diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 45a94e82e3431579855c9fd852f6528ad1a98430..46720d9a34552d264b87895b49f3db17c876b8b2 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -229,6 +229,7 @@ void refresh_cmd_timeout(void);
extern float homing_feedrate[];
extern bool axis_relative_modes[];
extern int feedmultiply;
+extern int extrudemultiply; // Sets extrude multiply factor (in percent) for all extruders
extern bool volumetric_enabled;
extern int extruder_multiply[EXTRUDERS]; // sets extrude multiply factor (in percent) for each extruder individually
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.
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 0f0445352355ca77163c8ac529ae06b7d217446e..00962062460fdb6e33721ebd80feda06e2771ad0 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -79,7 +79,7 @@
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
-// G28 - Home one or more axes
+// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location.
// G31 - Dock sled (Z_PROBE_SLED only)
@@ -210,6 +210,7 @@ int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply = 100; //100->1 200->2
int saved_feedmultiply;
+int extrudemultiply = 100; //100->1 200->2
int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA);
@@ -305,7 +306,7 @@ int fanSpeed = 0;
#ifdef SCARA
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
static float delta[3] = { 0, 0, 0 };
-#endif
+#endif
bool cancel_heatup = false;
@@ -476,6 +477,8 @@ bool enquecommand(const char *cmd)
return true;
}
+
+
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
@@ -898,7 +901,7 @@ bool code_seen(char code) {
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
-
+
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
@@ -929,7 +932,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static float x_home_pos(int extruder) {
if (extruder == 0)
- return base_home_pos(X_AXIS) + home_offset[X_AXIS];
+ return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
@@ -958,15 +961,15 @@ static void axis_is_at_home(int axis) {
if (axis == X_AXIS) {
if (active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
- min_pos[X_AXIS] = X2_MIN_POS;
- max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
+ min_pos[X_AXIS] = X2_MIN_POS;
+ max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- float xoff = home_offset[X_AXIS];
- current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
- min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
- max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
+ current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
+ min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS];
+ max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS],
+ max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
return;
}
}
@@ -1020,189 +1023,178 @@ static void axis_is_at_home(int axis) {
}
/**
- * Some planner shorthand inline functions
+ * Shorthand to tell the planner our current position (in mm).
*/
-inline void line_to_current_position() {
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
-}
-inline void line_to_z(float zPosition) {
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
-}
-inline void line_to_destination() {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
-}
inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#ifdef ENABLE_AUTO_BED_LEVELING
+#ifdef AUTO_BED_LEVELING_GRID
- #ifdef AUTO_BED_LEVELING_GRID
-
- #ifndef DELTA
-
- static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
- vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
- planeNormal.debug("planeNormal");
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- //bedLevel.debug("bedLevel");
-
- //plan_bed_level_matrix.debug("bed level before");
- //vector_3 uncorrected_position = plan_get_position_mm();
- //uncorrected_position.debug("position before");
-
- vector_3 corrected_position = plan_get_position();
- //corrected_position.debug("position after");
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
-
- sync_plan_position();
- }
-
- #endif // !DELTA
+#ifndef DELTA
+ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
+ vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
+ planeNormal.debug("planeNormal");
+ plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+ //bedLevel.debug("bedLevel");
+
+ //plan_bed_level_matrix.debug("bed level before");
+ //vector_3 uncorrected_position = plan_get_position_mm();
+ //uncorrected_position.debug("position before");
+
+ vector_3 corrected_position = plan_get_position();
+ //corrected_position.debug("position after");
+ current_position[X_AXIS] = corrected_position.x;
+ current_position[Y_AXIS] = corrected_position.y;
+ current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
- #else // !AUTO_BED_LEVELING_GRID
+ sync_plan_position();
+ }
+#endif
- static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
+#else // not AUTO_BED_LEVELING_GRID
- plan_bed_level_matrix.set_to_identity();
+static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
- vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
- vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
- vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
- vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
+ plan_bed_level_matrix.set_to_identity();
- if (planeNormal.z < 0) {
- planeNormal.x = -planeNormal.x;
- planeNormal.y = -planeNormal.y;
- planeNormal.z = -planeNormal.z;
- }
+ vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
+ vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
+ vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
+ vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
- plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
+ if (planeNormal.z < 0) {
+ planeNormal.x = -planeNormal.x;
+ planeNormal.y = -planeNormal.y;
+ planeNormal.z = -planeNormal.z;
+ }
- vector_3 corrected_position = plan_get_position();
- current_position[X_AXIS] = corrected_position.x;
- current_position[Y_AXIS] = corrected_position.y;
- current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
+ plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
- sync_plan_position();
- }
+ vector_3 corrected_position = plan_get_position();
+ current_position[X_AXIS] = corrected_position.x;
+ current_position[Y_AXIS] = corrected_position.y;
+ current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
- #endif // !AUTO_BED_LEVELING_GRID
+ sync_plan_position();
+}
- static void run_z_probe() {
+#endif // AUTO_BED_LEVELING_GRID
- #ifdef DELTA
+static void run_z_probe() {
+ #ifdef DELTA
- float start_z = current_position[Z_AXIS];
- long start_steps = st_get_position(Z_AXIS);
+ float start_z = current_position[Z_AXIS];
+ long start_steps = st_get_position(Z_AXIS);
+
+ // move down slowly until you find the bed
+ feedrate = homing_feedrate[Z_AXIS] / 4;
+ destination[Z_AXIS] = -10;
+ prepare_move_raw();
+ st_synchronize();
+ endstops_hit_on_purpose();
- // move down slowly until you find the bed
- feedrate = homing_feedrate[Z_AXIS] / 4;
- destination[Z_AXIS] = -10;
- prepare_move_raw();
- st_synchronize();
- endstops_hit_on_purpose();
-
- // we have to let the planner know where we are right now as it is not where we said to go.
- long stop_steps = st_get_position(Z_AXIS);
- float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
- current_position[Z_AXIS] = mm;
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-
- #else // !DELTA
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ long stop_steps = st_get_position(Z_AXIS);
+ float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
+ current_position[Z_AXIS] = mm;
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+
+ #else
- plan_bed_level_matrix.set_to_identity();
- feedrate = homing_feedrate[Z_AXIS];
+ plan_bed_level_matrix.set_to_identity();
+ feedrate = homing_feedrate[Z_AXIS];
- // move down until you find the bed
- float zPosition = -10;
- line_to_z(zPosition);
- st_synchronize();
+ // move down until you find the bed
+ float zPosition = -10;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
- // we have to let the planner know where we are right now as it is not where we said to go.
- zPosition = st_get_position_mm(Z_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
+ // we have to let the planner know where we are right now as it is not where we said to go.
+ zPosition = st_get_position_mm(Z_AXIS);
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
- // move up the retract distance
- zPosition += home_retract_mm(Z_AXIS);
- line_to_z(zPosition);
- st_synchronize();
- endstops_hit_on_purpose();
+ // move up the retract distance
+ zPosition += home_retract_mm(Z_AXIS);
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+ endstops_hit_on_purpose();
- // move back down slowly to find bed
- if (homing_bump_divisor[Z_AXIS] >= 1)
- feedrate = homing_feedrate[Z_AXIS] / homing_bump_divisor[Z_AXIS];
- else {
- feedrate = homing_feedrate[Z_AXIS] / 10;
- SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
- }
+ // move back down slowly to find bed
+ if (homing_bump_divisor[Z_AXIS] >= 1) {
+ feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
+ }
+ else {
+ feedrate = homing_feedrate[Z_AXIS]/10;
+ SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
+ }
- zPosition -= home_retract_mm(Z_AXIS) * 2;
- line_to_z(zPosition);
- st_synchronize();
- endstops_hit_on_purpose();
+ zPosition -= home_retract_mm(Z_AXIS) * 2;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+ endstops_hit_on_purpose();
- current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
- // make sure the planner knows where we are as it may be a bit different than we last said to move to
- sync_plan_position();
-
- #endif // !DELTA
- }
+ current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
+ // make sure the planner knows where we are as it may be a bit different than we last said to move to
+ sync_plan_position();
+
+ #endif
+}
- static void do_blocking_move_to(float x, float y, float z) {
+static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
- #ifdef DELTA
+#ifdef DELTA
- feedrate = XY_TRAVEL_SPEED;
-
- destination[X_AXIS] = x;
- destination[Y_AXIS] = y;
- destination[Z_AXIS] = z;
- prepare_move_raw();
- st_synchronize();
+ feedrate = XY_TRAVEL_SPEED;
+
+ destination[X_AXIS] = x;
+ destination[Y_AXIS] = y;
+ destination[Z_AXIS] = z;
+ prepare_move_raw();
+ st_synchronize();
- #else
+#else
- feedrate = homing_feedrate[Z_AXIS];
+ feedrate = homing_feedrate[Z_AXIS];
- current_position[Z_AXIS] = z;
- line_to_current_position();
- st_synchronize();
+ current_position[Z_AXIS] = z;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
- feedrate = xy_travel_speed;
+ feedrate = xy_travel_speed;
- current_position[X_AXIS] = x;
- current_position[Y_AXIS] = y;
- line_to_current_position();
- st_synchronize();
+ current_position[X_AXIS] = x;
+ current_position[Y_AXIS] = y;
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
- #endif
+#endif
feedrate = oldFeedRate;
- }
+}
- static void setup_for_endstop_move() {
+static void setup_for_endstop_move() {
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
+
enable_endstops(true);
- }
+}
+
+static void clean_up_after_endstop_move() {
+#ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+#endif
- static void clean_up_after_endstop_move() {
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
- }
+}
-<<<<<<< HEAD
static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
@@ -1250,59 +1242,13 @@ static void engage_z_probe() {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
-=======
- static void engage_z_probe() {
-
- #ifdef SERVO_ENDSTOPS
-
- // Engage Z Servo endstop if enabled
- if (servo_endstops[Z_AXIS] >= 0) {
- #if SERVO_LEVELING
- servos[servo_endstops[Z_AXIS]].attach(0);
- #endif
- servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- servos[servo_endstops[Z_AXIS]].detach();
- #endif
- }
-
- #elif defined(Z_PROBE_ALLEN_KEY)
-
- feedrate = homing_feedrate[X_AXIS];
-
- // Move to the start position to initiate deployment
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
- prepare_move_raw();
-
- // Home X to touch the belt
- feedrate = homing_feedrate[X_AXIS]/10;
- destination[X_AXIS] = 0;
- prepare_move_raw();
-
- // Home Y for safety
- feedrate = homing_feedrate[X_AXIS]/2;
- destination[Y_AXIS] = 0;
- prepare_move_raw();
-
- st_synchronize();
-
- bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- if (z_min_endstop) {
- if (!Stopped) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
->>>>>>> MarlinFirmware/Development
}
Stop();
- }
+ }
+ #endif
- #endif // Z_PROBE_ALLEN_KEY
+}
-<<<<<<< HEAD
static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
@@ -1365,216 +1311,126 @@ static void retract_z_probe() {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
-=======
- }
-
- static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
-
- #ifdef SERVO_ENDSTOPS
-
- // Retract Z Servo endstop if enabled
- if (servo_endstops[Z_AXIS] >= 0) {
-
- if (z_after > 0) {
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
- st_synchronize();
->>>>>>> MarlinFirmware/Development
- }
-
- #if SERVO_LEVELING
- servos[servo_endstops[Z_AXIS]].attach(0);
- #endif
-
- servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
-
- #if SERVO_LEVELING
- delay(PROBE_SERVO_DEACTIVATION_DELAY);
- servos[servo_endstops[Z_AXIS]].detach();
- #endif
- }
-
- #elif defined(Z_PROBE_ALLEN_KEY)
-
- // Move up for safety
- feedrate = homing_feedrate[X_AXIS];
- destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
- prepare_move_raw();
-
- // Move to the start position to initiate retraction
- destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
- destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
- destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
- prepare_move_raw();
-
- // Move the nozzle down to push the probe into retracted position
- feedrate = homing_feedrate[Z_AXIS]/10;
- destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
- prepare_move_raw();
-
- // Move up for safety
- feedrate = homing_feedrate[Z_AXIS]/2;
- destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
- prepare_move_raw();
-
- // Home XY for safety
- feedrate = homing_feedrate[X_AXIS]/2;
- destination[X_AXIS] = 0;
- destination[Y_AXIS] = 0;
- prepare_move_raw();
-
- st_synchronize();
-
- bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
- if (!z_min_endstop) {
- if (!Stopped) {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
- LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
- }
-
- #endif
+ }
+ #endif
- }
+}
- enum ProbeAction {
- ProbeStay = 0,
- ProbeEngage = BIT(0),
- ProbeRetract = BIT(1),
- ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
- };
-
- // Probe bed height at position (x,y), returns the measured z value
- static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
- // move to right place
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
- do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
-
- #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
- if (retract_action & ProbeEngage) engage_z_probe();
- #endif
+enum ProbeAction {
+ ProbeStay = 0,
+ ProbeEngage = BIT(0),
+ ProbeRetract = BIT(1),
+ ProbeEngageAndRetract = (ProbeEngage | ProbeRetract)
+};
+
+/// Probe bed height at position (x,y), returns the measured z value
+static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageAndRetract, int verbose_level=1) {
+ // move to right place
+ do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
+ do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
+
+ #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
+ if (retract_action & ProbeEngage) engage_z_probe();
+ #endif
- run_z_probe();
- float measured_z = current_position[Z_AXIS];
+ run_z_probe();
+ float measured_z = current_position[Z_AXIS];
- #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
- if (retract_action & ProbeRetract) retract_z_probe(z_before);
- #endif
+ #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
+ if (retract_action & ProbeRetract) retract_z_probe();
+ #endif
- if (verbose_level > 2) {
- SERIAL_PROTOCOLPGM(MSG_BED);
- SERIAL_PROTOCOLPGM(" X: ");
- SERIAL_PROTOCOL_F(x, 3);
- SERIAL_PROTOCOLPGM(" Y: ");
- SERIAL_PROTOCOL_F(y, 3);
- SERIAL_PROTOCOLPGM(" Z: ");
- SERIAL_PROTOCOL_F(measured_z, 3);
- SERIAL_EOL;
- }
- return measured_z;
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM(MSG_BED);
+ SERIAL_PROTOCOLPGM(" X: ");
+ SERIAL_PROTOCOL_F(x, 3);
+ SERIAL_PROTOCOLPGM(" Y: ");
+ SERIAL_PROTOCOL_F(y, 3);
+ SERIAL_PROTOCOLPGM(" Z: ");
+ SERIAL_PROTOCOL_F(measured_z, 3);
+ SERIAL_EOL;
}
+ return measured_z;
+}
- #ifdef DELTA
-
- /**
- * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
- */
+#ifdef DELTA
+static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
+ if (bed_level[x][y] != 0.0) {
+ return; // Don't overwrite good values.
+ }
+ float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
+ float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
+ float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
+ float median = c; // Median is robust (ignores outliers).
+ if (a < b) {
+ if (b < c) median = b;
+ if (c < a) median = a;
+ } else { // b <= a
+ if (c < b) median = b;
+ if (a < c) median = a;
+ }
+ bed_level[x][y] = median;
+}
- static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
- if (bed_level[x][y] != 0.0) {
- return; // Don't overwrite good values.
- }
- float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
- float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
- float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
- float median = c; // Median is robust (ignores outliers).
- if (a < b) {
- if (b < c) median = b;
- if (c < a) median = a;
- } else { // b <= a
- if (c < b) median = b;
- if (a < c) median = a;
- }
- bed_level[x][y] = median;
+// Fill in the unprobed points (corners of circular print surface)
+// using linear extrapolation, away from the center.
+static void extrapolate_unprobed_bed_level() {
+ int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
+ for (int y = 0; y <= half; y++) {
+ for (int x = 0; x <= half; x++) {
+ if (x + y < 3) continue;
+ extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
+ extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
+ extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
+ extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
}
+ }
+}
- // Fill in the unprobed points (corners of circular print surface)
- // using linear extrapolation, away from the center.
- static void extrapolate_unprobed_bed_level() {
- int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
- for (int y = 0; y <= half; y++) {
- for (int x = 0; x <= half; x++) {
- if (x + y < 3) continue;
- extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
- extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
- extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
- extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
- }
- }
- }
-
- // Print calibration results for plotting or manual frame adjustment.
- static void print_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- SERIAL_PROTOCOL_F(bed_level[x][y], 2);
- SERIAL_PROTOCOLPGM(" ");
- }
- SERIAL_ECHOLN("");
- }
+// Print calibration results for plotting or manual frame adjustment.
+static void print_bed_level() {
+ for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+ for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+ SERIAL_PROTOCOL_F(bed_level[x][y], 2);
+ SERIAL_PROTOCOLPGM(" ");
}
+ SERIAL_ECHOLN("");
+ }
+}
- // Reset calibration results to zero.
- void reset_bed_level() {
- for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
- for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
- bed_level[x][y] = 0.0;
- }
- }
+// Reset calibration results to zero.
+void reset_bed_level() {
+ for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
+ for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
+ bed_level[x][y] = 0.0;
}
+ }
+}
- #endif // DELTA
+#endif // DELTA
#endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) {
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis == X_AXIS ? HOMEAXIS_DO(X) :
- axis == Y_AXIS ? HOMEAXIS_DO(Y) :
- axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
-
- int axis_home_dir;
-
- #ifdef DUAL_X_CARRIAGE
- if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
- #else
- axis_home_dir = home_dir(axis);
- #endif
+#define HOMEAXIS_DO(LETTER) \
+ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
+ if (axis==X_AXIS ? HOMEAXIS_DO(X) :
+ axis==Y_AXIS ? HOMEAXIS_DO(Y) :
+ axis==Z_AXIS ? HOMEAXIS_DO(Z) :
+ 0) {
+ int axis_home_dir = home_dir(axis);
+#ifdef DUAL_X_CARRIAGE
+ if (axis == X_AXIS)
+ axis_home_dir = x_home_dir(active_extruder);
+#endif
current_position[axis] = 0;
sync_plan_position();
- #ifndef Z_PROBE_SLED
- // Engage Servo endstop if enabled
- #ifdef SERVO_ENDSTOPS
- #if SERVO_LEVELING
- if (axis == Z_AXIS) {
- engage_z_probe();
- }
- else
- #endif // SERVO_LEVELING
-
- if (servo_endstops[axis] > -1)
- servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
- #endif // SERVO_ENDSTOPS
-
- #endif // Z_PROBE_SLED
-
-<<<<<<< HEAD
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
#ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
@@ -1589,33 +1445,33 @@ static void homeaxis(int axis) {
}
#endif
#endif // Z_PROBE_SLED
-=======
->>>>>>> MarlinFirmware/Development
#ifdef Z_DUAL_ENDSTOPS
- if (axis == Z_AXIS) In_Homing_Process(true);
+ if (axis==Z_AXIS) In_Homing_Process(true);
#endif
-
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
sync_plan_position();
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
- destination[axis] = 2 * home_retract_mm(axis) * axis_home_dir;
+ destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
if (homing_bump_divisor[axis] >= 1)
- feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
- else {
- feedrate = homing_feedrate[axis] / 10;
- SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less than 1");
+ {
+ feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
+ }
+ else
+ {
+ feedrate = homing_feedrate[axis]/10;
+ SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
}
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef Z_DUAL_ENDSTOPS
if (axis==Z_AXIS)
@@ -1630,7 +1486,7 @@ static void homeaxis(int axis) {
destination[axis] = fabs(z_endstop_adj);
if (z_endstop_adj < 0) Lock_z_motor(true); else Lock_z2_motor(true);
}
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
Lock_z_motor(false);
Lock_z2_motor(false);
@@ -1643,7 +1499,7 @@ static void homeaxis(int axis) {
if (endstop_adj[axis] * axis_home_dir < 0) {
sync_plan_position();
destination[axis] = endstop_adj[axis];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
}
#endif
@@ -1688,7 +1544,7 @@ void refresh_cmd_timeout(void)
}
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
- feedrate = retract_feedrate * 60;
+ feedrate=retract_feedrate*60;
retracted[active_extruder]=true;
prepare_move();
if(retract_zlift > 0.01) {
@@ -1724,8 +1580,8 @@ void refresh_cmd_timeout(void)
}
plan_set_e_position(current_position[E_AXIS]);
float oldFeedrate = feedrate;
- feedrate = retract_recover_feedrate * 60;
- retracted[active_extruder] = false;
+ feedrate=retract_recover_feedrate*60;
+ retracted[active_extruder]=false;
prepare_move();
feedrate = oldFeedrate;
}
@@ -1879,16 +1735,17 @@ inline void gcode_G4() {
*/
inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
- plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#ifdef DELTA
reset_bed_level();
+ #else
+ plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif
#endif
#if defined(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl.active;
mbl.active = 0;
- #endif
+ #endif // MESH_BED_LEVELING
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
@@ -1911,7 +1768,7 @@ inline void gcode_G28() {
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
@@ -1959,7 +1816,7 @@ inline void gcode_G28() {
} else {
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
}
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(X_AXIS);
@@ -1967,7 +1824,7 @@ inline void gcode_G28() {
sync_plan_position();
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
@@ -2035,7 +1892,7 @@ inline void gcode_G28() {
#ifndef Z_PROBE_AND_ENDSTOP
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
#endif
#endif
@@ -2048,11 +1905,11 @@ inline void gcode_G28() {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
- feedrate = XY_TRAVEL_SPEED;
+ feedrate = XY_TRAVEL_SPEED / 60;
current_position[Z_AXIS] = 0;
sync_plan_position();
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
@@ -2074,7 +1931,7 @@ inline void gcode_G28() {
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
HOMEAXIS(Z);
}
@@ -2127,7 +1984,7 @@ inline void gcode_G28() {
destination[Z_AXIS] = current_position[Z_AXIS];
destination[E_AXIS] = current_position[E_AXIS];
feedrate = homing_feedrate[X_AXIS];
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position();
@@ -2141,19 +1998,6 @@ inline void gcode_G28() {
endstops_hit_on_purpose();
}
-#if defined(MESH_BED_LEVELING) || defined(ENABLE_AUTO_BED_LEVELING)
-
- // Check for known positions in X and Y
- inline bool can_run_bed_leveling() {
- if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) return true;
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
- return false;
- }
-
-#endif // MESH_BED_LEVELING || ENABLE_AUTO_BED_LEVELING
-
#ifdef MESH_BED_LEVELING
/**
@@ -2168,10 +2012,6 @@ inline void gcode_G28() {
*
*/
inline void gcode_G29() {
-
- // Prevent leveling without first homing in X and Y
- if (!can_run_bed_leveling()) return;
-
static int probe_point = -1;
int state = 0;
if (code_seen('S') || code_seen('s')) {
@@ -2288,8 +2128,13 @@ inline void gcode_G28() {
*/
inline void gcode_G29() {
- // Prevent leveling without first homing in X and Y
- if (!can_run_bed_leveling()) return;
+ // Prevent user from running a G29 without first homing in X and Y
+ if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ return;
+ }
int verbose_level = 1;
@@ -2371,15 +2216,16 @@ inline void gcode_G28() {
st_synchronize();
- if (!dryrun) {
- // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
- plan_bed_level_matrix.set_to_identity();
-
+ if (!dryrun)
+ {
#ifdef DELTA
reset_bed_level();
#else //!DELTA
+
+ // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
+ plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
@@ -2387,7 +2233,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = uncorrected_position.z;
sync_plan_position();
- #endif // !DELTA
+ #endif
}
setup_for_endstop_move();
@@ -2448,12 +2294,13 @@ inline void gcode_G28() {
// raise extruder
float measured_z,
- z_before = Z_RAISE_BETWEEN_PROBINGS + (probePointCounter ? current_position[Z_AXIS] : 0);
+ z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
#ifdef DELTA
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
- if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
+ if (distance_from_center > DELTA_PROBABLE_RADIUS)
+ continue;
#endif //DELTA
// Enhanced G29 - Do not retract servo between probes
@@ -2481,11 +2328,6 @@ inline void gcode_G28() {
#endif
probePointCounter++;
-
- manage_heater();
- manage_inactivity();
- lcd_update();
-
} //xProbe
} //yProbe
@@ -2572,14 +2414,16 @@ inline void gcode_G28() {
if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
- if (!dryrun) {
- // Correct the Z height difference from z-probe position and hotend tip position.
- // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
- // When the bed is uneven, this height must be corrected.
- float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
- y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
- z_tmp = current_position[Z_AXIS],
- real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
+ // Correct the Z height difference from z-probe position and hotend tip position.
+ // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
+ // When the bed is uneven, this height must be corrected.
+ if (!dryrun)
+ {
+ float x_tmp, y_tmp, z_tmp, real_z;
+ real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
+ x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
+ y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
+ z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
@@ -3947,7 +3791,7 @@ inline void gcode_M221() {
extruder_multiply[tmp_extruder] = sval;
}
else {
- extruder_multiply[active_extruder] = sval;
+ extrudemultiply = sval;
}
}
}
@@ -4384,7 +4228,7 @@ inline void gcode_M400() { st_synchronize(); }
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
- //SERIAL_PROTOCOL(extruder_multiply[active_extruder]);
+ //SERIAL_PROTOCOL(extrudemultiply);
}
/**
@@ -4857,14 +4701,18 @@ void process_commands() {
gcode_G28();
break;
- #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
- case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
+ #if defined(MESH_BED_LEVELING)
+ case 29: // G29 Handle mesh based leveling
gcode_G29();
break;
#endif
#ifdef ENABLE_AUTO_BED_LEVELING
+ case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
+ gcode_G29();
+ break;
+
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
@@ -5559,72 +5407,69 @@ void prepare_move()
#ifdef SCARA //for now same as delta-code
- float difference[NUM_AXIS];
- for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
-
- float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
- sq(difference[Y_AXIS]) +
- sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
- if (cartesian_mm < 0.000001) { return; }
- float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
- int steps = max(1, int(scara_segments_per_second * seconds));
-
- //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-
- for (int s = 1; s <= steps; s++) {
- float fraction = float(s) / float(steps);
- for(int8_t i = 0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i] + difference[i] * fraction;
- }
-
- calculate_delta(destination);
- //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
- //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
- //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
- //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
- //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
- //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
-
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
- destination[E_AXIS], feedrate*feedmultiply/60/100.0,
- active_extruder);
- }
+float difference[NUM_AXIS];
+for (int8_t i=0; i < NUM_AXIS; i++) {
+ difference[i] = destination[i] - current_position[i];
+}
- #endif // SCARA
-
- #ifdef DELTA
+float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
+ sq(difference[Y_AXIS]) +
+ sq(difference[Z_AXIS]));
+if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
+if (cartesian_mm < 0.000001) { return; }
+float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+int steps = max(1, int(scara_segments_per_second * seconds));
+ //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+for (int s = 1; s <= steps; s++) {
+ float fraction = float(s) / float(steps);
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ destination[i] = current_position[i] + difference[i] * fraction;
+ }
- float difference[NUM_AXIS];
- for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
-
- float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
- sq(difference[Y_AXIS]) +
- sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
- if (cartesian_mm < 0.000001) return;
- float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
- int steps = max(1, int(delta_segments_per_second * seconds));
-
- // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-
- for (int s = 1; s <= steps; s++) {
- float fraction = float(s) / float(steps);
- for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
- calculate_delta(destination);
- #ifdef ENABLE_AUTO_BED_LEVELING
- adjust_delta(destination);
- #endif
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
- destination[E_AXIS], feedrate*feedmultiply/60/100.0,
- active_extruder);
+
+ calculate_delta(destination);
+ //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
+ //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
+ //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
+ //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
+ //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
+ //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
+
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+ destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+ active_extruder);
+}
+#endif // SCARA
+
+#ifdef DELTA
+ float difference[NUM_AXIS];
+ for (int8_t i=0; i < NUM_AXIS; i++) {
+ difference[i] = destination[i] - current_position[i];
+ }
+ float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
+ sq(difference[Y_AXIS]) +
+ sq(difference[Z_AXIS]));
+ if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
+ if (cartesian_mm < 0.000001) { return; }
+ float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
+ int steps = max(1, int(delta_segments_per_second * seconds));
+ // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+ for (int s = 1; s <= steps; s++) {
+ float fraction = float(s) / float(steps);
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ destination[i] = current_position[i] + difference[i] * fraction;
}
-
- #endif // DELTA
+ calculate_delta(destination);
+ plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
+ destination[E_AXIS], feedrate*feedmultiply/60/100.0,
+ active_extruder);
+ }
+
+#endif // DELTA
#ifdef DUAL_X_CARRIAGE
if (active_extruder_parked)
@@ -5670,13 +5515,13 @@ void prepare_move()
#if ! (defined DELTA || defined SCARA)
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- line_to_destination();
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
} else {
#if defined(MESH_BED_LEVELING)
- mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
+ mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
return;
#else
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder);
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
#endif // MESH_BED_LEVELING
}
#endif // !(DELTA || SCARA)
diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h
index 63e99bd3aa988ad878894a637a82e213237ca77f..89cd5e835c4d298cf989a756ea514ccdcb5ecad2 100644
--- a/Marlin/dogm_lcd_implementation.h
+++ b/Marlin/dogm_lcd_implementation.h
@@ -369,7 +369,7 @@ static void lcd_implementation_status_screen() {
lcd_printPGM(PSTR("dia:"));
lcd_print(ftostr12ns(filament_width_meas));
lcd_printPGM(PSTR(" factor:"));
- lcd_print(itostr3(volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]));
+ lcd_print(itostr3(extrudemultiply));
lcd_print('%');
}
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index d98ef63d4dfa4958baf2eca9840690ce103f367f..786527d0d70ecfcee73ed8afa1c1bfb23a0a26fd 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -545,7 +545,7 @@ float junction_deviation = 0.1;
block->steps[Z_AXIS] = labs(dz);
block->steps[E_AXIS] = labs(de);
block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
- block->steps[E_AXIS] *= extruder_multiply[active_extruder];
+ block->steps[E_AXIS] *= extrudemultiply;
block->steps[E_AXIS] /= 100;
block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
@@ -679,7 +679,7 @@ float junction_deviation = 0.1;
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
#endif
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
- delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extruder_multiply[active_extruder] / 100.0;
+ delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extrudemultiply / 100.0;
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
block->millimeters = fabs(delta_mm[E_AXIS]);
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index d38474bafd8ce74306b51a33a4b40fff1b3245a6..73c23ae9de17569131f2a186c679cb63cebab1e2 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -515,36 +515,31 @@ ISR(TIMER1_COMPA_vect) {
}
if (TEST(out_bits, Z_AXIS)) { // -direction
-
Z_APPLY_DIR(INVERT_Z_DIR,0);
count_direction[Z_AXIS] = -1;
-
- if (check_endstops) {
-
- #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
-
- #ifdef Z_DUAL_ENDSTOPS
-
- bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
- z2_min_endstop =
- #if defined(Z2_MIN_PIN) && Z2_MIN_PIN >= 0
- READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
- #else
- z_min_endstop
- #endif
- ;
-
- bool z_min_both = z_min_endstop && old_z_min_endstop,
- z2_min_both = z2_min_endstop && old_z2_min_endstop;
- if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
+ if (check_endstops)
+ {
+ #if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
+ #ifndef Z_DUAL_ENDSTOPS
+ UPDATE_ENDSTOP(z, Z, min, MIN);
+ #else
+ bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
+ #if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1
+ bool z2_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING);
+ #else
+ bool z2_min_endstop=z_min_endstop;
+ #endif
+ if(((z_min_endstop && old_z_min_endstop) || (z2_min_endstop && old_z2_min_endstop)) && (current_block->steps[Z_AXIS] > 0))
+ {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit = true;
- if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
+ endstop_z_hit=true;
+ if (!(performing_homing) || ((performing_homing)&&(z_min_endstop && old_z_min_endstop)&&(z2_min_endstop && old_z2_min_endstop))) //if not performing home or if both endstops were trigged during homing...
+ {
step_events_completed = current_block->step_event_count;
+ }
}
old_z_min_endstop = z_min_endstop;
old_z2_min_endstop = z2_min_endstop;
-<<<<<<< HEAD
#endif
#endif
@@ -561,55 +556,37 @@ ISR(TIMER1_COMPA_vect) {
old_z_probe_endstop = z_probe_endstop;
#endif
}
-=======
-
- #else // !Z_DUAL_ENDSTOPS
-
- UPDATE_ENDSTOP(z, Z, min, MIN);
-
- #endif // !Z_DUAL_ENDSTOPS
-
- #endif // Z_MIN_PIN
-
- } // check_endstops
-
->>>>>>> MarlinFirmware/Development
}
else { // +direction
-
Z_APPLY_DIR(!INVERT_Z_DIR,0);
count_direction[Z_AXIS] = 1;
-
if (check_endstops) {
-
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
-
- #ifdef Z_DUAL_ENDSTOPS
-
- bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
- z2_max_endstop =
- #if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
- READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
- #else
- z_max_endstop
- #endif
- ;
-
- bool z_max_both = z_max_endstop && old_z_max_endstop,
- z2_max_both = z2_max_endstop && old_z2_max_endstop;
- if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
+ #ifndef Z_DUAL_ENDSTOPS
+ UPDATE_ENDSTOP(z, Z, max, MAX);
+ #else
+ bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
+ #if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1
+ bool z2_max_endstop=(READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING);
+ #else
+ bool z2_max_endstop=z_max_endstop;
+ #endif
+ if(((z_max_endstop && old_z_max_endstop) || (z2_max_endstop && old_z2_max_endstop)) && (current_block->steps[Z_AXIS] > 0))
+ {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit = true;
+ endstop_z_hit=true;
- // if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
- // if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");
+// if (z_max_endstop && old_z_max_endstop) SERIAL_ECHOLN("z_max_endstop = true");
+// if (z2_max_endstop && old_z2_max_endstop) SERIAL_ECHOLN("z2_max_endstop = true");
- if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
+
+ if (!(performing_homing) || ((performing_homing)&&(z_max_endstop && old_z_max_endstop)&&(z2_max_endstop && old_z2_max_endstop))) //if not performing home or if both endstops were trigged during homing...
+ {
step_events_completed = current_block->step_event_count;
+ }
}
old_z_max_endstop = z_max_endstop;
old_z2_max_endstop = z2_max_endstop;
-<<<<<<< HEAD
#endif
#endif
@@ -626,34 +603,20 @@ ISR(TIMER1_COMPA_vect) {
#endif
}
}
-=======
-
- #else // !Z_DUAL_ENDSTOPS
-
- UPDATE_ENDSTOP(z, Z, max, MAX);
-
- #endif // !Z_DUAL_ENDSTOPS
-
- #endif // Z_MAX_PIN
-
- } // check_endstops
-
- } // +direction
->>>>>>> MarlinFirmware/Development
#ifndef ADVANCE
if (TEST(out_bits, E_AXIS)) { // -direction
REV_E_DIR();
- count_direction[E_AXIS] = -1;
+ count_direction[E_AXIS]=-1;
}
else { // +direction
NORM_E_DIR();
- count_direction[E_AXIS] = 1;
+ count_direction[E_AXIS]=1;
}
#endif //!ADVANCE
// Take multiple steps per interrupt (For high speed moves)
- for (int8_t i = 0; i < step_loops; i++) {
+ for (int8_t i=0; i < step_loops; i++) {
#ifndef AT90USB
MSerial.checkRx(); // Check for serial chars.
#endif
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 58a66973f4f84bc5fe87a8f5eaa23967e5fc1c48..c85f8e14dfbc577a84449e7adcff887262f05416 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -485,7 +485,7 @@ static void lcd_tune_menu() {
MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_BED, &target_temperature_bed, 0, BED_MAXTEMP - 15);
#endif
MENU_MULTIPLIER_ITEM_EDIT(int3, MSG_FAN_SPEED, &fanSpeed, 0, 255);
- MENU_ITEM_EDIT(int3, MSG_FLOW, &extruder_multiply[active_extruder], 10, 999);
+ MENU_ITEM_EDIT(int3, MSG_FLOW, &extrudemultiply, 10, 999);
MENU_ITEM_EDIT(int3, MSG_FLOW MSG_F0, &extruder_multiply[0], 10, 999);
#if TEMP_SENSOR_1 != 0
MENU_ITEM_EDIT(int3, MSG_FLOW MSG_F1, &extruder_multiply[1], 10, 999);
diff --git a/Marlin/ultralcd_implementation_hitachi_HD44780.h b/Marlin/ultralcd_implementation_hitachi_HD44780.h
index c21785ed25eed729e6130b23cc640c508fb18a43..aaa55800acb8e2d4a9de12a8605d3eca69782fa0 100644
--- a/Marlin/ultralcd_implementation_hitachi_HD44780.h
+++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h
@@ -624,7 +624,7 @@ static void lcd_implementation_status_screen()
static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char post_char) {
char c;
- uint8_t n = LCD_WIDTH - 2;
+ uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2);
lcd.setCursor(0, row);
lcd.print(sel ? pre_char : ' ');
while ((c = pgm_read_byte(pstr)) && n > 0) {
@@ -633,11 +633,12 @@ static void lcd_implementation_drawmenu_generic(bool sel, uint8_t row, const cha
}
while(n--) lcd.print(' ');
lcd.print(post_char);
+ lcd.print(' ');
}
static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t row, const char* pstr, char pre_char, char* data) {
char c;
- uint8_t n = LCD_WIDTH - 2 - lcd_strlen(data);
+ uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen(data);
lcd.setCursor(0, row);
lcd.print(sel ? pre_char : ' ');
while ((c = pgm_read_byte(pstr)) && n > 0) {
@@ -650,7 +651,7 @@ static void lcd_implementation_drawmenu_setting_edit_generic(bool sel, uint8_t r
}
static void lcd_implementation_drawmenu_setting_edit_generic_P(bool sel, uint8_t row, const char* pstr, char pre_char, const char* data) {
char c;
- uint8_t n = LCD_WIDTH - 2 - lcd_strlen_P(data);
+ uint8_t n = LCD_WIDTH - 1 - (LCD_WIDTH < 20 ? 1 : 2) - lcd_strlen_P(data);
lcd.setCursor(0, row);
lcd.print(sel ? pre_char : ' ');
while ((c = pgm_read_byte(pstr)) && n > 0) {
@@ -687,11 +688,11 @@ void lcd_implementation_drawedit(const char* pstr, char* value) {
lcd.setCursor(1, 1);
lcd_printPGM(pstr);
lcd.print(':');
- lcd.setCursor(LCD_WIDTH - lcd_strlen(value), 1);
+ lcd.setCursor(LCD_WIDTH - (LCD_WIDTH < 20 ? 0 : 1) - lcd_strlen(value), 1);
lcd_print(value);
}
-static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat, char post_char) {
+static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename, uint8_t concat) {
char c;
uint8_t n = LCD_WIDTH - concat;
lcd.setCursor(0, row);
@@ -705,15 +706,14 @@ static void lcd_implementation_drawmenu_sd(bool sel, uint8_t row, const char* ps
filename++;
}
while (n--) lcd.print(' ');
- lcd.print(post_char);
}
static void lcd_implementation_drawmenu_sdfile(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
- lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2, ' ');
+ lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 1);
}
static void lcd_implementation_drawmenu_sddirectory(bool sel, uint8_t row, const char* pstr, const char* filename, char* longFilename) {
- lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2, LCD_STR_FOLDER[0]);
+ lcd_implementation_drawmenu_sd(sel, row, pstr, filename, longFilename, 2);
}
#define lcd_implementation_drawmenu_back(sel, row, pstr, data) lcd_implementation_drawmenu_generic(sel, row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0])