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Add Azteeg X3 Pro as motherboard 68

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Add digipot i2c control for MCP4451
Allow M907 to set i2c digipot currents in amps
Fix Makefile to allow Azteeg motherboards
Fix Makefile to allow Wire libraries only
Add beeper pin for Azteeg X3 Pro
This commit is contained in:
Jim Morris
2014-02-05 01:47:12 -08:00
parent e1ae7952eb
commit b819fc53ca
9 changed files with 384 additions and 274 deletions
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216
Marlin/Marlin_main.cpp
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@ -249,7 +249,7 @@ int EtoPPressure=0;
float delta[3] = {0.0, 0.0, 0.0};
#endif
//===========================================================================
//=============================private variables=============================
//===========================================================================
@ -492,6 +492,10 @@ void setup()
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#ifdef DIGIPOT_I2C
digipot_i2c_init();
#endif
}
@ -789,7 +793,7 @@ static unsigned long delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE
#endif //DUAL_X_CARRIAGE
static void axis_is_at_home(int axis) {
#ifdef DUAL_X_CARRIAGE
@ -802,8 +806,8 @@ static void axis_is_at_home(int axis) {
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homeing[X_AXIS];
min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homeing[X_AXIS];
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homeing[X_AXIS],
min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homeing[X_AXIS];
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homeing[X_AXIS],
max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
return;
}
@ -895,7 +899,7 @@ static void run_z_probe() {
st_synchronize();
// move back down slowly to find bed
feedrate = homing_feedrate[Z_AXIS]/4;
feedrate = homing_feedrate[Z_AXIS]/4;
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();
@ -992,7 +996,7 @@ static void homeaxis(int axis) {
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
@ -1050,7 +1054,7 @@ static void homeaxis(int axis) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
if (axis==Z_AXIS) retract_z_probe();
#endif
}
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
@ -1124,7 +1128,7 @@ void process_commands()
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
current_position[Z_AXIS]+=retract_zlift;
destination[E_AXIS]=current_position[E_AXIS]+retract_length+retract_recover_length;
destination[E_AXIS]=current_position[E_AXIS]+retract_length+retract_recover_length;
feedrate=retract_recover_feedrate;
retracted=false;
prepare_move();
@ -1238,10 +1242,10 @@ void process_commands()
// reset state used by the different modes
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
delayed_move_time = 0;
active_extruder_parked = true;
#else
active_extruder_parked = true;
#else
HOMEAXIS(X);
#endif
#endif
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
@ -1260,7 +1264,7 @@ void process_commands()
current_position[Y_AXIS]=code_value()+add_homeing[1];
}
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
@ -1272,14 +1276,14 @@ void process_commands()
#endif
HOMEAXIS(Z);
}
#else // Z Safe mode activated.
#else // Z Safe mode activated.
if(home_all_axis) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
@ -1297,7 +1301,7 @@ void process_commands()
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
@ -1317,8 +1321,8 @@ void process_commands()
#endif
#endif
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
current_position[Z_AXIS]=code_value()+add_homeing[2];
@ -1364,26 +1368,26 @@ void process_commands()
feedrate = homing_feedrate[Z_AXIS];
#ifdef ACCURATE_BED_LEVELING
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1);
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (ACCURATE_BED_LEVELING_POINTS-1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS*3];
// "B" vector of Z points
double eqnBVector[ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
{
int xProbe, xInc;
@ -1400,7 +1404,7 @@ void process_commands()
xInc = -xGridSpacing;
zig = true;
}
for (int xCount=0; xCount < ACCURATE_BED_LEVELING_POINTS; xCount++)
{
if (probePointCounter == 0)
@ -1408,19 +1412,19 @@ void process_commands()
// raise before probing
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING);
} else
{
{
// raise extruder
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
}
do_blocking_move_to(xProbe - X_PROBE_OFFSET_FROM_EXTRUDER, yProbe - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
engage_z_probe(); // Engage Z Servo endstop if available
run_z_probe();
eqnBVector[probePointCounter] = current_position[Z_AXIS];
retract_z_probe();
SERIAL_PROTOCOLPGM("Bed x: ");
SERIAL_PROTOCOL(xProbe);
SERIAL_PROTOCOLPGM(" y: ");
@ -1428,7 +1432,7 @@ void process_commands()
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("\n");
eqnAMatrix[probePointCounter + 0*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = xProbe;
eqnAMatrix[probePointCounter + 1*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = yProbe;
eqnAMatrix[probePointCounter + 2*ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS] = 1;
@ -1437,25 +1441,25 @@ void process_commands()
}
}
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(ACCURATE_BED_LEVELING_POINTS*ACCURATE_BED_LEVELING_POINTS, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
#else // ACCURATE_BED_LEVELING not defined
// prob 1
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BEFORE_PROBING);
do_blocking_move_to(LEFT_PROBE_BED_POSITION - X_PROBE_OFFSET_FROM_EXTRUDER, BACK_PROBE_BED_POSITION - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
@ -1481,7 +1485,7 @@ void process_commands()
run_z_probe();
float z_at_xLeft_yFront = current_position[Z_AXIS];
retract_z_probe();
SERIAL_PROTOCOLPGM("Bed x: ");
SERIAL_PROTOCOL(LEFT_PROBE_BED_POSITION);
SERIAL_PROTOCOLPGM(" y: ");
@ -1499,7 +1503,7 @@ void process_commands()
run_z_probe();
float z_at_xRight_yFront = current_position[Z_AXIS];
retract_z_probe(); // Retract Z Servo endstop if available
SERIAL_PROTOCOLPGM("Bed x: ");
SERIAL_PROTOCOL(RIGHT_PROBE_BED_POSITION);
SERIAL_PROTOCOLPGM(" y: ");
@ -1511,13 +1515,13 @@ void process_commands()
clean_up_after_endstop_move();
set_bed_level_equation(z_at_xLeft_yFront, z_at_xRight_yFront, z_at_xLeft_yBack);
#endif // ACCURATE_BED_LEVELING
st_synchronize();
st_synchronize();
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
@ -1529,11 +1533,11 @@ void process_commands()
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
break;
case 30: // G30 Single Z Probe
{
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
@ -1684,14 +1688,14 @@ void process_commands()
card.removeFile(strchr_pointer + 4);
}
break;
case 32: //M32 - Select file and start SD print
case 32: //M32 - Select file and start SD print
{
if(card.sdprinting) {
st_synchronize();
}
starpos = (strchr(strchr_pointer + 4,'*'));
starpos = (strchr(strchr_pointer + 4,'*'));
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
if(namestartpos==NULL)
{
@ -1699,16 +1703,16 @@ void process_commands()
}
else
namestartpos++; //to skip the '!'
if(starpos!=NULL)
*(starpos-1)='\0';
bool call_procedure=(code_seen('P'));
if(strchr_pointer>namestartpos)
if(strchr_pointer>namestartpos)
call_procedure=false; //false alert, 'P' found within filename
if( card.cardOK )
if( card.cardOK )
{
card.openFile(namestartpos,true,!call_procedure);
if(code_seen('S'))
@ -1781,7 +1785,7 @@ void process_commands()
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
#endif
setWatch();
break;
case 140: // M140 set bed temp
@ -1847,7 +1851,7 @@ void process_commands()
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
}
#endif
SERIAL_PROTOCOLLN("");
return;
break;
@ -1865,14 +1869,14 @@ void process_commands()
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
#endif
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
#endif
CooldownNoWait = false;
}
#ifdef AUTOTEMP
@ -2036,7 +2040,7 @@ void process_commands()
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
@ -2193,18 +2197,18 @@ void process_commands()
#endif
break;
//TODO: update for all axis, use for loop
#ifdef BLINKM
#ifdef BLINKM
case 150: // M150
{
byte red;
byte grn;
byte blu;
if(code_seen('R')) red = code_value();
if(code_seen('U')) grn = code_value();
if(code_seen('B')) blu = code_value();
SendColors(red,grn,blu);
SendColors(red,grn,blu);
}
break;
#endif //BLINKM
@ -2354,7 +2358,7 @@ void process_commands()
{
extruder_offset[Z_AXIS][tmp_extruder] = code_value();
}
#endif
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
@ -2387,17 +2391,17 @@ void process_commands()
}
}
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
{
if(code_seen('P')){
int pin_number = code_value(); // pin number
int pin_state = -1; // required pin state - default is inverted
if(code_seen('S')) pin_state = code_value(); // required pin state
if(pin_state >= -1 && pin_state <= 1){
for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
{
if (sensitive_pins[i] == pin_number)
@ -2406,28 +2410,28 @@ void process_commands()
break;
}
}
if (pin_number > -1)
{
st_synchronize();
pinMode(pin_number, INPUT);
int target;
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target){
manage_heater();
manage_inactivity();
@ -2437,7 +2441,7 @@ void process_commands()
}
}
}
break;
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
@ -2615,13 +2619,13 @@ void process_commands()
engage_z_probe(); // Engage Z Servo endstop if available
}
break;
case 402:
{
retract_z_probe(); // Retract Z Servo endstop if enabled
}
break;
#endif
#endif
case 500: // M500 Store settings in EEPROM
{
Config_StoreSettings();
@ -2783,14 +2787,14 @@ void process_commands()
// M605 S0: Full control mode. The slicer has full control over x-carriage movement
// M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
// M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
// millimeters x-offset and an optional differential hotend temperature of
// millimeters x-offset and an optional differential hotend temperature of
// mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
// the first with a spacing of 100mm in the x direction and 2 degrees hotter.
//
// Note: the X axis should be homed after changing dual x-carriage mode.
{
st_synchronize();
if (code_seen('S'))
dual_x_carriage_mode = code_value();
@ -2801,7 +2805,7 @@ void process_commands()
if (code_seen('R'))
duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
@ -2817,13 +2821,13 @@ void process_commands()
{
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
break;
#endif //DUAL_X_CARRIAGE
#endif //DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
{
@ -2841,6 +2845,12 @@ void process_commands()
#ifdef MOTOR_CURRENT_PWM_E_PIN
if(code_seen('E')) digipot_current(2, code_value());
#endif
#ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
#endif
}
break;
case 908: // M908 Control digital trimpot directly.
@ -2913,19 +2923,19 @@ void process_commands()
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
{
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
@ -2933,7 +2943,7 @@ void process_commands()
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
@ -2941,18 +2951,18 @@ void process_commands()
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
{
current_position[X_AXIS] = inactive_extruder_x_pos;
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
{
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
extruder_duplication_enabled = false;
}
else
{
@ -2962,7 +2972,7 @@ void process_commands()
active_extruder_parked = true;
delayed_move_time = 0;
}
#else
#else
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
@ -3175,13 +3185,13 @@ void prepare_move()
{
// move duplicate extruder into correct duplication position.
plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[X_AXIS], 1);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
st_synchronize();
extruder_duplication_enabled = true;
active_extruder_parked = false;
}
}
else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
{
if (current_position[E_AXIS] == destination[E_AXIS])
@ -3190,7 +3200,7 @@ void prepare_move()
// be used as start of first non-travel move)
if (delayed_move_time != 0xFFFFFFFFUL)
{
memcpy(current_position, destination, sizeof(current_position));
memcpy(current_position, destination, sizeof(current_position));
if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
raised_parked_position[Z_AXIS] = destination[Z_AXIS];
delayed_move_time = millis();
@ -3200,9 +3210,9 @@ void prepare_move()
delayed_move_time = 0;
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
active_extruder_parked = false;
}
@ -3350,8 +3360,8 @@ void manage_inactivity()
enable_e0();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
@ -3368,7 +3378,7 @@ void manage_inactivity()
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
memcpy(destination,current_position,sizeof(destination));
prepare_move();
prepare_move();
}
#endif
#ifdef TEMP_STAT_LEDS