E_AXIS]) {
- if (thermalManager.tooColdToExtrude(active_extruder)) {
- current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
- }
- #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
- if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) {
- current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START();
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
- }
-
- #endif
-
- if (
- #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
- ubl.prepare_segmented_line_to(destination, feedrate_mm_s)
- #elif IS_KINEMATIC
- prepare_kinematic_move_to(destination)
- #elif ENABLED(DUAL_X_CARRIAGE)
- prepare_move_to_destination_dualx() || prepare_move_to_destination_cartesian()
- #else
- prepare_move_to_destination_cartesian()
- #endif
- ) return;
-
- set_current_to_destination();
-}
-
#if ENABLED(USE_CONTROLLER_FAN)
void controllerFan() {
@@ -4840,7 +3755,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
}
#endif // !SWITCHING_EXTRUDER
- previous_cmd_ms = ms; // refresh_cmd_timeout()
+ gcode.refresh_cmd_timeout()
const float olde = current_position[E_AXIS];
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
@@ -5076,8 +3991,7 @@ void setup() {
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
- // Send "ok" after commands by default
- for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
+ queue_setup();
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
@@ -5265,42 +4179,8 @@ void loop() {
card.checkautostart(false);
#endif
- if (commands_in_queue) {
+ advance_command_queue();
- #if ENABLED(SDSUPPORT)
-
- if (card.saving) {
- char* command = command_queue[cmd_queue_index_r];
- if (strstr_P(command, PSTR("M29"))) {
- // M29 closes the file
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
- ok_to_send();
- }
- else {
- // Write the string from the read buffer to SD
- card.write_command(command);
- if (card.logging)
- process_next_command(); // The card is saving because it's logging
- else
- ok_to_send();
- }
- }
- else
- process_next_command();
-
- #else
-
- process_next_command();
-
- #endif // SDSUPPORT
-
- // The queue may be reset by a command handler or by code invoked by idle() within a handler
- if (commands_in_queue) {
- --commands_in_queue;
- if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
- }
- }
endstops.report_state();
idle();
}
diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h
index fa8160e17c4ae8d35a6d8f94bd27db69d66e97d0..cd131be933a7b68885ce6ec333d7c8b3fb88712c 100644
--- a/Marlin/src/Marlin.h
+++ b/Marlin/src/Marlin.h
@@ -167,9 +167,6 @@ void enable_all_steppers();
void disable_e_steppers();
void disable_all_steppers();
-void FlushSerialRequestResend();
-void ok_to_send();
-
void kill(const char*);
void quickstop_stepper();
@@ -182,13 +179,6 @@ extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
-bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a single command to the end of the buffer. Return false on failure.
-void enqueue_and_echo_commands_P(const char * const cmd); // Set one or more commands to be prioritized over the next Serial/SD command.
-void clear_command_queue();
-
-extern millis_t previous_cmd_ms;
-inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
-
/**
* Feedrate scaling and conversion
*/
@@ -196,11 +186,11 @@ extern int16_t feedrate_percentage;
#define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01)
-extern bool axis_relative_modes[];
extern bool volumetric_enabled;
extern int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
+
extern bool axis_known_position[XYZ];
extern bool axis_homed[XYZ];
extern volatile bool wait_for_heatup;
@@ -209,48 +199,6 @@ extern volatile bool wait_for_heatup;
extern volatile bool wait_for_user;
#endif
-extern float current_position[NUM_AXIS];
-
-// Workspace offsets
-#if HAS_WORKSPACE_OFFSET
- #if HAS_HOME_OFFSET
- extern float home_offset[XYZ];
- #endif
- #if HAS_POSITION_SHIFT
- extern float position_shift[XYZ];
- #endif
-#endif
-
-#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
- extern float workspace_offset[XYZ];
- #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
-#elif HAS_HOME_OFFSET
- #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
-#elif HAS_POSITION_SHIFT
- #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
-#else
- #define WORKSPACE_OFFSET(AXIS) 0
-#endif
-
-#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
-#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
-
-#if HAS_POSITION_SHIFT || DISABLED(DELTA)
- #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
- #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
- #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
- #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
-#else
- #define LOGICAL_X_POSITION(POS) (POS)
- #define LOGICAL_Y_POSITION(POS) (POS)
- #define RAW_X_POSITION(POS) (POS)
- #define RAW_Y_POSITION(POS) (POS)
-#endif
-
-#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
-#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
-#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS])
-
// Hotend Offsets
#if HOTENDS > 1
extern float hotend_offset[XYZ][HOTENDS];
@@ -259,14 +207,6 @@ extern float current_position[NUM_AXIS];
// Software Endstops
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
-#if HAS_SOFTWARE_ENDSTOPS
- extern bool soft_endstops_enabled;
- void clamp_to_software_endstops(float target[XYZ]);
-#else
- #define soft_endstops_enabled false
- #define clamp_to_software_endstops(x) NOOP
-#endif
-
#if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE)
void update_software_endstops(const AxisEnum axis);
#endif
@@ -381,15 +321,15 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
extern Stopwatch print_job_timer;
#endif
-// Handling multiple extruders pins
-extern uint8_t active_extruder;
-
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
void print_heaterstates();
#endif
#if ENABLED(MIXING_EXTRUDER)
extern float mixing_factor[MIXING_STEPPERS];
+ #if MIXING_VIRTUAL_TOOLS > 1
+ extern float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
+ #endif
#endif
void calculate_volumetric_multipliers();
@@ -406,62 +346,4 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s
bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true);
#endif
-/**
- * position_is_reachable family of functions
- */
-
-#if IS_KINEMATIC // (DELTA or SCARA)
-
- #if IS_SCARA
- extern const float L1, L2;
- #endif
-
- inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
- #if ENABLED(DELTA)
- return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
- #elif IS_SCARA
- #if MIDDLE_DEAD_ZONE_R > 0
- const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
- return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
- #else
- return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
- #endif
- #else // CARTESIAN
- // To be migrated from MakerArm branch in future
- #endif
- }
-
- inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
-
- // Both the nozzle and the probe must be able to reach the point.
- // This won't work on SCARA since the probe offset rotates with the arm.
-
- return position_is_reachable_raw_xy(rx, ry)
- && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
- }
-
-#else // CARTESIAN
-
- inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
- && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
- }
-
- inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
- // Add 0.001 margin to deal with float imprecision
- return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
- && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
- }
-
-#endif // CARTESIAN
-
-FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) {
- return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
-}
-
-FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
- return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
-}
-
#endif // __MARLIN_H__
diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h
index 45679d2cab9f64fb59ca84e33f9efe15c4a71dbb..5ad9f11d9b816847d26376dd464994220f56d87b 100644
--- a/Marlin/src/core/utility.h
+++ b/Marlin/src/core/utility.h
@@ -25,6 +25,8 @@
#include "../inc/MarlinConfig.h"
+constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
+
void safe_delay(millis_t ms);
#if ENABLED(EEPROM_SETTINGS)
diff --git a/Marlin/src/feature/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/mbl/mesh_bed_leveling.cpp
index 3e2942789a2ac4d09b7db24dbf597304b7c12d0e..35f70967de9adc4af35900da7be4b4cd8dd37bbf 100644
--- a/Marlin/src/feature/mbl/mesh_bed_leveling.cpp
+++ b/Marlin/src/feature/mbl/mesh_bed_leveling.cpp
@@ -26,6 +26,8 @@
#include "mesh_bed_leveling.h"
+ #include "../../module/motion.h"
+
mesh_bed_leveling mbl;
uint8_t mesh_bed_leveling::status;
@@ -49,4 +51,63 @@
ZERO(z_values);
}
+ /**
+ * Prepare a mesh-leveled linear move in a Cartesian setup,
+ * splitting the move where it crosses mesh borders.
+ */
+ void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
+ int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)),
+ cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)),
+ cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
+ cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
+ NOMORE(cx1, GRID_MAX_POINTS_X - 2);
+ NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
+ NOMORE(cx2, GRID_MAX_POINTS_X - 2);
+ NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
+
+ if (cx1 == cx2 && cy1 == cy2) {
+ // Start and end on same mesh square
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
+
+ float normalized_dist, end[XYZE];
+
+ // Split at the left/front border of the right/top square
+ const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
+ if (cx2 != cx1 && TEST(x_splits, gcx)) {
+ COPY(end, destination);
+ destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]);
+ normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
+ destination[Y_AXIS] = MBL_SEGMENT_END(Y);
+ CBI(x_splits, gcx);
+ }
+ else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+ COPY(end, destination);
+ destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]);
+ normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
+ destination[X_AXIS] = MBL_SEGMENT_END(X);
+ CBI(y_splits, gcy);
+ }
+ else {
+ // Already split on a border
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ destination[Z_AXIS] = MBL_SEGMENT_END(Z);
+ destination[E_AXIS] = MBL_SEGMENT_END(E);
+
+ // Do the split and look for more borders
+ mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
+
+ // Restore destination from stack
+ COPY(destination, end);
+ mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
+ }
+
#endif // MESH_BED_LEVELING
diff --git a/Marlin/src/feature/mbl/mesh_bed_leveling.h b/Marlin/src/feature/mbl/mesh_bed_leveling.h
index f22d565310a7c4065af1308c998f2e9cbc04c498..8096a1746c1e252c4847c27c6fa8314cc640c7d9 100644
--- a/Marlin/src/feature/mbl/mesh_bed_leveling.h
+++ b/Marlin/src/feature/mbl/mesh_bed_leveling.h
@@ -120,4 +120,6 @@ public:
extern mesh_bed_leveling mbl;
+void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF);
+
#endif // _MESH_BED_LEVELING_H_
diff --git a/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp b/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp
index 23b1b96fb402c72b5ae903e009615d89a0abbc44..576cd73ee8714ffa14731f6e1e6dcf96fed9efaa 100644
--- a/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp
+++ b/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp
@@ -33,6 +33,7 @@
#include "../../Marlin.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
+ #include "../../module/motion.h"
#include "../../module/temperature.h"
#include "../../lcd/ultralcd.h"
#include "../../gcode/parser.h"
@@ -129,7 +130,6 @@
// External references
- extern float feedrate_mm_s; // must set before calling prepare_move_to_destination
extern Planner planner;
#if ENABLED(ULTRA_LCD)
extern char lcd_status_message[];
diff --git a/Marlin/src/feature/ubl/ubl.cpp b/Marlin/src/feature/ubl/ubl.cpp
index 7c85db52161d361aead309cb05bf013be5a3b599..54f39e0f56dacc053c5cebe9f08a637a9de9bf7e 100644
--- a/Marlin/src/feature/ubl/ubl.cpp
+++ b/Marlin/src/feature/ubl/ubl.cpp
@@ -30,6 +30,7 @@
#include "../../module/configuration_store.h"
#include "../../core/serial.h"
#include "../../module/planner.h"
+ #include "../../module/motion.h"
#include "math.h"
diff --git a/Marlin/src/feature/ubl/ubl_motion.cpp b/Marlin/src/feature/ubl/ubl_motion.cpp
index 8157a357493b5c69427dbf9fc9f10d92ad5ef9f3..b2bcebd774bd8d309b89e9bf8d8f767dcf9f872a 100644
--- a/Marlin/src/feature/ubl/ubl_motion.cpp
+++ b/Marlin/src/feature/ubl/ubl_motion.cpp
@@ -28,6 +28,7 @@
#include "../../Marlin.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
+ #include "../../module/motion.h"
#include <math.h>
diff --git a/Marlin/src/gcode/calibrate/G29-mbl.h b/Marlin/src/gcode/calibrate/G29-mbl.h
index 1694c21edb340ca3de58af9870017d6fcb01e98a..184a212a219392feb13868bc08c5853b47856eb7 100644
--- a/Marlin/src/gcode/calibrate/G29-mbl.h
+++ b/Marlin/src/gcode/calibrate/G29-mbl.h
@@ -20,6 +20,8 @@
*
*/
+#include "../queue.h"
+
#include "../../libs/buzzer.h"
#include "../../lcd/ultralcd.h"
diff --git a/Marlin/src/gcode/config/M200.h b/Marlin/src/gcode/config/M200.cpp
similarity index 93%
rename from Marlin/src/gcode/config/M200.h
rename to Marlin/src/gcode/config/M200.cpp
index aa85d65b82584f26ebbe2684af5954f7d99f83b2..eae17689c55c7d8b27884c77cb150c5f59f30f43 100644
--- a/Marlin/src/gcode/config/M200.h
+++ b/Marlin/src/gcode/config/M200.cpp
@@ -20,15 +20,18 @@
*
*/
+#include "../gcode.h"
+#include "../../Marlin.h"
+
/**
* 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() {
+void GcodeSuite::M200() {
- if (get_target_extruder_from_command(200)) return;
+ if (get_target_extruder_from_command()) return;
if (parser.seen('D')) {
// setting any extruder filament size disables volumetric on the assumption that
diff --git a/Marlin/src/gcode/config/M201.h b/Marlin/src/gcode/config/M201.h
index 24464507c658107b33711b1994ef5d98d5da004e..24743f6dfb149e3d82e8c37583fda6db69ac6b25 100644
--- a/Marlin/src/gcode/config/M201.h
+++ b/Marlin/src/gcode/config/M201.h
@@ -27,7 +27,7 @@
*/
void gcode_M201() {
- GET_TARGET_EXTRUDER(201);
+ GET_TARGET_EXTRUDER();
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) {
diff --git a/Marlin/src/gcode/config/M203.h b/Marlin/src/gcode/config/M203.h
index 9ef3bd031d2c9972adaa673ad01e2ae4c1bf9da6..bde9b7a861e4a0029ae4b95715490d055782692b 100644
--- a/Marlin/src/gcode/config/M203.h
+++ b/Marlin/src/gcode/config/M203.h
@@ -27,7 +27,7 @@
*/
void gcode_M203() {
- GET_TARGET_EXTRUDER(203);
+ GET_TARGET_EXTRUDER();
LOOP_XYZE(i)
if (parser.seen(axis_codes[i])) {
diff --git a/Marlin/src/gcode/config/M218.h b/Marlin/src/gcode/config/M218.cpp
similarity index 88%
rename from Marlin/src/gcode/config/M218.h
rename to Marlin/src/gcode/config/M218.cpp
index 2359cc969288d19e5207ab8f3ef2314a2f00aa05..8d12ef5957f3331fbaa8d65f3142c91ab3e804e4 100644
--- a/Marlin/src/gcode/config/M218.h
+++ b/Marlin/src/gcode/config/M218.cpp
@@ -20,6 +20,13 @@
*
*/
+#include "../../inc/MarlinConfig.h"
+
+#if HOTENDS > 1
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
/**
* M218 - set hotend offset (in linear units)
*
@@ -28,8 +35,8 @@
* 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;
+void GcodeSuite::M218() {
+ if (get_target_extruder_from_command() || 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();
@@ -52,3 +59,5 @@ void gcode_M218() {
}
SERIAL_EOL();
}
+
+#endif // HOTENDS > 1
diff --git a/Marlin/src/gcode/config/M221.h b/Marlin/src/gcode/config/M221.cpp
similarity index 88%
rename from Marlin/src/gcode/config/M221.h
rename to Marlin/src/gcode/config/M221.cpp
index 680d0ac17399b2674c71098e3d2ed631321cedc4..f62903e86f3e459d43887842c9cb0d6fac749526 100644
--- a/Marlin/src/gcode/config/M221.h
+++ b/Marlin/src/gcode/config/M221.cpp
@@ -20,11 +20,14 @@
*
*/
+#include "../gcode.h"
+#include "../../Marlin.h"
+
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
-void gcode_M221() {
- if (get_target_extruder_from_command(221)) return;
+void GcodeSuite::M221() {
+ if (get_target_extruder_from_command()) return;
if (parser.seenval('S'))
flow_percentage[target_extruder] = parser.value_int();
}
diff --git a/Marlin/src/gcode/config/M43.h b/Marlin/src/gcode/config/M43.h
index dd4a14be7c4aa2b8117e2f2e3ec0e9d29fac3977..c87607c6d82ee7b4c80347c1ecc2531cee57cace 100644
--- a/Marlin/src/gcode/config/M43.h
+++ b/Marlin/src/gcode/config/M43.h
@@ -20,6 +20,8 @@
*
*/
+#include "../gcode.h"
+
#include "../../pins/pinsDebug.h"
inline void toggle_pins() {
@@ -141,7 +143,7 @@ inline void servo_probe_test() {
}
if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards");
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
if (deploy_state != stow_state) {
SERIAL_PROTOCOLLNPGM("BLTouch clone detected");
@@ -170,7 +172,7 @@ inline void servo_probe_test() {
safe_delay(2);
if (0 == j % (500 * 1)) // keep cmd_timeout happy
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
diff --git a/Marlin/src/gcode/config/M92.h b/Marlin/src/gcode/config/M92.h
index 5c8cd33b91f1ad9a2a6771077ee646414468d49d..626ce68dd807c178cff0d220bd017beb3cf80e81 100644
--- a/Marlin/src/gcode/config/M92.h
+++ b/Marlin/src/gcode/config/M92.h
@@ -28,7 +28,7 @@
*/
void gcode_M92() {
- GET_TARGET_EXTRUDER(92);
+ GET_TARGET_EXTRUDER();
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i])) {
diff --git a/Marlin/src/gcode/control/M999.h b/Marlin/src/gcode/control/M999.h
index b8d60427a274383bdfa8a3be6c2532822cf44767..e8a82e1b14a47ea8f40b941e715bc8a294d8470d 100644
--- a/Marlin/src/gcode/control/M999.h
+++ b/Marlin/src/gcode/control/M999.h
@@ -20,6 +20,8 @@
*
*/
+#include "../queue.h"
+
/**
* M999: Restart after being stopped
*
@@ -37,5 +39,5 @@ void gcode_M999() {
if (parser.boolval('S')) return;
// gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
+ flush_and_request_resend();
}
diff --git a/Marlin/src/gcode/process_next_command.h b/Marlin/src/gcode/gcode.cpp
similarity index 75%
rename from Marlin/src/gcode/process_next_command.h
rename to Marlin/src/gcode/gcode.cpp
index c4108751e9ae7807eb7cc58f8b8bdeb3d5ef153b..367725fe5cebc08bd333d9ec4a140e0b18432314 100644
--- a/Marlin/src/gcode/process_next_command.h
+++ b/Marlin/src/gcode/gcode.cpp
@@ -20,11 +20,243 @@
*
*/
+/**
+ * gcode.cpp - Temporary container for all gcode handlers
+ * Most will migrate to classes, by feature.
+ */
+
+#include "gcode.h"
+GcodeSuite gcode;
+
+#include "parser.h"
+#include "queue.h"
+#include "../module/motion.h"
+
+#if ENABLED(PRINTCOUNTER)
+ #include "../module/printcounter.h"
+#endif
+
+uint8_t GcodeSuite::target_extruder;
+millis_t GcodeSuite::previous_cmd_ms;
+
+bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
+
+/**
+ * Set target_extruder from the T parameter or the active_extruder
+ *
+ * Returns TRUE if the target is invalid
+ */
+bool GcodeSuite::get_target_extruder_from_command() {
+ if (parser.seenval('T')) {
+ const int8_t e = parser.value_byte();
+ if (e >= EXTRUDERS) {
+ SERIAL_ECHO_START();
+ SERIAL_CHAR('M');
+ SERIAL_ECHO(parser.codenum);
+ SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
+ return true;
+ }
+ target_extruder = e;
+ }
+ else
+ target_extruder = active_extruder;
+
+ return false;
+}
+
+/**
+ * Set XYZE destination and feedrate from the current GCode command
+ *
+ * - Set destination from included axis codes
+ * - Set to current for missing axis codes
+ * - Set the feedrate, if included
+ */
+void GcodeSuite::get_destination_from_command() {
+ LOOP_XYZE(i) {
+ if (parser.seen(axis_codes[i]))
+ destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
+ else
+ destination[i] = current_position[i];
+ }
+
+ if (parser.linearval('F') > 0.0)
+ feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
+
+ #if ENABLED(PRINTCOUNTER)
+ if (!DEBUGGING(DRYRUN))
+ print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
+ #endif
+
+ // Get ABCDHI mixing factors
+ #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
+ gcode_get_mix();
+ #endif
+}
+
+//
+// Placeholders for non-migrated codes
+//
+extern void gcode_G0_G1(
+ #if IS_SCARA
+ bool fast_move=false
+ #endif
+);
+extern void gcode_G2_G3(bool clockwise);
+extern void gcode_G4();
+extern void gcode_G5();
+extern void gcode_G12();
+extern void gcode_G17();
+extern void gcode_G18();
+extern void gcode_G19();
+extern void gcode_G20();
+extern void gcode_G21();
+extern void gcode_G26();
+extern void gcode_G27();
+extern void gcode_G28(const bool always_home_all);
+extern void gcode_G29();
+extern void gcode_G30();
+extern void gcode_G31();
+extern void gcode_G32();
+extern void gcode_G33();
+extern void gcode_G38(bool is_38_2);
+extern void gcode_G42();
+extern void gcode_G92();
+extern void gcode_M0_M1();
+extern void gcode_M3_M4(bool is_M3);
+extern void gcode_M5();
+extern void gcode_M17();
+extern void gcode_M18_M84();
+extern void gcode_M20();
+extern void gcode_M21();
+extern void gcode_M22();
+extern void gcode_M23();
+extern void gcode_M24();
+extern void gcode_M25();
+extern void gcode_M26();
+extern void gcode_M27();
+extern void gcode_M28();
+extern void gcode_M29();
+extern void gcode_M30();
+extern void gcode_M31();
+extern void gcode_M32();
+extern void gcode_M33();
+extern void gcode_M34();
+extern void gcode_M42();
+extern void gcode_M43();
+extern void gcode_M48();
+extern void gcode_M49();
+extern void gcode_M75();
+extern void gcode_M76();
+extern void gcode_M77();
+extern void gcode_M78();
+extern void gcode_M80();
+extern void gcode_M81();
+extern void gcode_M82();
+extern void gcode_M83();
+extern void gcode_M85();
+extern void gcode_M92();
+extern void gcode_M100();
+extern void gcode_M105();
+extern void gcode_M106();
+extern void gcode_M107();
+extern void gcode_M108();
+extern void gcode_M110();
+extern void gcode_M111();
+extern void gcode_M112();
+extern void gcode_M113();
+extern void gcode_M114();
+extern void gcode_M115();
+extern void gcode_M117();
+extern void gcode_M118();
+extern void gcode_M119();
+extern void gcode_M120();
+extern void gcode_M121();
+extern void gcode_M125();
+extern void gcode_M126();
+extern void gcode_M127();
+extern void gcode_M128();
+extern void gcode_M129();
+extern void gcode_M140();
+extern void gcode_M145();
+extern void gcode_M149();
+extern void gcode_M150();
+extern void gcode_M155();
+extern void gcode_M163();
+extern void gcode_M164();
+extern void gcode_M165();
+extern void gcode_M190();
+extern void gcode_M201();
+extern void gcode_M203();
+extern void gcode_M204();
+extern void gcode_M205();
+extern void gcode_M206();
+extern void gcode_M211();
+extern void gcode_M220();
+extern void gcode_M226();
+extern void gcode_M240();
+extern void gcode_M250();
+extern void gcode_M260();
+extern void gcode_M261();
+extern void gcode_M280();
+extern void gcode_M300();
+extern void gcode_M301();
+extern void gcode_M302();
+extern void gcode_M304();
+extern void gcode_M350();
+extern void gcode_M351();
+extern void gcode_M355();
+extern bool gcode_M360();
+extern bool gcode_M361();
+extern bool gcode_M362();
+extern bool gcode_M363();
+extern bool gcode_M364();
+extern void gcode_M380();
+extern void gcode_M381();
+extern void gcode_M400();
+extern void gcode_M401();
+extern void gcode_M402();
+extern void gcode_M404();
+extern void gcode_M405();
+extern void gcode_M406();
+extern void gcode_M407();
+extern void gcode_M410();
+extern void gcode_M420();
+extern void gcode_M421();
+extern void gcode_M428();
+extern void gcode_M500();
+extern void gcode_M501();
+extern void gcode_M502();
+extern void gcode_M503();
+extern void gcode_M540();
+extern void gcode_M600();
+extern void gcode_M605();
+extern void gcode_M665();
+extern void gcode_M666();
+extern void gcode_M702();
+extern void gcode_M851();
+extern void gcode_M900();
+extern void gcode_M906();
+extern void gcode_M911();
+extern void gcode_M912();
+extern void gcode_M913();
+extern void gcode_M914();
+extern void gcode_M907();
+extern void gcode_M908();
+extern void gcode_M909();
+extern void gcode_M910();
+extern void gcode_M928();
+extern void gcode_M999();
+extern void gcode_T(uint8_t tmp_extruder);
+
+#if ENABLED(M100_FREE_MEMORY_WATCHER)
+ extern void M100_dump_routine(const char * const title, const char *start, const char *end);
+#endif
+
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
-void process_next_command() {
+void GcodeSuite::process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
@@ -49,9 +281,9 @@ void process_next_command() {
case 0:
case 1:
#if IS_SCARA
- gcode_G0_G1(parser.codenum == 0);
+ G0_G1(parser.codenum == 0);
#else
- gcode_G0_G1();
+ G0_G1();
#endif
break;
@@ -76,10 +308,10 @@ void process_next_command() {
#if ENABLED(FWRETRACT)
case 10: // G10: retract
- gcode_G10();
+ G10();
break;
case 11: // G11: retract_recover
- gcode_G11();
+ G11();
break;
#endif // FWRETRACT
@@ -303,9 +535,8 @@ void process_next_command() {
break;
#endif
- case 104: // M104: Set hot end temperature
- gcode_M104();
- break;
+ case 104: M104(); break; // M104: Set hot end temperature
+ case 109: M109(); break; // M109: Wait for hotend temperature to reach target
case 110: // M110: Set Current Line Number
gcode_M110();
@@ -353,10 +584,6 @@ void process_next_command() {
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();
@@ -488,7 +715,7 @@ void process_next_command() {
#endif
case 200: // M200: Set filament diameter, E to cubic units
- gcode_M200();
+ M200();
break;
case 201: // M201: Set max acceleration for print moves (units/s^2)
gcode_M201();
@@ -528,13 +755,13 @@ void process_next_command() {
#if ENABLED(FWRETRACT)
case 207: // M207: Set Retract Length, Feedrate, and Z lift
- gcode_M207();
+ M207();
break;
case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
- gcode_M208();
+ M208();
break;
case 209: // M209: Turn Automatic Retract Detection on/off
- if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209();
+ if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209();
break;
#endif // FWRETRACT
@@ -544,7 +771,7 @@ void process_next_command() {
#if HOTENDS > 1
case 218: // M218: Set a tool offset
- gcode_M218();
+ M218();
break;
#endif
@@ -553,7 +780,7 @@ void process_next_command() {
break;
case 221: // M221: Set Flow Percentage
- gcode_M221();
+ M221();
break;
case 226: // M226: Wait until a pin reaches a state
@@ -615,7 +842,7 @@ void process_next_command() {
#endif // PREVENT_COLD_EXTRUSION
case 303: // M303: PID autotune
- gcode_M303();
+ M303();
break;
#if ENABLED(MORGAN_SCARA)
@@ -636,6 +863,15 @@ void process_next_command() {
break;
#endif // SCARA
+ #if ENABLED(EXT_SOLENOID)
+ case 380: // M380: Activate solenoid on active extruder
+ gcode_M380();
+ break;
+ case 381: // M381: Disable all solenoids
+ gcode_M381();
+ break;
+ #endif
+
case 400: // M400: Finish all moves
gcode_M400();
break;
@@ -809,48 +1045,17 @@ void process_next_command() {
#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 860: M860(); break; // M860: Report encoder module position
+ case 861: M861(); break; // M861: Report encoder module status
+ case 862: M862(); break; // M862: Perform axis test
+ case 863: M863(); break; // M863: Calibrate steps/mm
+ case 864: M864(); break; // M864: Change module address
+ case 865: M865(); break; // M865: Check module firmware version
+ case 866: M866(); break; // M866: Report axis error count
+ case 867: M867(); break; // M867: Toggle error correction
+ case 868: M868(); break; // M868: Set error correction threshold
+ case 869: M869(); break; // M869: Report axis error
+ #endif
case 999: // M999: Restart after being Stopped
gcode_M999();
@@ -868,4 +1073,4 @@ void process_next_command() {
KEEPALIVE_STATE(NOT_BUSY);
ok_to_send();
-}
\ No newline at end of file
+}
diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h
index 90e91898fa479429742f558b65b83ed2a63b4275..2f40b775b9689270d2fc2ce98f3c9dc84c8bcdf8 100644
--- a/Marlin/src/gcode/gcode.h
+++ b/Marlin/src/gcode/gcode.h
@@ -237,8 +237,8 @@
*
*/
-#ifndef GCODE_H
-#define GCODE_H
+#ifndef _GCODE_H_
+#define _GCODE_H_
#include "../inc/MarlinConfig.h"
#include "parser.h"
@@ -252,6 +252,30 @@ public:
GcodeSuite() {}
+ static uint8_t target_extruder;
+
+ static bool axis_relative_modes[];
+
+ static millis_t previous_cmd_ms;
+ FORCE_INLINE static void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
+
+ static bool get_target_extruder_from_command();
+ static void get_destination_from_command();
+ static void process_next_command();
+
+ /**
+ * Multi-stepper support for M92, M201, M203
+ */
+ #if ENABLED(DISTINCT_E_FACTORS)
+ #define GET_TARGET_EXTRUDER() if (gcode.get_target_extruder_from_command()) return
+ #define TARGET_EXTRUDER gcode.target_extruder
+ #else
+ #define GET_TARGET_EXTRUDER() NOOP
+ #define TARGET_EXTRUDER 0
+ #endif
+
+ static FORCE_INLINE void home_all_axes() { G28(true); }
+
private:
static void G0_G1(
@@ -375,7 +399,7 @@ private:
static void M48();
#endif
- #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
+ #if ENABLED(UBL_G26_MESH_VALIDATION)
static void M49();
#endif
@@ -679,4 +703,4 @@ private:
extern GcodeSuite gcode;
-#endif // GCODE_H
+#endif // _GCODE_H_
diff --git a/Marlin/src/gcode/host/M110.h b/Marlin/src/gcode/host/M110.h
index 711c05dbb691f48cbfda2f92be6e879a82b3ff9e..fb584b370b2631380041aa2966baec94098e2eb6 100644
--- a/Marlin/src/gcode/host/M110.h
+++ b/Marlin/src/gcode/host/M110.h
@@ -20,6 +20,8 @@
*
*/
+#include "../queue.h"
+
/**
* M110: Set Current Line Number
*/
diff --git a/Marlin/src/gcode/lcd/M0_M1.h b/Marlin/src/gcode/lcd/M0_M1.h
index 599dfbd5ef13c8c6439ce91e85770f191ee8a09f..a47101fbe0e3d80d198aa6fa10c28e63b25aa7ce 100644
--- a/Marlin/src/gcode/lcd/M0_M1.h
+++ b/Marlin/src/gcode/lcd/M0_M1.h
@@ -20,6 +20,8 @@
*
*/
+#include "../gcode.h"
+
/**
* M0: Unconditional stop - Wait for user button press on LCD
* M1: Conditional stop - Wait for user button press on LCD
@@ -62,7 +64,7 @@ void gcode_M0_M1() {
wait_for_user = true;
stepper.synchronize();
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
if (ms > 0) {
ms += previous_cmd_ms; // wait until this time for a click
diff --git a/Marlin/src/gcode/motion/G0_G1.h b/Marlin/src/gcode/motion/G0_G1.cpp
similarity index 88%
rename from Marlin/src/gcode/motion/G0_G1.h
rename to Marlin/src/gcode/motion/G0_G1.cpp
index 077e664bde697b7e02613559f2f20aa21a64ee95..4ec0221e4e8b02ad520b077d9bbcff4f8be6c946 100644
--- a/Marlin/src/gcode/motion/G0_G1.h
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -20,16 +20,25 @@
*
*/
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+#include "../../Marlin.h"
+
+#include "../../sd/cardreader.h"
+
+extern float destination[XYZE];
+
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
-void gcode_G0_G1(
+void GcodeSuite::G0_G1(
#if IS_SCARA
- bool fast_move=false
+ bool fast_move/*=false*/
#endif
) {
if (IsRunning()) {
- gcode_get_destination(); // For X Y Z E F
+ get_destination_from_command(); // For X Y Z E F
#if ENABLED(FWRETRACT)
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
diff --git a/Marlin/src/gcode/motion/G2_G3.h b/Marlin/src/gcode/motion/G2_G3.h
index f06e623a1a1ea099b76c3a61ee68bd54338ae7e1..90fadd968ff30e27a3291ba4f6f46e92307f030c 100644
--- a/Marlin/src/gcode/motion/G2_G3.h
+++ b/Marlin/src/gcode/motion/G2_G3.h
@@ -20,6 +20,8 @@
*
*/
+#include "../gcode.h"
+
#if N_ARC_CORRECTION < 1
#undef N_ARC_CORRECTION
#define N_ARC_CORRECTION 1
@@ -209,7 +211,7 @@ void gcode_G2_G3(bool clockwise) {
relative_mode = true;
#endif
- gcode_get_destination();
+ gcode.get_destination_from_command();
#if ENABLED(SF_ARC_FIX)
relative_mode = relative_mode_backup;
@@ -252,7 +254,7 @@ void gcode_G2_G3(bool clockwise) {
// Send the arc to the planner
plan_arc(destination, arc_offset, clockwise);
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
}
else {
// Bad arguments
diff --git a/Marlin/src/gcode/motion/G5.h b/Marlin/src/gcode/motion/G5.h
index 9dc1625089d2866531e21f17bfcf095081262fad..38c25c8653c90ea2c1dcb54a53ae859c49821c98 100644
--- a/Marlin/src/gcode/motion/G5.h
+++ b/Marlin/src/gcode/motion/G5.h
@@ -21,6 +21,7 @@
*/
#include "../../module/planner_bezier.h"
+#include "../../gcode/gcode.h"
void plan_cubic_move(const float offset[4]) {
cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
@@ -52,7 +53,7 @@ void gcode_G5() {
}
#endif
- gcode_get_destination();
+ gcode.get_destination_from_command();
const float offset[] = {
parser.linearval('I'),
diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h
index 2a9a81c6db14147b1eddaba845536d8cafb502f7..9743a7bb99e9021b5ef634e4264afb4b6d893b46 100644
--- a/Marlin/src/gcode/parser.h
+++ b/Marlin/src/gcode/parser.h
@@ -242,7 +242,7 @@ public:
FORCE_INLINE static char temp_units_code() {
return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C';
}
- FORCE_INLINE static char* temp_units_name() {
+ FORCE_INLINE static const char* temp_units_name() {
return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius");
}
inline static float to_temp_units(const float &f) {
diff --git a/Marlin/src/gcode/probe/G38.h b/Marlin/src/gcode/probe/G38.h
index ec9ad806a7e89bfa06cef350e0ea56325dc3844f..976569d8f124d6f383ed69c29b33d250aedccc22 100644
--- a/Marlin/src/gcode/probe/G38.h
+++ b/Marlin/src/gcode/probe/G38.h
@@ -20,6 +20,8 @@
*
*/
+#include "../gcode.h"
+
static bool G38_run_probe() {
bool G38_pass_fail = false;
@@ -88,7 +90,7 @@ static bool G38_run_probe() {
*/
void gcode_G38(bool is_38_2) {
// Get X Y Z E F
- gcode_get_destination();
+ gcode.get_destination_from_command();
setup_for_endstop_or_probe_move();
diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6af72c949a0ff6f0aaa0c6e9130ba428832b7773
--- /dev/null
+++ b/Marlin/src/gcode/queue.cpp
@@ -0,0 +1,473 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * queue.cpp - The G-code command queue
+ */
+
+#include "queue.h"
+#include "gcode.h"
+
+#include "../lcd/ultralcd.h"
+#include "../sd/cardreader.h"
+#include "../module/planner.h"
+#include "../Marlin.h"
+
+/**
+ * GCode line number handling. Hosts may opt to include line numbers when
+ * sending commands to Marlin, and lines will be checked for sequentiality.
+ * M110 N<int> sets the current line number.
+ */
+long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
+
+/**
+ * GCode Command Queue
+ * A simple ring buffer of BUFSIZE command strings.
+ *
+ * Commands are copied into this buffer by the command injectors
+ * (immediate, serial, sd card) and they are processed sequentially by
+ * the main loop. The gcode.process_next_command method parses the next
+ * command and hands off execution to individual handler functions.
+ */
+uint8_t commands_in_queue = 0, // Count of commands in the queue
+ cmd_queue_index_r = 0, // Ring buffer read position
+ cmd_queue_index_w = 0; // Ring buffer write position
+
+char command_queue[BUFSIZE][MAX_CMD_SIZE];
+
+/**
+ * Serial command injection
+ */
+
+// Number of characters read in the current line of serial input
+static int serial_count = 0;
+
+bool send_ok[BUFSIZE];
+
+/**
+ * Next Injected Command pointer. NULL if no commands are being injected.
+ * Used by Marlin internally to ensure that commands initiated from within
+ * are enqueued ahead of any pending serial or sd card commands.
+ */
+static const char *injected_commands_P = NULL;
+
+void queue_setup() {
+ // Send "ok" after commands by default
+ for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true;
+}
+
+/**
+ * Clear the Marlin command queue
+ */
+void clear_command_queue() {
+ cmd_queue_index_r = cmd_queue_index_w;
+ commands_in_queue = 0;
+}
+
+/**
+ * Once a new command is in the ring buffer, call this to commit it
+ */
+inline void _commit_command(bool say_ok) {
+ send_ok[cmd_queue_index_w] = say_ok;
+ if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0;
+ commands_in_queue++;
+}
+
+/**
+ * Copy a command from RAM into the main command buffer.
+ * Return true if the command was successfully added.
+ * Return false for a full buffer, or if the 'command' is a comment.
+ */
+inline bool _enqueuecommand(const char* cmd, bool say_ok/*=false*/) {
+ if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
+ strcpy(command_queue[cmd_queue_index_w], cmd);
+ _commit_command(say_ok);
+ return true;
+}
+
+/**
+ * Enqueue with Serial Echo
+ */
+bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
+ if (_enqueuecommand(cmd, say_ok)) {
+ SERIAL_ECHO_START();
+ SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd);
+ SERIAL_CHAR('"');
+ SERIAL_EOL();
+ return true;
+ }
+ return false;
+}
+
+/**
+ * Inject the next "immediate" command, when possible, onto the front of the queue.
+ * Return true if any immediate commands remain to inject.
+ */
+static bool drain_injected_commands_P() {
+ if (injected_commands_P != NULL) {
+ size_t i = 0;
+ char c, cmd[30];
+ strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
+ cmd[sizeof(cmd) - 1] = '\0';
+ while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
+ cmd[i] = '\0';
+ if (enqueue_and_echo_command(cmd)) // success?
+ injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done
+ }
+ return (injected_commands_P != NULL); // return whether any more remain
+}
+
+/**
+ * Record one or many commands to run from program memory.
+ * Aborts the current queue, if any.
+ * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
+ */
+void enqueue_and_echo_commands_P(const char * const pgcode) {
+ injected_commands_P = pgcode;
+ drain_injected_commands_P(); // first command executed asap (when possible)
+}
+
+/**
+ * Send an "ok" message to the host, indicating
+ * that a command was successfully processed.
+ *
+ * If ADVANCED_OK is enabled also include:
+ * N<int> Line number of the command, if any
+ * P<int> Planner space remaining
+ * B<int> Block queue space remaining
+ */
+void ok_to_send() {
+ gcode.refresh_cmd_timeout();
+ if (!send_ok[cmd_queue_index_r]) return;
+ SERIAL_PROTOCOLPGM(MSG_OK);
+ #if ENABLED(ADVANCED_OK)
+ char* p = command_queue[cmd_queue_index_r];
+ if (*p == 'N') {
+ SERIAL_PROTOCOL(' ');
+ SERIAL_ECHO(*p++);
+ while (NUMERIC_SIGNED(*p))
+ SERIAL_ECHO(*p++);
+ }
+ SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
+ SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
+ #endif
+ SERIAL_EOL();
+}
+
+/**
+ * Send a "Resend: nnn" message to the host to
+ * indicate that a command needs to be re-sent.
+ */
+void flush_and_request_resend() {
+ //char command_queue[cmd_queue_index_r][100]="Resend:";
+ MYSERIAL.flush();
+ SERIAL_PROTOCOLPGM(MSG_RESEND);
+ SERIAL_PROTOCOLLN(gcode_LastN + 1);
+ ok_to_send();
+}
+
+void gcode_line_error(const char* err, bool doFlush = true) {
+ SERIAL_ERROR_START();
+ serialprintPGM(err);
+ SERIAL_ERRORLN(gcode_LastN);
+ //Serial.println(gcode_N);
+ if (doFlush) flush_and_request_resend();
+ serial_count = 0;
+}
+
+/**
+ * Get all commands waiting on the serial port and queue them.
+ * Exit when the buffer is full or when no more characters are
+ * left on the serial port.
+ */
+inline void get_serial_commands() {
+ static char serial_line_buffer[MAX_CMD_SIZE];
+ static bool serial_comment_mode = false;
+
+ // If the command buffer is empty for too long,
+ // send "wait" to indicate Marlin is still waiting.
+ #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
+ static millis_t last_command_time = 0;
+ const millis_t ms = millis();
+ if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
+ SERIAL_ECHOLNPGM(MSG_WAIT);
+ last_command_time = ms;
+ }
+ #endif
+
+ /**
+ * Loop while serial characters are incoming and the queue is not full
+ */
+ while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
+
+ char serial_char = MYSERIAL.read();
+
+ /**
+ * If the character ends the line
+ */
+ if (serial_char == '\n' || serial_char == '\r') {
+
+ serial_comment_mode = false; // end of line == end of comment
+
+ if (!serial_count) continue; // skip empty lines
+
+ serial_line_buffer[serial_count] = 0; // terminate string
+ serial_count = 0; //reset buffer
+
+ char* command = serial_line_buffer;
+
+ while (*command == ' ') command++; // skip any leading spaces
+ char *npos = (*command == 'N') ? command : NULL, // Require the N parameter to start the line
+ *apos = strchr(command, '*');
+
+ if (npos) {
+
+ bool M110 = strstr_P(command, PSTR("M110")) != NULL;
+
+ if (M110) {
+ char* n2pos = strchr(command + 4, 'N');
+ if (n2pos) npos = n2pos;
+ }
+
+ gcode_N = strtol(npos + 1, NULL, 10);
+
+ if (gcode_N != gcode_LastN + 1 && !M110) {
+ gcode_line_error(PSTR(MSG_ERR_LINE_NO));
+ return;
+ }
+
+ if (apos) {
+ byte checksum = 0, count = 0;
+ while (command[count] != '*') checksum ^= command[count++];
+
+ if (strtol(apos + 1, NULL, 10) != checksum) {
+ gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
+ return;
+ }
+ // if no errors, continue parsing
+ }
+ else {
+ gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
+ return;
+ }
+
+ gcode_LastN = gcode_N;
+ // if no errors, continue parsing
+ }
+ else if (apos) { // No '*' without 'N'
+ gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
+ return;
+ }
+
+ // Movement commands alert when stopped
+ if (IsStopped()) {
+ char* gpos = strchr(command, 'G');
+ if (gpos) {
+ const int codenum = strtol(gpos + 1, NULL, 10);
+ switch (codenum) {
+ case 0:
+ case 1:
+ case 2:
+ case 3:
+ SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+ LCD_MESSAGEPGM(MSG_STOPPED);
+ break;
+ }
+ }
+ }
+
+ #if DISABLED(EMERGENCY_PARSER)
+ // If command was e-stop process now
+ if (strcmp(command, "M108") == 0) {
+ wait_for_heatup = false;
+ #if ENABLED(ULTIPANEL)
+ wait_for_user = false;
+ #endif
+ }
+ if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
+ if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
+ #endif
+
+ #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
+ last_command_time = ms;
+ #endif
+
+ // Add the command to the queue
+ _enqueuecommand(serial_line_buffer, true);
+ }
+ else if (serial_count >= MAX_CMD_SIZE - 1) {
+ // Keep fetching, but ignore normal characters beyond the max length
+ // The command will be injected when EOL is reached
+ }
+ else if (serial_char == '\\') { // Handle escapes
+ if (MYSERIAL.available() > 0) {
+ // if we have one more character, copy it over
+ serial_char = MYSERIAL.read();
+ if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
+ }
+ // otherwise do nothing
+ }
+ else { // it's not a newline, carriage return or escape char
+ if (serial_char == ';') serial_comment_mode = true;
+ if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
+ }
+
+ } // queue has space, serial has data
+}
+
+#if ENABLED(SDSUPPORT)
+
+ /**
+ * Get commands from the SD Card until the command buffer is full
+ * or until the end of the file is reached. The special character '#'
+ * can also interrupt buffering.
+ */
+ inline void get_sdcard_commands() {
+ static bool stop_buffering = false,
+ sd_comment_mode = false;
+
+ if (!IS_SD_PRINTING) return;
+
+ /**
+ * '#' stops reading from SD to the buffer prematurely, so procedural
+ * macro calls are possible. If it occurs, stop_buffering is triggered
+ * and the buffer is run dry; this character _can_ occur in serial com
+ * due to checksums, however, no checksums are used in SD printing.
+ */
+
+ if (commands_in_queue == 0) stop_buffering = false;
+
+ uint16_t sd_count = 0;
+ bool card_eof = card.eof();
+ while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
+ const int16_t n = card.get();
+ char sd_char = (char)n;
+ card_eof = card.eof();
+ if (card_eof || n == -1
+ || sd_char == '\n' || sd_char == '\r'
+ || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
+ ) {
+ if (card_eof) {
+ SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
+ card.printingHasFinished();
+ #if ENABLED(PRINTER_EVENT_LEDS)
+ LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS);
+ set_led_color(0, 255, 0); // Green
+ #if HAS_RESUME_CONTINUE
+ enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue!
+ #else
+ safe_delay(1000);
+ #endif
+ set_led_color(0, 0, 0); // OFF
+ #endif
+ card.checkautostart(true);
+ }
+ else if (n == -1) {
+ SERIAL_ERROR_START();
+ SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
+ }
+ if (sd_char == '#') stop_buffering = true;
+
+ sd_comment_mode = false; // for new command
+
+ if (!sd_count) continue; // skip empty lines (and comment lines)
+
+ command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string
+ sd_count = 0; // clear sd line buffer
+
+ _commit_command(false);
+ }
+ else if (sd_count >= MAX_CMD_SIZE - 1) {
+ /**
+ * Keep fetching, but ignore normal characters beyond the max length
+ * The command will be injected when EOL is reached
+ */
+ }
+ else {
+ if (sd_char == ';') sd_comment_mode = true;
+ if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
+ }
+ }
+ }
+
+#endif // SDSUPPORT
+
+/**
+ * Add to the circular command queue the next command from:
+ * - The command-injection queue (injected_commands_P)
+ * - The active serial input (usually USB)
+ * - The SD card file being actively printed
+ */
+void get_available_commands() {
+
+ // if any immediate commands remain, don't get other commands yet
+ if (drain_injected_commands_P()) return;
+
+ get_serial_commands();
+
+ #if ENABLED(SDSUPPORT)
+ get_sdcard_commands();
+ #endif
+}
+
+/**
+ * Get the next command in the queue, optionally log it to SD, then dispatch it
+ */
+void advance_command_queue() {
+
+ if (!commands_in_queue) return;
+
+ #if ENABLED(SDSUPPORT)
+
+ if (card.saving) {
+ char* command = command_queue[cmd_queue_index_r];
+ if (strstr_P(command, PSTR("M29"))) {
+ // M29 closes the file
+ card.closefile();
+ SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
+ ok_to_send();
+ }
+ else {
+ // Write the string from the read buffer to SD
+ card.write_command(command);
+ if (card.logging)
+ gcode.process_next_command(); // The card is saving because it's logging
+ else
+ ok_to_send();
+ }
+ }
+ else
+ gcode.process_next_command();
+
+ #else
+
+ gcode.process_next_command();
+
+ #endif // SDSUPPORT
+
+ // The queue may be reset by a command handler or by code invoked by idle() within a handler
+ if (commands_in_queue) {
+ --commands_in_queue;
+ if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0;
+ }
+
+}
diff --git a/Marlin/src/gcode/queue.h b/Marlin/src/gcode/queue.h
new file mode 100644
index 0000000000000000000000000000000000000000..65086739b8c8f5c3ad6dc174ae49e9e5053a5dc4
--- /dev/null
+++ b/Marlin/src/gcode/queue.h
@@ -0,0 +1,106 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * queue.h - The G-code command queue, which holds commands before they
+ * go to the parser and dispatcher.
+ */
+
+#ifndef GCODE_QUEUE_H
+#define GCODE_QUEUE_H
+
+#include "../inc/MarlinConfig.h"
+
+/**
+ * GCode line number handling. Hosts may include line numbers when sending
+ * commands to Marlin, and lines will be checked for sequentiality.
+ * M110 N<int> sets the current line number.
+ */
+extern long gcode_LastN, Stopped_gcode_LastN;
+
+/**
+ * GCode Command Queue
+ * A simple ring buffer of BUFSIZE command strings.
+ *
+ * Commands are copied into this buffer by the command injectors
+ * (immediate, serial, sd card) and they are processed sequentially by
+ * the main loop. The gcode.process_next_command method parses the next
+ * command and hands off execution to individual handler functions.
+ */
+extern uint8_t commands_in_queue, // Count of commands in the queue
+ cmd_queue_index_r; // Ring buffer read position
+
+extern char command_queue[BUFSIZE][MAX_CMD_SIZE];
+
+/**
+ * Initialization of queue for setup()
+ */
+void queue_setup();
+
+/**
+ * Clear the Marlin command queue
+ */
+void clear_command_queue();
+
+/**
+ * Clear the serial line and request a resend of
+ * the next expected line number.
+ */
+void flush_and_request_resend();
+
+/**
+ * Send an "ok" message to the host, indicating
+ * that a command was successfully processed.
+ *
+ * If ADVANCED_OK is enabled also include:
+ * N<int> Line number of the command, if any
+ * P<int> Planner space remaining
+ * B<int> Block queue space remaining
+ */
+void ok_to_send();
+
+/**
+ * Record one or many commands to run from program memory.
+ * Aborts the current queue, if any.
+ * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
+ */
+void enqueue_and_echo_commands_P(const char * const pgcode);
+
+/**
+ * Enqueue with Serial Echo
+ */
+bool enqueue_and_echo_command(const char* cmd, bool say_ok=false);
+
+/**
+ * Add to the circular command queue the next command from:
+ * - The command-injection queue (injected_commands_P)
+ * - The active serial input (usually USB)
+ * - The SD card file being actively printed
+ */
+void get_available_commands();
+
+/**
+ * Get the next command in the queue, optionally log it to SD, then dispatch it
+ */
+void advance_command_queue();
+
+#endif // GCODE_QUEUE_H
diff --git a/Marlin/src/gcode/temperature/M104.h b/Marlin/src/gcode/temperature/M104.cpp
similarity index 73%
rename from Marlin/src/gcode/temperature/M104.h
rename to Marlin/src/gcode/temperature/M104.cpp
index 1d5facb28a1a50be12322b5107fb2c2c5e92f5f2..025a6f0324e9a4d7790f78a9316e57e35dbb7baa 100644
--- a/Marlin/src/gcode/temperature/M104.h
+++ b/Marlin/src/gcode/temperature/M104.cpp
@@ -20,23 +20,35 @@
*
*/
+#include "../gcode.h"
+#include "../../module/temperature.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+#include "../../lcd/ultralcd.h"
+
+#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+ #include "../../module/printcounter.h"
+#endif
+
/**
* M104: Set hot end temperature
*/
-void gcode_M104() {
- if (get_target_extruder_from_command(104)) return;
+void GcodeSuite::M104() {
+ if (get_target_extruder_from_command()) return;
if (DEBUGGING(DRYRUN)) return;
+ const uint8_t e = target_extruder;
+
#if ENABLED(SINGLENOZZLE)
- if (target_extruder != active_extruder) return;
+ if (e != active_extruder) return;
#endif
if (parser.seenval('S')) {
const int16_t temp = parser.value_celsius();
- thermalManager.setTargetHotend(temp, target_extruder);
+ thermalManager.setTargetHotend(temp, e);
#if ENABLED(DUAL_X_CARRIAGE)
- if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
+ if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && e == 0)
thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
#endif
@@ -53,8 +65,8 @@ void gcode_M104() {
}
#endif
- if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
- lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+ if (parser.value_celsius() > thermalManager.degHotend(e))
+ lcd_status_printf_P(0, PSTR("E%i %s"), e + 1, MSG_HEATING);
}
#if ENABLED(AUTOTEMP)
diff --git a/Marlin/src/gcode/temperature/M105.h b/Marlin/src/gcode/temperature/M105.h
index 351ff25c9d1d4a6af53ba68d4908956e92a51a41..b5c7dc99a7af0347b1f6ef1d18461487b9d694b4 100644
--- a/Marlin/src/gcode/temperature/M105.h
+++ b/Marlin/src/gcode/temperature/M105.h
@@ -24,7 +24,7 @@
* M105: Read hot end and bed temperature
*/
void gcode_M105() {
- if (get_target_extruder_from_command(105)) return;
+ if (gcode.get_target_extruder_from_command()) return;
#if HAS_TEMP_HOTEND || HAS_TEMP_BED
SERIAL_PROTOCOLPGM(MSG_OK);
diff --git a/Marlin/src/gcode/temperature/M109.h b/Marlin/src/gcode/temperature/M109.cpp
similarity index 94%
rename from Marlin/src/gcode/temperature/M109.h
rename to Marlin/src/gcode/temperature/M109.cpp
index b51cf3049839b5f6b0d6c6e4028fd9e60d1d2448..a3740d47a7b6f3864ad1b586a9ff3633f505b4d8 100644
--- a/Marlin/src/gcode/temperature/M109.h
+++ b/Marlin/src/gcode/temperature/M109.cpp
@@ -20,6 +20,20 @@
*
*/
+#include "../gcode.h"
+#include "../../module/temperature.h"
+#include "../../module/planner.h"
+#include "../../lcd/ultralcd.h"
+#include "../../Marlin.h"
+
+#if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+ #include "../../module/printcounter.h"
+#endif
+
+#if ENABLED(DUAL_X_CARRIAGE)
+ #include "../../module/motion.h"
+#endif
+
/**
* 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.
@@ -32,9 +46,9 @@
#define MIN_COOLING_SLOPE_TIME 60
#endif
-void gcode_M109() {
+void GcodeSuite::M109() {
- if (get_target_extruder_from_command(109)) return;
+ if (get_target_extruder_from_command()) return;
if (DEBUGGING(DRYRUN)) return;
#if ENABLED(SINGLENOZZLE)
diff --git a/Marlin/src/gcode/temperature/M190.h b/Marlin/src/gcode/temperature/M190.h
index 7eab1031f33c0bcc44df2e483244ca66f0b93ffe..f4aebb91fd67ad52553795c7adab0fb19c56a842 100644
--- a/Marlin/src/gcode/temperature/M190.h
+++ b/Marlin/src/gcode/temperature/M190.h
@@ -20,6 +20,8 @@
*
*/
+#include "../gcode.h"
+
#ifndef MIN_COOLING_SLOPE_DEG_BED
#define MIN_COOLING_SLOPE_DEG_BED 1.50
#endif
@@ -63,7 +65,7 @@ void gcode_M190() {
KEEPALIVE_STATE(NOT_BUSY);
#endif
- target_extruder = active_extruder; // for print_heaterstates
+ gcode.target_extruder = active_extruder; // for print_heaterstates
#if ENABLED(PRINTER_EVENT_LEDS)
const float start_temp = thermalManager.degBed();
@@ -95,7 +97,7 @@ void gcode_M190() {
}
idle();
- refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+ gcode.refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
const float temp = thermalManager.degBed();
diff --git a/Marlin/src/gcode/temperature/M303.h b/Marlin/src/gcode/temperature/M303.cpp
similarity index 95%
rename from Marlin/src/gcode/temperature/M303.h
rename to Marlin/src/gcode/temperature/M303.cpp
index 6dec8dc174bfd46f1eb31e74a551b49ca824211f..c1c74aafc9247e6640328e3557b2a5ef38c3a8f2 100644
--- a/Marlin/src/gcode/temperature/M303.h
+++ b/Marlin/src/gcode/temperature/M303.cpp
@@ -20,6 +20,9 @@
*
*/
+#include "../gcode.h"
+#include "../../module/temperature.h"
+
/**
* M303: PID relay autotune
*
@@ -28,7 +31,7 @@
* C<cycles>
* U<bool> with a non-zero value will apply the result to current settings
*/
-void gcode_M303() {
+void GcodeSuite::M303() {
#if HAS_PID_HEATING
const int e = parser.intval('E'), c = parser.intval('C', 5);
const bool u = parser.boolval('U');
diff --git a/Marlin/src/gcode/units/M82_M83.h b/Marlin/src/gcode/units/M82_M83.h
index 63e0436e5c42e2c34b22b32adfc7e1d256812ec6..e0d5409addaf8fb36cb4421df3c0c3ce59f70a38 100644
--- a/Marlin/src/gcode/units/M82_M83.h
+++ b/Marlin/src/gcode/units/M82_M83.h
@@ -23,9 +23,9 @@
/**
* M82: Set E codes absolute (default)
*/
-void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
+void gcode_M82() { gcode.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; }
+void gcode_M83() { gcode.axis_relative_modes[E_AXIS] = true; }
diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp
index 7e40a438e62e1d22e6031bd3d89de9614ec76aaf..34012b4ba2d293542a6c09c28e49ff123d638075 100644
--- a/Marlin/src/lcd/ultralcd.cpp
+++ b/Marlin/src/lcd/ultralcd.cpp
@@ -30,6 +30,9 @@
#include "../module/temperature.h"
#include "../module/planner.h"
#include "../module/stepper.h"
+#include "../module/motion.h"
+#include "../gcode/gcode.h"
+#include "../gcode/queue.h"
#include "../module/configuration_store.h"
#include "../Marlin.h"
@@ -1734,7 +1737,7 @@ void kill_screen(const char* lcd_msg) {
// Encoder knob or keypad buttons adjust the Z position
//
if (encoderPosition) {
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP);
line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5, (LCD_PROBE_Z_RANGE) * 0.5));
lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT;
@@ -2280,7 +2283,7 @@ void kill_screen(const char* lcd_msg) {
x_plot += step_scaler / (ENCODER_STEPS_PER_MENU_ITEM);
if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM)
step_scaler = 0;
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
@@ -2317,7 +2320,7 @@ void kill_screen(const char* lcd_msg) {
set_current_from_steppers_for_axis(ALL_AXES);
sync_plan_position();
ubl_map_move_to_xy(); // Move to new location
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
}
}
}
@@ -2702,7 +2705,7 @@ void kill_screen(const char* lcd_msg) {
if (lcd_clicked) { return lcd_goto_previous_menu(); }
ENCODER_DIRECTION_NORMAL();
if (encoderPosition) {
- refresh_cmd_timeout();
+ gcode.refresh_cmd_timeout();
float min = current_position[axis] - 1000,
max = current_position[axis] + 1000;
diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp
index c8c4732f9e06662383278033ac78e0c2ab6fc7fd..7b7006ee2c86fa4ce3c9ddf0ad79ea2bfbf52e48 100644
--- a/Marlin/src/libs/nozzle.cpp
+++ b/Marlin/src/libs/nozzle.cpp
@@ -23,6 +23,7 @@
#include "nozzle.h"
#include "../Marlin.h"
+#include "../module/motion.h"
#include "point_t.h"
/**
diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..df227d7e48de646d82a21aa7d8ec51220e8aa421
--- /dev/null
+++ b/Marlin/src/module/motion.cpp
@@ -0,0 +1,574 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * motion.cpp
+ */
+
+#include "motion.h"
+
+#include "../gcode/gcode.h"
+// #include "../module/planner.h"
+// #include "../Marlin.h"
+// #include "../inc/MarlinConfig.h"
+
+#include "../core/serial.h"
+#include "../module/stepper.h"
+#include "../module/temperature.h"
+
+#if IS_SCARA
+ #include "../libs/buzzer.h"
+ #include "../lcd/ultralcd.h"
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_UBL)
+ #include "../feature/ubl/ubl.h"
+#endif
+
+#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }
+
+XYZ_CONSTS(float, base_min_pos, MIN_POS);
+XYZ_CONSTS(float, base_max_pos, MAX_POS);
+XYZ_CONSTS(float, base_home_pos, HOME_POS);
+XYZ_CONSTS(float, max_length, MAX_LENGTH);
+XYZ_CONSTS(float, home_bump_mm, HOME_BUMP_MM);
+XYZ_CONSTS(signed char, home_dir, HOME_DIR);
+
+// Relative Mode. Enable with G91, disable with G90.
+bool relative_mode = false;
+
+/**
+ * Cartesian Current Position
+ * Used to track the logical position as moves are queued.
+ * Used by 'line_to_current_position' to do a move after changing it.
+ * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
+ */
+float current_position[XYZE] = { 0.0 };
+
+/**
+ * Cartesian Destination
+ * A temporary position, usually applied to 'current_position'.
+ * Set with 'get_destination_from_command' or 'set_destination_to_current'.
+ * 'line_to_destination' sets 'current_position' to 'destination'.
+ */
+float destination[XYZE] = { 0.0 };
+
+// The active extruder (tool). Set with T<extruder> command.
+uint8_t active_extruder = 0;
+
+// The feedrate for the current move, often used as the default if
+// no other feedrate is specified. Overridden for special moves.
+// Set by the last G0 through G5 command's "F" parameter.
+// Functions that override this for custom moves *must always* restore it!
+float feedrate_mm_s = MMM_TO_MMS(1500.0);
+
+/**
+ * sync_plan_position
+ *
+ * Set the planner/stepper positions directly from current_position with
+ * no kinematic translation. Used for homing axes and cartesian/core syncing.
+ */
+void sync_plan_position() {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
+ #endif
+ planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+}
+
+void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
+
+/**
+ * Move the planner to the current position from wherever it last moved
+ * (or from wherever it has been told it is located).
+ */
+void line_to_current_position() {
+ planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
+}
+
+/**
+ * Move the planner to the position stored in the destination array, which is
+ * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
+ */
+void line_to_destination(const float fr_mm_s) {
+ planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
+}
+
+#if IS_KINEMATIC
+
+ void sync_plan_position_kinematic() {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
+ #endif
+ planner.set_position_mm_kinematic(current_position);
+ }
+
+ /**
+ * Calculate delta, start a line, and set current_position to destination
+ */
+ void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
+ #endif
+
+ gcode.refresh_cmd_timeout();
+
+ #if UBL_DELTA
+ // ubl segmented line will do z-only moves in single segment
+ ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s));
+ #else
+ if ( current_position[X_AXIS] == destination[X_AXIS]
+ && current_position[Y_AXIS] == destination[Y_AXIS]
+ && current_position[Z_AXIS] == destination[Z_AXIS]
+ && current_position[E_AXIS] == destination[E_AXIS]
+ ) return;
+
+ planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
+ #endif
+
+ set_current_to_destination();
+ }
+
+#endif // IS_KINEMATIC
+
+// Software Endstops are based on the configured limits.
+float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
+ soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
+
+#if HAS_SOFTWARE_ENDSTOPS
+
+ // Software Endstops are based on the configured limits.
+ bool soft_endstops_enabled = true;
+
+ /**
+ * Constrain the given coordinates to the software endstops.
+ */
+
+ // NOTE: This makes no sense for delta beds other than Z-axis.
+ // For delta the X/Y would need to be clamped at
+ // DELTA_PRINTABLE_RADIUS from center of bed, but delta
+ // now enforces is_position_reachable for X/Y regardless
+ // of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be
+ // redundant here.
+
+ void clamp_to_software_endstops(float target[XYZ]) {
+ if (!soft_endstops_enabled) return;
+ #if ENABLED(MIN_SOFTWARE_ENDSTOPS)
+ #if DISABLED(DELTA)
+ NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+ NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+ #endif
+ NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
+ #endif
+ #if ENABLED(MAX_SOFTWARE_ENDSTOPS)
+ #if DISABLED(DELTA)
+ NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+ NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+ #endif
+ NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
+ #endif
+ }
+
+#endif
+
+#if ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
+
+ #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS))
+
+ /**
+ * Prepare a bilinear-leveled linear move on Cartesian,
+ * splitting the move where it crosses grid borders.
+ */
+ void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
+ int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
+ cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
+ cx2 = CELL_INDEX(X, destination[X_AXIS]),
+ cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
+ cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
+ cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
+ cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
+ cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
+
+ if (cx1 == cx2 && cy1 == cy2) {
+ // Start and end on same mesh square
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
+
+ float normalized_dist, end[XYZE];
+
+ // Split at the left/front border of the right/top square
+ const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
+ if (cx2 != cx1 && TEST(x_splits, gcx)) {
+ COPY(end, destination);
+ destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
+ normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
+ destination[Y_AXIS] = LINE_SEGMENT_END(Y);
+ CBI(x_splits, gcx);
+ }
+ else if (cy2 != cy1 && TEST(y_splits, gcy)) {
+ COPY(end, destination);
+ destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
+ normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
+ destination[X_AXIS] = LINE_SEGMENT_END(X);
+ CBI(y_splits, gcy);
+ }
+ else {
+ // Already split on a border
+ line_to_destination(fr_mm_s);
+ set_current_to_destination();
+ return;
+ }
+
+ destination[Z_AXIS] = LINE_SEGMENT_END(Z);
+ destination[E_AXIS] = LINE_SEGMENT_END(E);
+
+ // Do the split and look for more borders
+ bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+
+ // Restore destination from stack
+ COPY(destination, end);
+ bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
+ }
+
+#endif // AUTO_BED_LEVELING_BILINEAR
+
+#if IS_KINEMATIC && !UBL_DELTA
+
+ /**
+ * Prepare a linear move in a DELTA or SCARA setup.
+ *
+ * This calls planner.buffer_line several times, adding
+ * small incremental moves for DELTA or SCARA.
+ */
+ inline bool prepare_kinematic_move_to(float ltarget[XYZE]) {
+
+ // Get the top feedrate of the move in the XY plane
+ const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
+
+ // If the move is only in Z/E don't split up the move
+ if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
+ planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
+ return false;
+ }
+
+ // Fail if attempting move outside printable radius
+ if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true;
+
+ // Get the cartesian distances moved in XYZE
+ const float difference[XYZE] = {
+ ltarget[X_AXIS] - current_position[X_AXIS],
+ ltarget[Y_AXIS] - current_position[Y_AXIS],
+ ltarget[Z_AXIS] - current_position[Z_AXIS],
+ ltarget[E_AXIS] - current_position[E_AXIS]
+ };
+
+ // Get the linear distance in XYZ
+ float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
+
+ // If the move is very short, check the E move distance
+ if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]);
+
+ // No E move either? Game over.
+ if (UNEAR_ZERO(cartesian_mm)) return true;
+
+ // Minimum number of seconds to move the given distance
+ const float seconds = cartesian_mm / _feedrate_mm_s;
+
+ // The number of segments-per-second times the duration
+ // gives the number of segments
+ uint16_t segments = delta_segments_per_second * seconds;
+
+ // For SCARA minimum segment size is 0.25mm
+ #if IS_SCARA
+ NOMORE(segments, cartesian_mm * 4);
+ #endif
+
+ // At least one segment is required
+ NOLESS(segments, 1);
+
+ // The approximate length of each segment
+ const float inv_segments = 1.0 / float(segments),
+ segment_distance[XYZE] = {
+ difference[X_AXIS] * inv_segments,
+ difference[Y_AXIS] * inv_segments,
+ difference[Z_AXIS] * inv_segments,
+ difference[E_AXIS] * inv_segments
+ };
+
+ // SERIAL_ECHOPAIR("mm=", cartesian_mm);
+ // SERIAL_ECHOPAIR(" seconds=", seconds);
+ // SERIAL_ECHOLNPAIR(" segments=", segments);
+
+ #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
+ // SCARA needs to scale the feed rate from mm/s to degrees/s
+ const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs
+ feed_factor = inv_segment_length * _feedrate_mm_s;
+ float oldA = stepper.get_axis_position_degrees(A_AXIS),
+ oldB = stepper.get_axis_position_degrees(B_AXIS);
+ #endif
+
+ // Get the logical current position as starting point
+ float logical[XYZE];
+ COPY(logical, current_position);
+
+ // Drop one segment so the last move is to the exact target.
+ // If there's only 1 segment, loops will be skipped entirely.
+ --segments;
+
+ // Calculate and execute the segments
+ for (uint16_t s = segments + 1; --s;) {
+ LOOP_XYZE(i) logical[i] += segment_distance[i];
+ #if ENABLED(DELTA)
+ DELTA_LOGICAL_IK(); // Delta can inline its kinematics
+ #else
+ inverse_kinematics(logical);
+ #endif
+
+ ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled
+
+ #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
+ // For SCARA scale the feed rate from mm/s to degrees/s
+ // Use ratio between the length of the move and the larger angle change
+ const float adiff = abs(delta[A_AXIS] - oldA),
+ bdiff = abs(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
+ oldA = delta[A_AXIS];
+ oldB = delta[B_AXIS];
+ #else
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
+ #endif
+ }
+
+ // Since segment_distance is only approximate,
+ // the final move must be to the exact destination.
+
+ #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING)
+ // For SCARA scale the feed rate from mm/s to degrees/s
+ // With segments > 1 length is 1 segment, otherwise total length
+ inverse_kinematics(ltarget);
+ ADJUST_DELTA(ltarget);
+ const float adiff = abs(delta[A_AXIS] - oldA),
+ bdiff = abs(delta[B_AXIS] - oldB);
+ planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder);
+ #else
+ planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
+ #endif
+
+ return false;
+ }
+
+#else // !IS_KINEMATIC || UBL_DELTA
+
+ /**
+ * Prepare a linear move in a Cartesian setup.
+ * If Mesh Bed Leveling is enabled, perform a mesh move.
+ *
+ * Returns true if the caller didn't update current_position.
+ */
+ inline bool prepare_move_to_destination_cartesian() {
+ #if ENABLED(AUTO_BED_LEVELING_UBL)
+ const float fr_scaled = MMS_SCALED(feedrate_mm_s);
+ if (ubl.state.active) { // direct use of ubl.state.active for speed
+ ubl.line_to_destination_cartesian(fr_scaled, active_extruder);
+ return true;
+ }
+ else
+ line_to_destination(fr_scaled);
+ #else
+ // Do not use feedrate_percentage for E or Z only moves
+ if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS])
+ line_to_destination();
+ else {
+ const float fr_scaled = MMS_SCALED(feedrate_mm_s);
+ #if ENABLED(MESH_BED_LEVELING)
+ if (mbl.active()) { // direct used of mbl.active() for speed
+ mesh_line_to_destination(fr_scaled);
+ return true;
+ }
+ else
+ #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
+ if (planner.abl_enabled) { // direct use of abl_enabled for speed
+ bilinear_line_to_destination(fr_scaled);
+ return true;
+ }
+ else
+ #endif
+ line_to_destination(fr_scaled);
+ }
+ #endif
+ return false;
+ }
+
+#endif // !IS_KINEMATIC || UBL_DELTA
+
+#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+ bool extruder_duplication_enabled = false; // Used in Dual X mode 2
+#endif
+
+#if ENABLED(DUAL_X_CARRIAGE)
+
+ DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
+ float inactive_extruder_x_pos = X2_MAX_POS, // used in mode 0 & 1
+ raised_parked_position[XYZE], // used in mode 1
+ duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
+ bool active_extruder_parked = false; // used in mode 1 & 2
+ millis_t delayed_move_time = 0; // used in mode 1
+ int16_t duplicate_extruder_temp_offset = 0; // used in mode 2
+
+ float x_home_pos(const int extruder) {
+ if (extruder == 0)
+ return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
+ else
+ /**
+ * In dual carriage mode the extruder offset provides an override of the
+ * second X-carriage position when homed - otherwise X2_HOME_POS is used.
+ * This allows soft recalibration of the second extruder home position
+ * without firmware reflash (through the M218 command).
+ */
+ return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
+ }
+
+ /**
+ * Prepare a linear move in a dual X axis setup
+ */
+ inline bool prepare_move_to_destination_dualx() {
+ if (active_extruder_parked) {
+ switch (dual_x_carriage_mode) {
+ case DXC_FULL_CONTROL_MODE:
+ break;
+ case DXC_AUTO_PARK_MODE:
+ if (current_position[E_AXIS] == destination[E_AXIS]) {
+ // This is a travel move (with no extrusion)
+ // Skip it, but keep track of the current position
+ // (so it can be used as the start of the next non-travel move)
+ if (delayed_move_time != 0xFFFFFFFFUL) {
+ set_current_to_destination();
+ NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
+ delayed_move_time = millis();
+ return true;
+ }
+ }
+ // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
+ for (uint8_t i = 0; i < 3; i++)
+ planner.buffer_line(
+ i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
+ i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
+ i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
+ current_position[E_AXIS],
+ i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
+ active_extruder
+ );
+ delayed_move_time = 0;
+ active_extruder_parked = false;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked");
+ #endif
+ break;
+ case DXC_DUPLICATION_MODE:
+ if (active_extruder == 0) {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) {
+ SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos));
+ SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset);
+ }
+ #endif
+ // move duplicate extruder into correct duplication position.
+ planner.set_position_mm(
+ LOGICAL_X_POSITION(inactive_extruder_x_pos),
+ current_position[Y_AXIS],
+ current_position[Z_AXIS],
+ current_position[E_AXIS]
+ );
+ planner.buffer_line(
+ current_position[X_AXIS] + duplicate_extruder_x_offset,
+ current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
+ planner.max_feedrate_mm_s[X_AXIS], 1
+ );
+ SYNC_PLAN_POSITION_KINEMATIC();
+ stepper.synchronize();
+ extruder_duplication_enabled = true;
+ active_extruder_parked = false;
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked");
+ #endif
+ }
+ else {
+ #if ENABLED(DEBUG_LEVELING_FEATURE)
+ if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0");
+ #endif
+ }
+ break;
+ }
+ }
+ return false;
+ }
+
+#endif // DUAL_X_CARRIAGE
+
+/**
+ * Prepare a single move and get ready for the next one
+ *
+ * This may result in several calls to planner.buffer_line to
+ * do smaller moves for DELTA, SCARA, mesh moves, etc.
+ */
+void prepare_move_to_destination() {
+ clamp_to_software_endstops(destination);
+ gcode.refresh_cmd_timeout();
+
+ #if ENABLED(PREVENT_COLD_EXTRUSION)
+
+ if (!DEBUGGING(DRYRUN)) {
+ if (destination[E_AXIS] != current_position[E_AXIS]) {
+ if (thermalManager.tooColdToExtrude(active_extruder)) {
+ current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+ }
+ #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
+ if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) {
+ current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
+ SERIAL_ECHO_START();
+ SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+ }
+ #endif
+ }
+ }
+
+ #endif
+
+ if (
+ #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely)
+ ubl.prepare_segmented_line_to(destination, feedrate_mm_s)
+ #elif IS_KINEMATIC
+ prepare_kinematic_move_to(destination)
+ #elif ENABLED(DUAL_X_CARRIAGE)
+ prepare_move_to_destination_dualx() || prepare_move_to_destination_cartesian()
+ #else
+ prepare_move_to_destination_cartesian()
+ #endif
+ ) return;
+
+ set_current_to_destination();
+}
diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h
new file mode 100644
index 0000000000000000000000000000000000000000..f146c3c0a254bb191e7101a74a62bbb5d35b7975
--- /dev/null
+++ b/Marlin/src/module/motion.h
@@ -0,0 +1,237 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * motion.h
+ *
+ * High-level motion commands to feed the planner
+ * Some of these methods may migrate to the planner class.
+ */
+
+#ifndef MOTION_H
+#define MOTION_H
+
+#include "../inc/MarlinConfig.h"
+
+//#include "../HAL/HAL.h"
+
+// #if ENABLED(DELTA)
+// #include "../module/delta.h"
+// #endif
+
+extern bool relative_mode;
+
+extern float current_position[XYZE], destination[XYZE];
+
+extern float feedrate_mm_s;
+
+extern uint8_t active_extruder;
+
+extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
+
+FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); }
+FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); }
+
+#define XYZ_DEFS(type, array, CONFIG) \
+ extern const type array##_P[XYZ]; \
+ FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \
+ typedef void __void_##CONFIG##__
+
+XYZ_DEFS(float, base_min_pos, MIN_POS);
+XYZ_DEFS(float, base_max_pos, MAX_POS);
+XYZ_DEFS(float, base_home_pos, HOME_POS);
+XYZ_DEFS(float, max_length, MAX_LENGTH);
+XYZ_DEFS(float, home_bump_mm, HOME_BUMP_MM);
+XYZ_DEFS(signed char, home_dir, HOME_DIR);
+
+#if HAS_SOFTWARE_ENDSTOPS
+ extern bool soft_endstops_enabled;
+ void clamp_to_software_endstops(float target[XYZ]);
+#else
+ #define soft_endstops_enabled false
+ #define clamp_to_software_endstops(x) NOOP
+#endif
+
+inline void set_current_to_destination() { COPY(current_position, destination); }
+inline void set_destination_to_current() { COPY(destination, current_position); }
+
+/**
+ * sync_plan_position
+ *
+ * Set the planner/stepper positions directly from current_position with
+ * no kinematic translation. Used for homing axes and cartesian/core syncing.
+ */
+void sync_plan_position();
+void sync_plan_position_e();
+
+#if IS_KINEMATIC
+ void sync_plan_position_kinematic();
+ #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
+#else
+ #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
+#endif
+
+/**
+ * Move the planner to the current position from wherever it last moved
+ * (or from wherever it has been told it is located).
+ */
+void line_to_current_position();
+
+/**
+ * Move the planner to the position stored in the destination array, which is
+ * used by G0/G1/G2/G3/G5 and many other functions to set a destination.
+ */
+void line_to_destination(const float fr_mm_s);
+
+inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
+
+#if IS_KINEMATIC
+ void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0);
+#endif
+
+void prepare_move_to_destination();
+
+void clamp_to_software_endstops(float target[XYZ]);
+
+//
+// Macros
+//
+
+// Workspace offsets
+#if HAS_WORKSPACE_OFFSET
+ #if HAS_HOME_OFFSET
+ extern float home_offset[XYZ];
+ #endif
+ #if HAS_POSITION_SHIFT
+ extern float position_shift[XYZ];
+ #endif
+#endif
+
+#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT
+ extern float workspace_offset[XYZ];
+ #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS]
+#elif HAS_HOME_OFFSET
+ #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS]
+#elif HAS_POSITION_SHIFT
+ #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS]
+#else
+ #define WORKSPACE_OFFSET(AXIS) 0
+#endif
+
+#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS))
+#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS))
+
+#if HAS_POSITION_SHIFT || DISABLED(DELTA)
+ #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS)
+ #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS)
+ #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS)
+ #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS)
+#else
+ #define LOGICAL_X_POSITION(POS) (POS)
+ #define LOGICAL_Y_POSITION(POS) (POS)
+ #define RAW_X_POSITION(POS) (POS)
+ #define RAW_Y_POSITION(POS) (POS)
+#endif
+
+#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS)
+#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS)
+#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS])
+
+/**
+ * position_is_reachable family of functions
+ */
+
+#if IS_KINEMATIC // (DELTA or SCARA)
+
+ #if IS_SCARA
+ extern const float L1, L2;
+ #endif
+
+ inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
+ #if ENABLED(DELTA)
+ return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS);
+ #elif IS_SCARA
+ #if MIDDLE_DEAD_ZONE_R > 0
+ const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y);
+ return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
+ #else
+ return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2);
+ #endif
+ #else // CARTESIAN
+ // To be migrated from MakerArm branch in future
+ #endif
+ }
+
+ inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
+
+ // Both the nozzle and the probe must be able to reach the point.
+ // This won't work on SCARA since the probe offset rotates with the arm.
+
+ return position_is_reachable_raw_xy(rx, ry)
+ && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER);
+ }
+
+#else // CARTESIAN
+
+ inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) {
+ // Add 0.001 margin to deal with float imprecision
+ return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001)
+ && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001);
+ }
+
+ inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) {
+ // Add 0.001 margin to deal with float imprecision
+ return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001)
+ && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001);
+ }
+
+#endif // CARTESIAN
+
+FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) {
+ return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
+}
+
+FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) {
+ return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
+}
+
+#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
+ extern bool extruder_duplication_enabled; // Used in Dual X mode 2
+#endif
+
+#if ENABLED(DUAL_X_CARRIAGE)
+
+ extern DualXMode dual_x_carriage_mode;
+ extern float inactive_extruder_x_pos, // used in mode 0 & 1
+ raised_parked_position[XYZE], // used in mode 1
+ duplicate_extruder_x_offset; // used in mode 2
+ extern bool active_extruder_parked; // used in mode 1 & 2
+ extern millis_t delayed_move_time; // used in mode 1
+ extern int16_t duplicate_extruder_temp_offset; // used in mode 2
+
+ float x_home_pos(const int extruder);
+
+ FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; }
+
+#endif // DUAL_X_CARRIAGE
+
+#endif // MOTION_H
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index c0e3b3a6755179f483370c47c40fb197f0ff1e30..c239b324b4f7298e83fd4ab9aabdd98a92608a66 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -60,6 +60,7 @@
#include "planner.h"
#include "stepper.h"
+#include "motion.h"
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp
index fe0a652b5e9932200b5109af91035b3ceb2625c0..e5becc10c441c916685352b8642e8a68d31fb4ba 100644
--- a/Marlin/src/module/planner_bezier.cpp
+++ b/Marlin/src/module/planner_bezier.cpp
@@ -31,10 +31,13 @@
#if ENABLED(BEZIER_CURVE_SUPPORT)
+#include "planner.h"
+#include "motion.h"
+#include "temperature.h"
+
#include "../Marlin.h"
-#include "../module/planner.h"
#include "../core/language.h"
-#include "../module/temperature.h"
+#include "../gcode/queue.h"
// See the meaning in the documentation of cubic_b_spline().
#define MIN_STEP 0.002
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 5835238d5f2b6ddcae436b71a2301678b126c0ad..fecb5c7a99ceef8fbeec40a210fa4c668b3af5c5 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -57,6 +57,7 @@
#include "../module/temperature.h"
#include "../lcd/ultralcd.h"
#include "../core/language.h"
+#include "../gcode/queue.h"
#include "../sd/cardreader.h"
#if MB(ALLIGATOR)
diff --git a/Marlin/src/sd/cardreader.cpp b/Marlin/src/sd/cardreader.cpp
index 87be1e8a674eba5d9c7a647888e25287efede499..0292375d0f41d704cd55d9997a8cc45401d2ea80 100644
--- a/Marlin/src/sd/cardreader.cpp
+++ b/Marlin/src/sd/cardreader.cpp
@@ -31,6 +31,7 @@
#include "../module/stepper.h"
#include "../module/printcounter.h"
#include "../core/language.h"
+#include "../gcode/queue.h"
#include <ctype.h>