/** * Marlin 3D Printer Firmware * Copyright (C) 2016, 2017 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 . * */ /** * About Marlin * * This firmware is a mashup between Sprinter and grbl. * - https://github.com/kliment/Sprinter * - https://github.com/simen/grbl/tree */ /** * ----------------- * G-Codes in Marlin * ----------------- * * Helpful G-code references: * - http://linuxcnc.org/handbook/gcode/g-code.html * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes * * Help to document Marlin's G-codes online: * - http://reprap.org/wiki/G-code * - https://github.com/MarlinFirmware/MarlinDocumentation * * ----------------- * * "G" Codes * * G0 -> G1 * G1 - Coordinated Movement X Y Z E * G2 - CW ARC * G3 - CCW ARC * G4 - Dwell S or P * G5 - Cubic B-spline with XYZE destination and IJPQ offsets * G10 - Retract filament according to settings of M207 (Requires FWRETRACT) * G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT) * G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE) * G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) * G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) * G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) * G20 - Set input units to inches (Requires INCH_MODE_SUPPORT) * G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT) * G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION) * G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) * G28 - Home one or more axes * G29 - Start or continue the bed leveling probe procedure (Requires bed leveling) * G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) * G31 - Dock sled (Z_PROBE_SLED only) * G32 - Undock sled (Z_PROBE_SLED only) * G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION) * G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET) * G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL) * G90 - Use Absolute Coordinates * G91 - Use Relative Coordinates * G92 - Set current position to coordinates given * * "M" Codes * * M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled) * M1 -> M0 * M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise * M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise * M5 - Turn laser/spindle off * M17 - Enable/Power all stepper motors * M18 - Disable all stepper motors; same as M84 * M20 - List SD card. (Requires SDSUPPORT) * M21 - Init SD card. (Requires SDSUPPORT) * M22 - Release SD card. (Requires SDSUPPORT) * M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) * M24 - Start/resume SD print. (Requires SDSUPPORT) * M25 - Pause SD print. (Requires SDSUPPORT) * M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) * M27 - Report SD print status. (Requires SDSUPPORT) * M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) * M29 - Stop SD write. (Requires SDSUPPORT) * M30 - Delete file from SD: "M30 /path/file.gco" * M31 - Report time since last M109 or SD card start to serial. * M32 - Select file and start SD print: "M32 [S] !/path/file.gco#". (Requires SDSUPPORT) * Use P to run other files as sub-programs: "M32 P !filename#" * The '#' is necessary when calling from within sd files, as it stops buffer prereading * M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT) * M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA) * M42 - Change pin status via gcode: M42 P S. LED pin assumed if P is omitted. * M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins * M48 - Measure Z Probe repeatability: M48 P X Y V E L. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) * M75 - Start the print job timer. * M76 - Pause the print job timer. * M77 - Stop the print job timer. * M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER) * M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0) * M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0) * M82 - Set E codes absolute (default). * M83 - Set E codes relative while in Absolute (G90) mode. * M84 - Disable steppers until next move, or use S to specify an idle * duration after which steppers should turn off. S0 disables the timeout. * M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) * M92 - Set planner.axis_steps_per_mm for one or more axes. * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) * M104 - Set extruder target temp. * M105 - Report current temperatures. * M106 - Fan on. * M107 - Fan off. * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating * Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling * If AUTOTEMP is enabled, S B F. Exit autotemp by any M109 without F * M110 - Set the current line number. (Used by host printing) * M111 - Set debug flags: "M111 S". See flag bits defined in enum.h. * M112 - Emergency stop. * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE) * M114 - Report current position. * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) * M117 - Display a message on the controller screen. (Requires an LCD) * M118 - Display a message in the host console. * M119 - Report endstops status. * M120 - Enable endstops detection. * M121 - Disable endstops detection. * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE) * M126 - Solenoid Air Valve Open. (Requires BARICUDA) * M127 - Solenoid Air Valve Closed. (Requires BARICUDA) * M128 - EtoP Open. (Requires BARICUDA) * M129 - EtoP Closed. (Requires BARICUDA) * M140 - Set bed target temp. S * M145 - Set heatup values for materials on the LCD. H B F for S (0=PLA, 1=ABS) * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) * M150 - Set Status LED Color as R U B. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632) * M155 - Auto-report temperatures with interval of S. (Requires AUTO_REPORT_TEMPERATURES) * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS) * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER) * M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! ** * Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. ** * M200 - Set filament diameter, D, setting E axis units to cubic. (Use S0 to revert to linear units.) * M201 - Set max acceleration in units/s^2 for print moves: "M201 X Y Z E" * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X Y Z E" ** UNUSED IN MARLIN! ** * M203 - Set maximum feedrate: "M203 X Y Z E" in units/sec. * M204 - Set default acceleration in units/sec^2: P R T * M205 - Set advanced settings. Current units apply: S T minimum speeds B X, Y, Z, E * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) * M207 - Set Retract Length: S, Feedrate: F, and Z lift: Z. (Requires FWRETRACT) * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F. (Requires FWRETRACT) * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT) Every normal extrude-only move will be classified as retract depending on the direction. * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) * M218 - Set a tool offset: "M218 T X Y". (Requires 2 or more extruders) * M220 - Set Feedrate Percentage: "M220 S" (i.e., "FR" on the LCD) * M221 - Set Flow Percentage: "M221 S" * M226 - Wait until a pin is in a given state: "M226 P S" * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN) * M250 - Set LCD contrast: "M250 C" (0-63). (Requires LCD support) * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS) * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS) * M280 - Set servo position absolute: "M280 P S". (Requires servos) * M300 - Play beep sound S P * M301 - Set PID parameters P I and D. (Requires PIDTEMP) * M302 - Allow cold extrudes, or set the minimum extrude S. (Requires PREVENT_COLD_EXTRUSION) * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) * M350 - Set microstepping mode. (Requires digital microstepping pins.) * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) * M381 - Disable all solenoids. (Requires EXT_SOLENOID) * M400 - Finish all moves. * M401 - Lower Z probe. (Requires a probe) * M402 - Raise Z probe. (Requires a probe) * M404 - Display or set the Nominal Filament Width: "W". (Requires FILAMENT_WIDTH_SENSOR) * M405 - Enable Filament Sensor flow control. "M405 D". (Requires FILAMENT_WIDTH_SENSOR) * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR) * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR) * M410 - Quickstop. Abort all planned moves. * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL) * M421 - Set a single Z coordinate in the Mesh Leveling grid. X Y Z (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL) * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS) * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS) * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! ** * M503 - Print the current settings (in memory): "M503 S". S0 specifies compact output. * M540 - Enable/disable SD card abort on endstop hit: "M540 S". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) * M600 - Pause for filament change: "M600 X Y Z E L". (Requires ADVANCED_PAUSE_FEATURE) * M665 - Set delta configurations: "M665 L R S A B C I J K" (Requires DELTA) * M666 - Set delta endstop adjustment. (Requires DELTA) * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) * M860 - Report the position of position encoder modules. * M861 - Report the status of position encoder modules. * M862 - Perform an axis continuity test for position encoder modules. * M863 - Perform steps-per-mm calibration for position encoder modules. * M864 - Change position encoder module I2C address. * M865 - Check position encoder module firmware version. * M866 - Report or reset position encoder module error count. * M867 - Enable/disable or toggle error correction for position encoder modules. * M868 - Report or set position encoder module error correction threshold. * M869 - Report position encoder module error. * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE) * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT) * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT) * M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130) * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130) * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) * * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) * * ************ Custom codes - This can change to suit future G-code regulations * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT) * M999 - Restart after being stopped by error * * "T" Codes * * T0-T3 - Select an extruder (tool) by index: "T F" * */ #include "Marlin.h" #include "lcd/ultralcd.h" #include "module/planner.h" #include "module/stepper.h" #include "module/endstops.h" #include "module/temperature.h" #include "sd/cardreader.h" #include "module/configuration_store.h" #ifdef ARDUINO #include #endif #include #include "libs/nozzle.h" #include "libs/duration_t.h" #include "gcode/parser.h" #if HAS_ABL #include "libs/vector_3.h" #if ENABLED(AUTO_BED_LEVELING_LINEAR) #include "libs/least_squares_fit.h" #endif #elif ENABLED(MESH_BED_LEVELING) #include "feature/mbl/mesh_bed_leveling.h" #endif #if ENABLED(BEZIER_CURVE_SUPPORT) #include "module/planner_bezier.h" #endif #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER) #include "libs/buzzer.h" #endif #if ENABLED(MAX7219_DEBUG) #include "feature/leds/Max7219_Debug_LEDs.h" #endif #if ENABLED(NEOPIXEL_RGBW_LED) #include #endif #if ENABLED(BLINKM) #include "feature/leds/blinkm.h" #endif #if ENABLED(PCA9632) #include "feature/leds/pca9632.h" #endif #if HAS_SERVOS #include "HAL/servo.h" #endif #if HAS_DIGIPOTSS #include #endif #if ENABLED(DAC_STEPPER_CURRENT) #include "feature/dac/stepper_dac.h" #endif #if ENABLED(EXPERIMENTAL_I2CBUS) #include "feature/twibus.h" #endif #if ENABLED(I2C_POSITION_ENCODERS) #include "feature/I2CPositionEncoder.h" #endif #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) #include "HAL/HAL_endstop_interrupts.h" #endif #if ENABLED(M100_FREE_MEMORY_WATCHER) void gcode_M100(); void M100_dump_routine(const char * const title, const char *start, const char *end); #endif #if ENABLED(SDSUPPORT) CardReader card; #endif #if ENABLED(EXPERIMENTAL_I2CBUS) TWIBus i2c; #endif #if ENABLED(G38_PROBE_TARGET) bool G38_move = false, G38_endstop_hit = false; #endif #if ENABLED(AUTO_BED_LEVELING_UBL) #include "feature/ubl/ubl.h" extern bool defer_return_to_status; unified_bed_leveling ubl; #define UBL_MESH_VALID !( ( ubl.z_values[0][0] == ubl.z_values[0][1] && ubl.z_values[0][1] == ubl.z_values[0][2] \ && ubl.z_values[1][0] == ubl.z_values[1][1] && ubl.z_values[1][1] == ubl.z_values[1][2] \ && ubl.z_values[2][0] == ubl.z_values[2][1] && ubl.z_values[2][1] == ubl.z_values[2][2] \ && ubl.z_values[0][0] == 0 && ubl.z_values[1][0] == 0 && ubl.z_values[2][0] == 0 ) \ || isnan(ubl.z_values[0][0])) #endif 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. * XYZ on cartesian, ABC on delta, ABZ on SCARA. * * axis_known_position * Flags that the position is known in each linear axis. Set when homed. * Cleared whenever a stepper powers off, potentially losing its position. */ 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 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 /** * Feed rates are often configured with mm/m * but the planner and stepper like mm/s units. */ static const float homing_feedrate_mm_s[] PROGMEM = { #if ENABLED(DELTA) MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z), #else MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY), #endif MMM_TO_MMS(HOMING_FEEDRATE_Z), 0 }; 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; float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS]; #if HAS_WORKSPACE_OFFSET #if HAS_POSITION_SHIFT // The distance that XYZ has been offset by G92. Reset by G28. float position_shift[XYZ] = { 0 }; #endif #if HAS_HOME_OFFSET // This offset is added to the configured home position. // Set by M206, M428, or menu item. Saved to EEPROM. float home_offset[XYZ] = { 0 }; #endif #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT // The above two are combined to save on computes float workspace_offset[XYZ] = { 0 }; #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) bool fans_paused = false; int16_t paused_fanSpeeds[FAN_COUNT] = { 0 }; #endif #endif // The active extruder (tool). Set with T 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; // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop #if HAS_RESUME_CONTINUE 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; static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL; // Print Job Timer #if ENABLED(PRINTCOUNTER) PrintCounter print_job_timer = PrintCounter(); #else Stopwatch print_job_timer = Stopwatch(); #endif // Buzzer - I2C on the LCD or a BEEPER_PIN #if ENABLED(LCD_USE_I2C_BUZZER) #define BUZZ(d,f) lcd_buzz(d, f) #elif PIN_EXISTS(BEEPER) Buzzer buzzer; #define BUZZ(d,f) buzzer.tone(d, f) #else #define BUZZ(d,f) NOOP #endif static uint8_t target_extruder; #if HAS_BED_PROBE float zprobe_zoffset; // Initialized by settings.load() #endif #if HAS_ABL float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s #elif defined(XY_PROBE_SPEED) #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED) #else #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(DELTA) #define ADJUST_DELTA(V) \ if (planner.abl_enabled) { \ const float zadj = bilinear_z_offset(V); \ delta[A_AXIS] += zadj; \ delta[B_AXIS] += zadj; \ delta[C_AXIS] += zadj; \ } #else #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); } #endif #elif IS_KINEMATIC #define ADJUST_DELTA(V) NOOP #endif #if ENABLED(Z_DUAL_ENDSTOPS) float z_endstop_adj; #endif // Extruder offsets #if HOTENDS > 1 float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load() #endif #if HAS_Z_SERVO_ENDSTOP const int z_servo_angle[2] = Z_SERVO_ANGLES; #endif #if ENABLED(BARICUDA) uint8_t baricuda_valve_pressure = 0, baricuda_e_to_p_pressure = 0; #endif #if ENABLED(FWRETRACT) // Initialized by settings.load()... bool autoretract_enabled, // M209 S - Autoretract switch retracted[EXTRUDERS] = { false }; // Which extruders are currently retracted float retract_length, // M207 S - G10 Retract length retract_feedrate_mm_s, // M207 F - G10 Retract feedrate retract_zlift, // M207 Z - G10 Retract hop size retract_recover_length, // M208 S - G11 Recover length retract_recover_feedrate_mm_s, // M208 F - G11 Recover feedrate swap_retract_length, // M207 W - G10 Swap Retract length swap_retract_recover_length, // M208 W - G11 Swap Recover length swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate #if EXTRUDERS > 1 bool retracted_swap[EXTRUDERS] = { false }; // Which extruders are swap-retracted #else constexpr bool retracted_swap[1] = { false }; #endif #endif // FWRETRACT #if HAS_POWER_SWITCH bool powersupply_on = #if ENABLED(PS_DEFAULT_OFF) false #else true #endif ; #endif #if ENABLED(DELTA) float delta[ABC], endstop_adj[ABC] = { 0 }; // Initialized by settings.load() float delta_radius, delta_tower_angle_trim[2], delta_tower[ABC][2], delta_diagonal_rod, delta_calibration_radius, delta_diagonal_rod_2_tower[ABC], delta_segments_per_second, delta_clip_start_height = Z_MAX_POS; float delta_safe_distance_from_top(); #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) int bilinear_grid_spacing[2], bilinear_start[2]; float bilinear_grid_factor[2], z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; #endif #if IS_SCARA // Float constants for SCARA calculations const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2, L2_2 = sq(float(L2)); float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND, delta[ABC]; #endif float cartes[XYZ] = { 0 }; #if ENABLED(FILAMENT_WIDTH_SENSOR) bool filament_sensor = false; // M405 turns on filament sensor control. M406 turns it off. float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404. filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; // Measured filament diameter uint8_t meas_delay_cm = MEASUREMENT_DELAY_CM, // Distance delay setting measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100 int8_t filwidth_delay_index[2] = { 0, -1 }; // Indexes into ring buffer #endif #if ENABLED(FILAMENT_RUNOUT_SENSOR) static bool filament_ran_out = false; #endif #if ENABLED(ADVANCED_PAUSE_FEATURE) AdvancedPauseMenuResponse advanced_pause_menu_response; #endif #if ENABLED(MIXING_EXTRUDER) float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0. #if MIXING_VIRTUAL_TOOLS > 1 float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS]; #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) #if HAS_Z_SERVO_ENDSTOP #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0]) #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1]) #endif #endif #ifdef CHDK millis_t chdkHigh = 0; bool chdkActive = false; #endif #if ENABLED(PID_EXTRUSION_SCALING) int lpq_len = 20; #endif #if ENABLED(HOST_KEEPALIVE_FEATURE) MarlinBusyState busy_state = NOT_BUSY; static millis_t next_busy_signal_ms = 0; uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL; #else #define host_keepalive() NOOP #endif #if ENABLED(I2C_POSITION_ENCODERS) I2CPositionEncodersMgr I2CPEM; uint8_t blockBufferIndexRef = 0; millis_t lastUpdateMillis; #endif #if ENABLED(CNC_WORKSPACE_PLANES) 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 ******************************** * *************************************************************************** */ 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); #if ENABLED(BEZIER_CURVE_SUPPORT) void plan_cubic_move(const float offset[4]); #endif 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); #endif } #if ENABLED(FILAMENT_RUNOUT_SENSOR) void setup_filrunoutpin() { #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT) SET_INPUT_PULLUP(FIL_RUNOUT_PIN); #else SET_INPUT(FIL_RUNOUT_PIN); #endif } #endif void setup_powerhold() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, HIGH); #endif #if HAS_POWER_SWITCH #if ENABLED(PS_DEFAULT_OFF) OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); #else OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); #endif #endif } void suicide() { #if HAS_SUICIDE OUT_WRITE(SUICIDE_PIN, LOW); #endif } void servo_init() { #if NUM_SERVOS >= 1 && HAS_SERVO_0 servo[0].attach(SERVO0_PIN); servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position. #endif #if NUM_SERVOS >= 2 && HAS_SERVO_1 servo[1].attach(SERVO1_PIN); servo[1].detach(); #endif #if NUM_SERVOS >= 3 && HAS_SERVO_2 servo[2].attach(SERVO2_PIN); servo[2].detach(); #endif #if NUM_SERVOS >= 4 && HAS_SERVO_3 servo[3].attach(SERVO3_PIN); servo[3].detach(); #endif #if HAS_Z_SERVO_ENDSTOP /** * Set position of Z Servo Endstop * * The servo might be deployed and positioned too low to stow * when starting up the machine or rebooting the board. * There's no way to know where the nozzle is positioned until * homing has been done - no homing with z-probe without init! * */ STOW_Z_SERVO(); #endif } /** * Stepper Reset (RigidBoard, et.al.) */ #if HAS_STEPPER_RESET void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips } void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // set to input, which allows it to be pulled high by pullups #endif #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0 void i2c_on_receive(int bytes) { // just echo all bytes received to serial i2c.receive(bytes); } void i2c_on_request() { // just send dummy data for now i2c.reply("Hello World!\n"); } #endif #if HAS_COLOR_LEDS #if ENABLED(NEOPIXEL_RGBW_LED) Adafruit_NeoPixel pixels(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEO_GRBW + NEO_KHZ800); void set_neopixel_color(const uint32_t color) { for (uint16_t i = 0; i < pixels.numPixels(); ++i) pixels.setPixelColor(i, color); pixels.show(); } void setup_neopixel() { pixels.setBrightness(255); // 0 - 255 range pixels.begin(); pixels.show(); // initialize to all off #if ENABLED(NEOPIXEL_STARTUP_TEST) delay(2000); set_neopixel_color(pixels.Color(255, 0, 0, 0)); // red delay(2000); set_neopixel_color(pixels.Color(0, 255, 0, 0)); // green delay(2000); set_neopixel_color(pixels.Color(0, 0, 255, 0)); // blue delay(2000); #endif set_neopixel_color(pixels.Color(0, 0, 0, 255)); // white } #endif // NEOPIXEL_RGBW_LED void set_led_color( const uint8_t r, const uint8_t g, const uint8_t b #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED) , const uint8_t w = 0 #if ENABLED(NEOPIXEL_RGBW_LED) , bool isSequence = false #endif #endif ) { #if ENABLED(NEOPIXEL_RGBW_LED) const uint32_t color = pixels.Color(r, g, b, w); static uint16_t nextLed = 0; if (!isSequence) set_neopixel_color(color); else { pixels.setPixelColor(nextLed, color); pixels.show(); if (++nextLed >= pixels.numPixels()) nextLed = 0; return; } #endif #if ENABLED(BLINKM) // This variant uses i2c to send the RGB components to the device. SendColors(r, g, b); #endif #if ENABLED(RGB_LED) || ENABLED(RGBW_LED) // This variant uses 3 separate pins for the RGB components. // If the pins can do PWM then their intensity will be set. WRITE(RGB_LED_R_PIN, r ? HIGH : LOW); WRITE(RGB_LED_G_PIN, g ? HIGH : LOW); WRITE(RGB_LED_B_PIN, b ? HIGH : LOW); analogWrite(RGB_LED_R_PIN, r); analogWrite(RGB_LED_G_PIN, g); analogWrite(RGB_LED_B_PIN, b); #if ENABLED(RGBW_LED) WRITE(RGB_LED_W_PIN, w ? HIGH : LOW); analogWrite(RGB_LED_W_PIN, w); #endif #endif #if ENABLED(PCA9632) // Update I2C LED driver PCA9632_SetColor(r, g, b); #endif } #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) /** * Software endstops can be used to monitor the open end of * an axis that has a hardware endstop on the other end. Or * they can prevent axes from moving past endstops and grinding. * * To keep doing their job as the coordinate system changes, * the software endstop positions must be refreshed to remain * at the same positions relative to the machine. */ void update_software_endstops(const AxisEnum axis) { const float offs = 0.0 #if HAS_HOME_OFFSET + home_offset[axis] #endif #if HAS_POSITION_SHIFT + position_shift[axis] #endif ; #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT workspace_offset[axis] = offs; #endif #if ENABLED(DUAL_X_CARRIAGE) if (axis == X_AXIS) { // In Dual X mode hotend_offset[X] is T1's home position float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS); if (active_extruder != 0) { // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger) soft_endstop_min[X_AXIS] = X2_MIN_POS + offs; soft_endstop_max[X_AXIS] = dual_max_x + offs; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { // In Duplication Mode, T0 can move as far left as X_MIN_POS // but not so far to the right that T1 would move past the end soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; } else { // In other modes, T0 can move from X_MIN_POS to X_MAX_POS soft_endstop_min[axis] = base_min_pos(axis) + offs; soft_endstop_max[axis] = base_max_pos(axis) + offs; } } #elif ENABLED(DELTA) soft_endstop_min[axis] = base_min_pos(axis) + (axis == Z_AXIS ? 0 : offs); soft_endstop_max[axis] = base_max_pos(axis) + offs; #else soft_endstop_min[axis] = base_min_pos(axis) + offs; soft_endstop_max[axis] = base_max_pos(axis) + offs; #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("For ", axis_codes[axis]); #if HAS_HOME_OFFSET SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); #endif #if HAS_POSITION_SHIFT SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); #endif SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); } #endif #if ENABLED(DELTA) if (axis == Z_AXIS) delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); #endif } #endif // HAS_WORKSPACE_OFFSET || DUAL_X_CARRIAGE #if HAS_M206_COMMAND /** * Change the home offset for an axis, update the current * position and the software endstops to retain the same * relative distance to the new home. * * Since this changes the current_position, code should * call sync_plan_position soon after this. */ static void set_home_offset(const AxisEnum axis, const float v) { current_position[axis] += v - home_offset[axis]; home_offset[axis] = v; update_software_endstops(axis); } #endif // HAS_M206_COMMAND /** * Set an axis' current position to its home position (after homing). * * For Core and Cartesian robots this applies one-to-one when an * individual axis has been homed. * * DELTA should wait until all homing is done before setting the XYZ * current_position to home, because homing is a single operation. * In the case where the axis positions are already known and previously * homed, DELTA could home to X or Y individually by moving either one * to the center. However, homing Z always homes XY and Z. * * SCARA should wait until all XY homing is done before setting the XY * current_position to home, because neither X nor Y is at home until * both are at home. Z can however be homed individually. * * Callers must sync the planner position after calling this! */ static void set_axis_is_at_home(const AxisEnum axis) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif axis_known_position[axis] = axis_homed[axis] = true; #if HAS_POSITION_SHIFT position_shift[axis] = 0; update_software_endstops(axis); #endif #if ENABLED(DUAL_X_CARRIAGE) if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) { current_position[X_AXIS] = x_home_pos(active_extruder); return; } #endif #if ENABLED(MORGAN_SCARA) /** * Morgan SCARA homes XY at the same time */ if (axis == X_AXIS || axis == Y_AXIS) { float homeposition[XYZ]; LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i); // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]); // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]); /** * Get Home position SCARA arm angles using inverse kinematics, * and calculate homing offset using forward kinematics */ inverse_kinematics(homeposition); forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]); // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]); // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]); current_position[axis] = LOGICAL_POSITION(cartes[axis], axis); /** * SCARA home positions are based on configuration since the actual * limits are determined by the inverse kinematic transform. */ soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis)); soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis)); } else #endif { current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis); } /** * Z Probe Z Homing? Account for the probe's Z offset. */ #if HAS_BED_PROBE && Z_HOME_DIR < 0 if (axis == Z_AXIS) { #if HOMING_Z_WITH_PROBE current_position[Z_AXIS] -= zprobe_zoffset; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***"); SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset); } #endif #elif ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***"); #endif } #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { #if HAS_HOME_OFFSET SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]); SERIAL_ECHOLNPAIR("] = ", home_offset[axis]); #endif DEBUG_POS("", current_position); SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif #if ENABLED(I2C_POSITION_ENCODERS) I2CPEM.homed(axis); #endif } /** * Some planner shorthand inline functions */ inline float get_homing_bump_feedrate(const AxisEnum axis) { static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR; uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]); if (hbd < 1) { hbd = 10; SERIAL_ECHO_START(); SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1"); } 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 */ void do_blocking_move_to(const float &lx, const float &ly, const float &lz, const float &fr_mm_s/*=0.0*/) { const float old_feedrate_mm_s = feedrate_mm_s; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, lx, ly, lz); #endif #if ENABLED(DELTA) if (!position_is_reachable_xy(lx, ly)) return; feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; set_destination_to_current(); // sync destination at the start #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination); #endif // when in the danger zone if (current_position[Z_AXIS] > delta_clip_start_height) { if (lz > delta_clip_start_height) { // staying in the danger zone destination[X_AXIS] = lx; // move directly (uninterpolated) destination[Y_AXIS] = ly; destination[Z_AXIS] = lz; prepare_uninterpolated_move_to_destination(); // set_current_to_destination #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position); #endif return; } else { destination[Z_AXIS] = delta_clip_start_height; prepare_uninterpolated_move_to_destination(); // set_current_to_destination #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position); #endif } } if (lz > current_position[Z_AXIS]) { // raising? destination[Z_AXIS] = lz; prepare_uninterpolated_move_to_destination(); // set_current_to_destination #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position); #endif } destination[X_AXIS] = lx; destination[Y_AXIS] = ly; prepare_move_to_destination(); // set_current_to_destination #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position); #endif if (lz < current_position[Z_AXIS]) { // lowering? destination[Z_AXIS] = lz; prepare_uninterpolated_move_to_destination(); // set_current_to_destination #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position); #endif } #elif IS_SCARA if (!position_is_reachable_xy(lx, ly)) return; set_destination_to_current(); // If Z needs to raise, do it before moving XY if (destination[Z_AXIS] < lz) { destination[Z_AXIS] = lz; prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); } destination[X_AXIS] = lx; destination[Y_AXIS] = ly; prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S); // If Z needs to lower, do it after moving XY if (destination[Z_AXIS] > lz) { destination[Z_AXIS] = lz; prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS)); } #else // If Z needs to raise, do it before moving XY if (current_position[Z_AXIS] < lz) { feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); current_position[Z_AXIS] = lz; line_to_current_position(); } feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S; current_position[X_AXIS] = lx; current_position[Y_AXIS] = ly; line_to_current_position(); // If Z needs to lower, do it after moving XY if (current_position[Z_AXIS] > lz) { feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate(Z_AXIS); current_position[Z_AXIS] = lz; line_to_current_position(); } #endif stepper.synchronize(); feedrate_mm_s = old_feedrate_mm_s; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to"); #endif } void do_blocking_move_to_x(const float &lx, const float &fr_mm_s/*=0.0*/) { do_blocking_move_to(lx, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s); } void do_blocking_move_to_z(const float &lz, const float &fr_mm_s/*=0.0*/) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], lz, fr_mm_s); } void do_blocking_move_to_xy(const float &lx, const float &ly, const float &fr_mm_s/*=0.0*/) { do_blocking_move_to(lx, ly, current_position[Z_AXIS], fr_mm_s); } // // Prepare to do endstop or probe moves // with custom feedrates. // // - Save current feedrates // - Reset the rate multiplier // - Reset the command timeout // - Enable the endstops (for endstop moves) // static void setup_for_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position); #endif saved_feedrate_mm_s = feedrate_mm_s; saved_feedrate_percentage = feedrate_percentage; feedrate_percentage = 100; refresh_cmd_timeout(); } static void clean_up_after_endstop_or_probe_move() { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position); #endif feedrate_mm_s = saved_feedrate_mm_s; feedrate_percentage = saved_feedrate_percentage; refresh_cmd_timeout(); } #if HAS_BED_PROBE /** * Raise Z to a minimum height to make room for a probe to move */ inline void do_probe_raise(const float z_raise) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("do_probe_raise(", z_raise); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif float z_dest = z_raise; if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset; if (z_dest > current_position[Z_AXIS]) do_blocking_move_to_z(z_dest); } #endif // HAS_BED_PROBE #if HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE) || ENABLED(DELTA_AUTO_CALIBRATION) bool axis_unhomed_error(const bool x/*=true*/, const bool y/*=true*/, const bool z/*=true*/) { #if ENABLED(HOME_AFTER_DEACTIVATE) const bool xx = x && !axis_known_position[X_AXIS], yy = y && !axis_known_position[Y_AXIS], zz = z && !axis_known_position[Z_AXIS]; #else const bool xx = x && !axis_homed[X_AXIS], yy = y && !axis_homed[Y_AXIS], zz = z && !axis_homed[Z_AXIS]; #endif if (xx || yy || zz) { SERIAL_ECHO_START(); SERIAL_ECHOPGM(MSG_HOME " "); if (xx) SERIAL_ECHOPGM(MSG_X); if (yy) SERIAL_ECHOPGM(MSG_Y); if (zz) SERIAL_ECHOPGM(MSG_Z); SERIAL_ECHOLNPGM(" " MSG_FIRST); #if ENABLED(ULTRA_LCD) lcd_status_printf_P(0, PSTR(MSG_HOME " %s%s%s " MSG_FIRST), xx ? MSG_X : "", yy ? MSG_Y : "", zz ? MSG_Z : ""); #endif return true; } return false; } #endif #if ENABLED(Z_PROBE_SLED) #ifndef SLED_DOCKING_OFFSET #define SLED_DOCKING_OFFSET 0 #endif /** * Method to dock/undock a sled designed by Charles Bell. * * stow[in] If false, move to MAX_X and engage the solenoid * If true, move to MAX_X and release the solenoid */ static void dock_sled(bool stow) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("dock_sled(", stow); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif // Dock sled a bit closer to ensure proper capturing do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0)); #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID) WRITE(SOL1_PIN, !stow); // switch solenoid #endif } #elif ENABLED(Z_PROBE_ALLEN_KEY) FORCE_INLINE void do_blocking_move_to(const float logical[XYZ], const float &fr_mm_s) { do_blocking_move_to(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS], fr_mm_s); } void run_deploy_moves_script() { #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 #endif const float deploy_1[] = { Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z }; do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 #endif const float deploy_2[] = { Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z }; do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 #endif const float deploy_3[] = { Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z }; do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 #endif const float deploy_4[] = { Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z }; do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z) #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 #endif const float deploy_5[] = { Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z }; do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); #endif } void run_stow_moves_script() { #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 #endif const float stow_1[] = { Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z }; do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 #endif const float stow_2[] = { Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z }; do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 #endif const float stow_3[] = { Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z }; do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 #endif const float stow_4[] = { Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z }; do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); #endif #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z) #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS] #endif #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 #endif const float stow_5[] = { Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z }; do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); #endif } #endif #if ENABLED(PROBING_FANS_OFF) void fans_pause(const bool p) { if (p != fans_paused) { fans_paused = p; if (p) for (uint8_t x = 0; x < FAN_COUNT; x++) { paused_fanSpeeds[x] = fanSpeeds[x]; fanSpeeds[x] = 0; } else for (uint8_t x = 0; x < FAN_COUNT; x++) fanSpeeds[x] = paused_fanSpeeds[x]; } } #endif // PROBING_FANS_OFF #if HAS_BED_PROBE // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed. #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST) #if ENABLED(Z_MIN_PROBE_ENDSTOP) #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) #else #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) #endif #endif #if QUIET_PROBING void probing_pause(const bool p) { #if ENABLED(PROBING_HEATERS_OFF) thermalManager.pause(p); #endif #if ENABLED(PROBING_FANS_OFF) fans_pause(p); #endif if (p) safe_delay( #if DELAY_BEFORE_PROBING > 25 DELAY_BEFORE_PROBING #else 25 #endif ); } #endif // QUIET_PROBING #if ENABLED(BLTOUCH) void bltouch_command(int angle) { MOVE_SERVO(Z_ENDSTOP_SERVO_NR, angle); // Give the BL-Touch the command and wait safe_delay(BLTOUCH_DELAY); } bool set_bltouch_deployed(const bool deploy) { if (deploy && TEST_BLTOUCH()) { // If BL-Touch says it's triggered bltouch_command(BLTOUCH_RESET); // try to reset it. bltouch_command(BLTOUCH_DEPLOY); // Also needs to deploy and stow to bltouch_command(BLTOUCH_STOW); // clear the triggered condition. safe_delay(1500); // Wait for internal self-test to complete. // (Measured completion time was 0.65 seconds // after reset, deploy, and stow sequence) if (TEST_BLTOUCH()) { // If it still claims to be triggered... SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_STOP_BLTOUCH); stop(); // punt! return true; } } bltouch_command(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif return false; } #endif // BLTOUCH // returns false for ok and true for failure bool set_probe_deployed(bool deploy) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { DEBUG_POS("set_probe_deployed", current_position); SERIAL_ECHOLNPAIR("deploy: ", deploy); } #endif if (endstops.z_probe_enabled == deploy) return false; // Make room for probe do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE); #if ENABLED(Z_PROBE_SLED) || ENABLED(Z_PROBE_ALLEN_KEY) #if ENABLED(Z_PROBE_SLED) #define _AUE_ARGS true, false, false #else #define _AUE_ARGS #endif if (axis_unhomed_error(_AUE_ARGS)) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_STOP_UNHOMED); stop(); return true; } #endif const float oldXpos = current_position[X_AXIS], oldYpos = current_position[Y_AXIS]; #ifdef _TRIGGERED_WHEN_STOWED_TEST // If endstop is already false, the Z probe is deployed if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // closed after the probe specific actions. // Would a goto be less ugly? //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity // for a triggered when stowed manual probe. if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early // otherwise an Allen-Key probe can't be stowed. #endif #if ENABLED(SOLENOID_PROBE) #if HAS_SOLENOID_1 WRITE(SOL1_PIN, deploy); #endif #elif ENABLED(Z_PROBE_SLED) dock_sled(!deploy); #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH) MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[deploy ? 0 : 1]); #elif ENABLED(Z_PROBE_ALLEN_KEY) deploy ? run_deploy_moves_script() : run_stow_moves_script(); #endif #ifdef _TRIGGERED_WHEN_STOWED_TEST } // _TRIGGERED_WHEN_STOWED_TEST == deploy if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed? if (IsRunning()) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM("Z-Probe failed"); LCD_ALERTMESSAGEPGM("Err: ZPROBE"); } stop(); return true; } // _TRIGGERED_WHEN_STOWED_TEST == deploy #endif do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy endstops.enable_z_probe(deploy); return false; } /** * @brief Used by run_z_probe to do a single Z probe move. * * @param z Z destination * @param fr_mm_s Feedrate in mm/s * @return true to indicate an error */ static bool do_probe_move(const float z, const float fr_mm_m) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position); #endif // Deploy BLTouch at the start of any probe #if ENABLED(BLTOUCH) if (set_bltouch_deployed(true)) return true; #endif #if QUIET_PROBING probing_pause(true); #endif // Move down until probe triggered do_blocking_move_to_z(z, MMM_TO_MMS(fr_mm_m)); // Check to see if the probe was triggered const bool probe_triggered = TEST(Endstops::endstop_hit_bits, #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) Z_MIN #else Z_MIN_PROBE #endif ); #if QUIET_PROBING probing_pause(false); #endif // Retract BLTouch immediately after a probe if it was triggered #if ENABLED(BLTOUCH) if (probe_triggered && set_bltouch_deployed(false)) return true; #endif // Clear endstop flags endstops.hit_on_purpose(); // Get Z where the steppers were interrupted set_current_from_steppers_for_axis(Z_AXIS); // Tell the planner where we actually are SYNC_PLAN_POSITION_KINEMATIC(); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position); #endif return !probe_triggered; } /** * @details Used by probe_pt to do a single Z probe. * Leaves current_position[Z_AXIS] at the height where the probe triggered. * * @param short_move Flag for a shorter probe move towards the bed * @return The raw Z position where the probe was triggered */ static float run_z_probe(const bool short_move=true) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position); #endif // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding refresh_cmd_timeout(); #if ENABLED(PROBE_DOUBLE_TOUCH) // Do a first probe at the fast speed if (do_probe_move(-10, Z_PROBE_SPEED_FAST)) return NAN; #if ENABLED(DEBUG_LEVELING_FEATURE) float first_probe_z = current_position[Z_AXIS]; if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z); #endif // move up to make clearance for the probe do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); #else // If the nozzle is above the travel height then // move down quickly before doing the slow probe float z = Z_CLEARANCE_DEPLOY_PROBE; if (zprobe_zoffset < 0) z -= zprobe_zoffset; if (z < current_position[Z_AXIS]) { // If we don't make it to the z position (i.e. the probe triggered), move up to make clearance for the probe if (!do_probe_move(z, Z_PROBE_SPEED_FAST)) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); } #endif // move down slowly to find bed if (do_probe_move(-10 + (short_move ? 0 : -(Z_MAX_LENGTH)), Z_PROBE_SPEED_SLOW)) return NAN; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position); #endif // Debug: compare probe heights #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]); } #endif return RAW_CURRENT_POSITION(Z) + zprobe_zoffset #if ENABLED(DELTA) + home_offset[Z_AXIS] // Account for delta height adjustment #endif ; } /** * - Move to the given XY * - Deploy the probe, if not already deployed * - Probe the bed, get the Z position * - Depending on the 'stow' flag * - Stow the probe, or * - Raise to the BETWEEN height * - Return the probed Z position */ float probe_pt(const float &lx, const float &ly, const bool stow, const uint8_t verbose_level, const bool printable=true) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> probe_pt(", lx); SERIAL_ECHOPAIR(", ", ly); SERIAL_ECHOPAIR(", ", stow ? "" : "no "); SERIAL_ECHOLNPGM("stow)"); DEBUG_POS("", current_position); } #endif const float nx = lx - (X_PROBE_OFFSET_FROM_EXTRUDER), ny = ly - (Y_PROBE_OFFSET_FROM_EXTRUDER); if (printable ? !position_is_reachable_xy(nx, ny) : !position_is_reachable_by_probe_xy(lx, ly) ) return NAN; const float old_feedrate_mm_s = feedrate_mm_s; #if ENABLED(DELTA) if (current_position[Z_AXIS] > delta_clip_start_height) do_blocking_move_to_z(delta_clip_start_height); #endif #if HAS_SOFTWARE_ENDSTOPS // Store the status of the soft endstops and disable if we're probing a non-printable location static bool enable_soft_endstops = soft_endstops_enabled; if (!printable) soft_endstops_enabled = false; #endif feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; // Move the probe to the given XY do_blocking_move_to_xy(nx, ny); float measured_z = NAN; if (!DEPLOY_PROBE()) { measured_z = run_z_probe(printable); if (!stow) do_blocking_move_to_z(current_position[Z_AXIS] + Z_CLEARANCE_BETWEEN_PROBES, MMM_TO_MMS(Z_PROBE_SPEED_FAST)); else if (STOW_PROBE()) measured_z = NAN; } #if HAS_SOFTWARE_ENDSTOPS // Restore the soft endstop status soft_endstops_enabled = enable_soft_endstops; #endif if (verbose_level > 2) { SERIAL_PROTOCOLPGM("Bed X: "); SERIAL_PROTOCOL_F(lx, 3); SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOL_F(ly, 3); SERIAL_PROTOCOLPGM(" Z: "); SERIAL_PROTOCOL_F(measured_z, 3); SERIAL_EOL(); } #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt"); #endif feedrate_mm_s = old_feedrate_mm_s; if (isnan(measured_z)) { LCD_MESSAGEPGM(MSG_ERR_PROBING_FAILED); SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_ERR_PROBING_FAILED); } return measured_z; } #endif // HAS_BED_PROBE #if HAS_LEVELING bool leveling_is_valid() { return #if ENABLED(MESH_BED_LEVELING) mbl.has_mesh() #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) !!bilinear_grid_spacing[X_AXIS] #elif ENABLED(AUTO_BED_LEVELING_UBL) true #else // 3POINT, LINEAR true #endif ; } bool leveling_is_active() { return #if ENABLED(MESH_BED_LEVELING) mbl.active() #elif ENABLED(AUTO_BED_LEVELING_UBL) ubl.state.active #else planner.abl_enabled #endif ; } /** * Turn bed leveling on or off, fixing the current * position as-needed. * * Disable: Current position = physical position * Enable: Current position = "unleveled" physical position */ void set_bed_leveling_enabled(const bool enable/*=true*/) { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) const bool can_change = (!enable || leveling_is_valid()); #else constexpr bool can_change = true; #endif if (can_change && enable != leveling_is_active()) { #if ENABLED(MESH_BED_LEVELING) if (!enable) planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); const bool enabling = enable && leveling_is_valid(); mbl.set_active(enabling); if (enabling) planner.unapply_leveling(current_position); #elif ENABLED(AUTO_BED_LEVELING_UBL) #if PLANNER_LEVELING if (ubl.state.active) { // leveling from on to off // change unleveled current_position to physical current_position without moving steppers. planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]); ubl.state.active = false; // disable only AFTER calling apply_leveling } else { // leveling from off to on ubl.state.active = true; // enable BEFORE calling unapply_leveling, otherwise ignored // change physical current_position to unleveled current_position without moving steppers. planner.unapply_leveling(current_position); } #else ubl.state.active = enable; // just flip the bit, current_position will be wrong until next move. #endif #else // ABL #if ENABLED(AUTO_BED_LEVELING_BILINEAR) // Force bilinear_z_offset to re-calculate next time const float reset[XYZ] = { -9999.999, -9999.999, 0 }; (void)bilinear_z_offset(reset); #endif // Enable or disable leveling compensation in the planner planner.abl_enabled = enable; if (!enable) // When disabling just get the current position from the steppers. // This will yield the smallest error when first converted back to steps. set_current_from_steppers_for_axis( #if ABL_PLANAR ALL_AXES #else Z_AXIS #endif ); else // When enabling, remove compensation from the current position, // so compensation will give the right stepper counts. planner.unapply_leveling(current_position); #endif // ABL } } #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) void set_z_fade_height(const float zfh) { const bool level_active = leveling_is_active(); #if ENABLED(AUTO_BED_LEVELING_UBL) if (level_active) set_bed_leveling_enabled(false); // turn off before changing fade height for proper apply/unapply leveling to maintain current_position planner.z_fade_height = zfh; planner.inverse_z_fade_height = RECIPROCAL(zfh); if (level_active) set_bed_leveling_enabled(true); // turn back on after changing fade height #else planner.z_fade_height = zfh; planner.inverse_z_fade_height = RECIPROCAL(zfh); if (level_active) { set_current_from_steppers_for_axis( #if ABL_PLANAR ALL_AXES #else Z_AXIS #endif ); } #endif } #endif // LEVELING_FADE_HEIGHT /** * Reset calibration results to zero. */ void reset_bed_level() { set_bed_leveling_enabled(false); #if ENABLED(MESH_BED_LEVELING) if (leveling_is_valid()) { mbl.reset(); mbl.set_has_mesh(false); } #else #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level"); #endif #if ABL_PLANAR planner.bed_level_matrix.set_to_identity(); #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] = bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0; for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) z_values[x][y] = NAN; #elif ENABLED(AUTO_BED_LEVELING_UBL) ubl.reset(); #endif #endif } #endif // HAS_LEVELING #if ENABLED(AUTO_BED_LEVELING_BILINEAR) || ENABLED(MESH_BED_LEVELING) /** * Enable to produce output in JSON format suitable * for SCAD or JavaScript mesh visualizers. * * Visualize meshes in OpenSCAD using the included script. * * buildroot/shared/scripts/MarlinMesh.scad */ //#define SCAD_MESH_OUTPUT /** * Print calibration results for plotting or manual frame adjustment. */ static void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, float (*fn)(const uint8_t, const uint8_t)) { #ifndef SCAD_MESH_OUTPUT for (uint8_t x = 0; x < sx; x++) { for (uint8_t i = 0; i < precision + 2 + (x < 10 ? 1 : 0); i++) SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOL((int)x); } SERIAL_EOL(); #endif #ifdef SCAD_MESH_OUTPUT SERIAL_PROTOCOLLNPGM("measured_z = ["); // open 2D array #endif for (uint8_t y = 0; y < sy; y++) { #ifdef SCAD_MESH_OUTPUT SERIAL_PROTOCOLPGM(" ["); // open sub-array #else if (y < 10) SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOL((int)y); #endif for (uint8_t x = 0; x < sx; x++) { SERIAL_PROTOCOLCHAR(' '); const float offset = fn(x, y); if (!isnan(offset)) { if (offset >= 0) SERIAL_PROTOCOLCHAR('+'); SERIAL_PROTOCOL_F(offset, precision); } else { #ifdef SCAD_MESH_OUTPUT for (uint8_t i = 3; i < precision + 3; i++) SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOLPGM("NAN"); #else for (uint8_t i = 0; i < precision + 3; i++) SERIAL_PROTOCOLCHAR(i ? '=' : ' '); #endif } #ifdef SCAD_MESH_OUTPUT if (x < sx - 1) SERIAL_PROTOCOLCHAR(','); #endif } #ifdef SCAD_MESH_OUTPUT SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOLCHAR(']'); // close sub-array if (y < sy - 1) SERIAL_PROTOCOLCHAR(','); #endif SERIAL_EOL(); } #ifdef SCAD_MESH_OUTPUT SERIAL_PROTOCOLPGM("];"); // close 2D array #endif SERIAL_EOL(); } #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) /** * Extrapolate a single point from its neighbors */ static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPGM("Extrapolate ["); if (x < 10) SERIAL_CHAR(' '); SERIAL_ECHO((int)x); SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' '); SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); SERIAL_ECHO((int)y); SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' '); SERIAL_CHAR(']'); } #endif if (!isnan(z_values[x][y])) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)"); #endif return; // Don't overwrite good values. } SERIAL_EOL(); // Get X neighbors, Y neighbors, and XY neighbors const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir; float a1 = z_values[x1][y ], a2 = z_values[x2][y ], b1 = z_values[x ][y1], b2 = z_values[x ][y2], c1 = z_values[x1][y1], c2 = z_values[x2][y2]; // Treat far unprobed points as zero, near as equal to far if (isnan(a2)) a2 = 0.0; if (isnan(a1)) a1 = a2; if (isnan(b2)) b2 = 0.0; if (isnan(b1)) b1 = b2; if (isnan(c2)) c2 = 0.0; if (isnan(c1)) c1 = c2; const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2; // Take the average instead of the median z_values[x][y] = (a + b + c) / 3.0; // Median is robust (ignores outliers). // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c) // : ((c < b) ? b : (a < c) ? a : c); } //Enable this if your SCARA uses 180° of total area //#define EXTRAPOLATE_FROM_EDGE #if ENABLED(EXTRAPOLATE_FROM_EDGE) #if GRID_MAX_POINTS_X < GRID_MAX_POINTS_Y #define HALF_IN_X #elif GRID_MAX_POINTS_Y < GRID_MAX_POINTS_X #define HALF_IN_Y #endif #endif /** * Fill in the unprobed points (corners of circular print surface) * using linear extrapolation, away from the center. */ static void extrapolate_unprobed_bed_level() { #ifdef HALF_IN_X constexpr uint8_t ctrx2 = 0, xlen = GRID_MAX_POINTS_X - 1; #else constexpr uint8_t ctrx1 = (GRID_MAX_POINTS_X - 1) / 2, // left-of-center ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center xlen = ctrx1; #endif #ifdef HALF_IN_Y constexpr uint8_t ctry2 = 0, ylen = GRID_MAX_POINTS_Y - 1; #else constexpr uint8_t ctry1 = (GRID_MAX_POINTS_Y - 1) / 2, // top-of-center ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center ylen = ctry1; #endif for (uint8_t xo = 0; xo <= xlen; xo++) for (uint8_t yo = 0; yo <= ylen; yo++) { uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo; #ifndef HALF_IN_X const uint8_t x1 = ctrx1 - xo; #endif #ifndef HALF_IN_Y const uint8_t y1 = ctry1 - yo; #ifndef HALF_IN_X extrapolate_one_point(x1, y1, +1, +1); // left-below + + #endif extrapolate_one_point(x2, y1, -1, +1); // right-below - + #endif #ifndef HALF_IN_X extrapolate_one_point(x1, y2, +1, -1); // left-above + - #endif extrapolate_one_point(x2, y2, -1, -1); // right-above - - } } static void print_bilinear_leveling_grid() { SERIAL_ECHOLNPGM("Bilinear Leveling Grid:"); print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; } ); } #if ENABLED(ABL_BILINEAR_SUBDIVISION) #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1 #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1 #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2) #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2) float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; int bilinear_grid_spacing_virt[2] = { 0 }; float bilinear_grid_factor_virt[2] = { 0 }; static void print_bilinear_leveling_grid_virt() { SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5, [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; } ); } #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I)) float bed_level_virt_coord(const uint8_t x, const uint8_t y) { uint8_t ep = 0, ip = 1; if (!x || x == ABL_TEMP_POINTS_X - 1) { if (x) { ep = GRID_MAX_POINTS_X - 1; ip = GRID_MAX_POINTS_X - 2; } if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2)) return LINEAR_EXTRAPOLATION( z_values[ep][y - 1], z_values[ip][y - 1] ); else return LINEAR_EXTRAPOLATION( bed_level_virt_coord(ep + 1, y), bed_level_virt_coord(ip + 1, y) ); } if (!y || y == ABL_TEMP_POINTS_Y - 1) { if (y) { ep = GRID_MAX_POINTS_Y - 1; ip = GRID_MAX_POINTS_Y - 2; } if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2)) return LINEAR_EXTRAPOLATION( z_values[x - 1][ep], z_values[x - 1][ip] ); else return LINEAR_EXTRAPOLATION( bed_level_virt_coord(x, ep + 1), bed_level_virt_coord(x, ip + 1) ); } return z_values[x - 1][y - 1]; } static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) { return ( p[i-1] * -t * sq(1 - t) + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t)) + p[i+1] * t * (1 + 4 * t - 3 * sq(t)) - p[i+2] * sq(t) * (1 - t) ) * 0.5; } static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) { float row[4], column[4]; for (uint8_t i = 0; i < 4; i++) { for (uint8_t j = 0; j < 4; j++) { column[j] = bed_level_virt_coord(i + x - 1, j + y - 1); } row[i] = bed_level_virt_cmr(column, 1, ty); } return bed_level_virt_cmr(row, 1, tx); } void bed_level_virt_interpolate() { bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS); bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]); bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]); for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++) for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) { if ((ty && y == GRID_MAX_POINTS_Y - 1) || (tx && x == GRID_MAX_POINTS_X - 1)) continue; z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] = bed_level_virt_2cmr( x + 1, y + 1, (float)tx / (BILINEAR_SUBDIVISIONS), (float)ty / (BILINEAR_SUBDIVISIONS) ); } } #endif // ABL_BILINEAR_SUBDIVISION // Refresh after other values have been updated void refresh_bed_level() { bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]); bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]); #if ENABLED(ABL_BILINEAR_SUBDIVISION) bed_level_virt_interpolate(); #endif } #endif // AUTO_BED_LEVELING_BILINEAR /** * Home an individual linear axis */ static void do_homing_move(const AxisEnum axis, const float distance, const float fr_mm_s=0.0) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]); SERIAL_ECHOPAIR(", ", distance); SERIAL_ECHOPAIR(", ", fr_mm_s); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) const bool deploy_bltouch = (axis == Z_AXIS && distance < 0); if (deploy_bltouch) set_bltouch_deployed(true); #endif #if QUIET_PROBING if (axis == Z_AXIS) probing_pause(true); #endif // Tell the planner we're at Z=0 current_position[axis] = 0; #if IS_SCARA SYNC_PLAN_POSITION_KINEMATIC(); current_position[axis] = distance; inverse_kinematics(current_position); planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder); #else sync_plan_position(); current_position[axis] = distance; planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate(axis), active_extruder); #endif stepper.synchronize(); #if QUIET_PROBING if (axis == Z_AXIS) probing_pause(false); #endif #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH) if (deploy_bltouch) set_bltouch_deployed(false); #endif endstops.hit_on_purpose(); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif } /** * TMC2130 specific sensorless homing using stallGuard2. * stallGuard2 only works when in spreadCycle mode. * spreadCycle and stealthChop are mutually exclusive. */ #if ENABLED(SENSORLESS_HOMING) void tmc2130_sensorless_homing(TMC2130Stepper &st, bool enable=true) { #if ENABLED(STEALTHCHOP) if (enable) { st.coolstep_min_speed(1024UL * 1024UL - 1UL); st.stealthChop(0); } else { st.coolstep_min_speed(0); st.stealthChop(1); } #endif st.diag1_stall(enable ? 1 : 0); } #endif /** * Home an individual "raw axis" to its endstop. * This applies to XYZ on Cartesian and Core robots, and * to the individual ABC steppers on DELTA and SCARA. * * At the end of the procedure the axis is marked as * homed and the current position of that axis is updated. * Kinematic robots should wait till all axes are homed * before updating the current position. */ #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) static void homeaxis(const AxisEnum axis) { #if IS_SCARA // Only Z homing (with probe) is permitted if (axis != Z_AXIS) { BUZZ(100, 880); return; } #else #define CAN_HOME(A) \ (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0))) if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return; #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif const int axis_home_dir = #if ENABLED(DUAL_X_CARRIAGE) (axis == X_AXIS) ? x_home_dir(active_extruder) : #endif home_dir(axis); // Homing Z towards the bed? Deploy the Z probe or endstop. #if HOMING_Z_WITH_PROBE if (axis == Z_AXIS && DEPLOY_PROBE()) return; #endif // Set a flag for Z motor locking #if ENABLED(Z_DUAL_ENDSTOPS) if (axis == Z_AXIS) stepper.set_homing_flag(true); #endif // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) #if ENABLED(X_IS_TMC2130) if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX); #endif #if ENABLED(Y_IS_TMC2130) if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY); #endif #endif // Fast move towards endstop until triggered #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:"); #endif do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir); // When homing Z with probe respect probe clearance const float bump = axis_home_dir * ( #if HOMING_Z_WITH_PROBE (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) : #endif home_bump_mm(axis) ); // If a second homing move is configured... if (bump) { // Move away from the endstop by the axis HOME_BUMP_MM #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:"); #endif do_homing_move(axis, -bump); // Slow move towards endstop until triggered #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:"); #endif do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis)); } #if ENABLED(Z_DUAL_ENDSTOPS) if (axis == Z_AXIS) { float adj = FABS(z_endstop_adj); bool lockZ1; if (axis_home_dir > 0) { adj = -adj; lockZ1 = (z_endstop_adj > 0); } else lockZ1 = (z_endstop_adj < 0); if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true); // Move to the adjusted endstop height do_homing_move(axis, adj); if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false); stepper.set_homing_flag(false); } // Z_AXIS #endif #if IS_SCARA set_axis_is_at_home(axis); SYNC_PLAN_POSITION_KINEMATIC(); #elif ENABLED(DELTA) // Delta has already moved all three towers up in G28 // so here it re-homes each tower in turn. // Delta homing treats the axes as normal linear axes. // retrace by the amount specified in endstop_adj + additional 0.1mm in order to have minimum steps if (endstop_adj[axis] * Z_HOME_DIR <= 0) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:"); #endif do_homing_move(axis, endstop_adj[axis] - 0.1); } #else // For cartesian/core machines, // set the axis to its home position set_axis_is_at_home(axis); sync_plan_position(); destination[axis] = current_position[axis]; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); #endif #endif // Re-enable stealthChop if used. Disable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) #if ENABLED(X_IS_TMC2130) if (axis == X_AXIS) tmc2130_sensorless_homing(stepperX, false); #endif #if ENABLED(Y_IS_TMC2130) if (axis == Y_AXIS) tmc2130_sensorless_homing(stepperY, false); #endif #endif // Put away the Z probe #if HOMING_Z_WITH_PROBE if (axis == Z_AXIS && STOW_PROBE()) return; #endif #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]); SERIAL_CHAR(')'); SERIAL_EOL(); } #endif } // homeaxis() #if ENABLED(FWRETRACT) /** * Retract or recover according to firmware settings * * This function handles retract/recover moves for G10 and G11, * plus auto-retract moves sent from G0/G1 when E-only moves are done. * * To simplify the logic, doubled retract/recover moves are ignored. * * Note: Z lift is done transparently to the planner. Aborting * a print between G10 and G11 may corrupt the Z position. * * Note: Auto-retract will apply the set Z hop in addition to any Z hop * included in the G-code. Use M207 Z0 to to prevent double hop. */ void retract(const bool retracting #if EXTRUDERS > 1 , bool swapping = false #endif ) { static float hop_height, // Remember where the Z height started hop_amount = 0.0; // Total amount lifted, for use in recover // Simply never allow two retracts or recovers in a row if (retracted[active_extruder] == retracting) return; #if EXTRUDERS < 2 bool swapping = false; #endif if (!retracting) swapping = retracted_swap[active_extruder]; /* // debugging SERIAL_ECHOLNPAIR("retracting ", retracting); SERIAL_ECHOLNPAIR("swapping ", swapping); SERIAL_ECHOLNPAIR("active extruder ", active_extruder); for (uint8_t i = 0; i < EXTRUDERS; ++i) { SERIAL_ECHOPAIR("retracted[", i); SERIAL_ECHOLNPAIR("] ", retracted[i]); SERIAL_ECHOPAIR("retracted_swap[", i); SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); } SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); //*/ const bool has_zhop = retract_zlift > 0.01; // Is there a hop set? const float old_feedrate_mm_s = feedrate_mm_s; const int16_t old_flow = flow_percentage[active_extruder]; // Don't apply flow multiplication to retract/recover flow_percentage[active_extruder] = 100; // The current position will be the destination for E and Z moves set_destination_to_current(); if (retracting) { // Remember the Z height since G-code may include its own Z-hop // For best results turn off Z hop if G-code already includes it hop_height = destination[Z_AXIS]; // Retract by moving from a faux E position back to the current E position feedrate_mm_s = retract_feedrate_mm_s; current_position[E_AXIS] += (swapping ? swap_retract_length : retract_length) / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); // Is a Z hop set, and has the hop not yet been done? if (has_zhop) { hop_amount += retract_zlift; // Carriage is raised for retraction hop current_position[Z_AXIS] -= retract_zlift; // Pretend current pos is lower. Next move raises Z. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position prepare_move_to_destination(); // Raise up to the old current pos } } else { // If a hop was done and Z hasn't changed, undo the Z hop if (hop_amount && NEAR(hop_height, destination[Z_AXIS])) { current_position[Z_AXIS] += hop_amount; // Pretend current pos is higher. Next move lowers Z. SYNC_PLAN_POSITION_KINEMATIC(); // Set the planner to the new position prepare_move_to_destination(); // Lower to the old current pos hop_amount = 0.0; } // A retract multiplier has been added here to get faster swap recovery feedrate_mm_s = swapping ? swap_retract_recover_feedrate_mm_s : retract_recover_feedrate_mm_s; const float move_e = swapping ? swap_retract_length + swap_retract_recover_length : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; sync_plan_position_e(); prepare_move_to_destination(); // Recover E } // Restore flow and feedrate flow_percentage[active_extruder] = old_flow; feedrate_mm_s = old_feedrate_mm_s; // The active extruder is now retracted or recovered retracted[active_extruder] = retracting; // If swap retract/recover then update the retracted_swap flag too #if EXTRUDERS > 1 if (swapping) retracted_swap[active_extruder] = retracting; #endif /* // debugging SERIAL_ECHOLNPAIR("retracting ", retracting); SERIAL_ECHOLNPAIR("swapping ", swapping); SERIAL_ECHOLNPAIR("active_extruder ", active_extruder); for (uint8_t i = 0; i < EXTRUDERS; ++i) { SERIAL_ECHOPAIR("retracted[", i); SERIAL_ECHOLNPAIR("] ", retracted[i]); SERIAL_ECHOPAIR("retracted_swap[", i); SERIAL_ECHOLNPAIR("] ", retracted_swap[i]); } SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]); SERIAL_ECHOLNPAIR("hop_amount ", hop_amount); //*/ } // retract() #endif // FWRETRACT #if ENABLED(MIXING_EXTRUDER) void normalize_mix() { float mix_total = 0.0; for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]); // Scale all values if they don't add up to ~1.0 if (!NEAR(mix_total, 1.0)) { SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling."); for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total; } } #if ENABLED(DIRECT_MIXING_IN_G1) // Get mixing parameters from the GCode // The total "must" be 1.0 (but it will be normalized) // If no mix factors are given, the old mix is preserved void gcode_get_mix() { const char* mixing_codes = "ABCDHI"; byte mix_bits = 0; for (uint8_t i = 0; i < MIXING_STEPPERS; i++) { if (parser.seenval(mixing_codes[i])) { SBI(mix_bits, i); float v = parser.value_float(); NOLESS(v, 0.0); mixing_factor[i] = RECIPROCAL(v); } } // If any mixing factors were included, clear the rest // If none were included, preserve the last mix if (mix_bits) { for (uint8_t i = 0; i < MIXING_STEPPERS; i++) if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0; normalize_mix(); } } #endif #endif /** * *************************************************************************** * ***************************** G-CODE HANDLING ***************************** * *************************************************************************** */ /** * 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) /** * Output a "busy" message at regular intervals * while the machine is not accepting commands. */ void host_keepalive() { const millis_t ms = millis(); if (host_keepalive_interval && busy_state != NOT_BUSY) { if (PENDING(ms, next_busy_signal_ms)) return; switch (busy_state) { case IN_HANDLER: case IN_PROCESS: SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING); break; case PAUSED_FOR_USER: SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER); break; case PAUSED_FOR_INPUT: SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT); break; default: break; } } next_busy_signal_ms = ms + host_keepalive_interval * 1000UL; } #endif // HOST_KEEPALIVE_FEATURE /************************************************** ***************** 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(); time += previous_cmd_ms; while (PENDING(millis(), time)) idle(); } #include "gcode/motion/G4.h" #if ENABLED(BEZIER_CURVE_SUPPORT) #include "gcode/motion/G5.h" #endif #if ENABLED(FWRETRACT) #include "gcode/feature/fwretract/G10_G11.h" #endif #if ENABLED(NOZZLE_CLEAN_FEATURE) #include "gcode/feature/clean/G12.h" #endif #if ENABLED(CNC_WORKSPACE_PLANES) #include "gcode/feature/clean/G17-G19.h" #endif #if ENABLED(INCH_MODE_SUPPORT) #include "gcode/units/G20_G21.h" #endif #if ENABLED(UBL_G26_MESH_VALIDATION) #include "gcode/calibrate/G26.h" #endif #if ENABLED(NOZZLE_PARK_FEATURE) #include "gcode/feature/pause/G27.h" #endif #if ENABLED(PROBE_MANUALLY) bool g29_in_progress = false; #else constexpr bool g29_in_progress = false; #endif #include "gcode/calibrate/G28.h" void home_all_axes() { gcode_G28(true); } #if HAS_PROBING_PROCEDURE void out_of_range_error(const char* p_edge) { SERIAL_PROTOCOLPGM("?Probe "); serialprintPGM(p_edge); SERIAL_PROTOCOLLNPGM(" position out of range."); } #endif #include "gcode/calibrate/G29.h" #if HAS_BED_PROBE #include "gcode/probe/G30.h" #if ENABLED(Z_PROBE_SLED) #include "gcode/probe/G31_G32.h" #endif #endif #if PROBE_SELECTED && ENABLED(DELTA_AUTO_CALIBRATION) #include "gcode/calibrate/G33.h" #endif #if ENABLED(G38_PROBE_TARGET) #include "gcode/probe/G38.h" #endif #if HAS_MESH #include "gcode/probe/G42.h" #endif #include "gcode/geometry/G92.h" #if HAS_RESUME_CONTINUE #include "gcode/lcd/M0_M1.h" #endif #if ENABLED(SPINDLE_LASER_ENABLE) #include "gcode/control/M3-M5.h" #endif #include "gcode/control/M17.h" #if ENABLED(ADVANCED_PAUSE_FEATURE) // For M125, M600, M24 #include "gcode/feature/pause/common.h" #endif #if ENABLED(SDSUPPORT) #include "gcode/sdcard/M20.h" // M20 - List SD card. (Requires SDSUPPORT) #include "gcode/sdcard/M21.h" // M21 - Init SD card. (Requires SDSUPPORT) #include "gcode/sdcard/M22.h" // M22 - Release SD card. (Requires SDSUPPORT) #include "gcode/sdcard/M23.h" // M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) #include "gcode/sdcard/M24.h" // M24 - Start/resume SD print. (Requires SDSUPPORT) #include "gcode/sdcard/M25.h" // M25 - Pause SD print. (Requires SDSUPPORT) #include "gcode/sdcard/M26.h" // M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) #include "gcode/sdcard/M27.h" // M27 - Report SD print status. (Requires SDSUPPORT) #include "gcode/sdcard/M28.h" // M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) #include "gcode/sdcard/M29.h" // M29 - Stop SD write. (Requires SDSUPPORT) #include "gcode/sdcard/M30.h" // M30 - Delete file from SD: "M30 /path/file.gco" #endif #include "gcode/stats/M31.h" // M31: Get the time since the start of SD Print (or last M109) #if ENABLED(SDSUPPORT) #include "gcode/sdcard/M32.h" #if ENABLED(LONG_FILENAME_HOST_SUPPORT) #include "gcode/sdcard/M33.h" #endif #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE) #include "gcode/sdcard/M34.h" #endif #include "gcode/sdcard/M928.h" #endif /** * Sensitive pin test for M42, M226 */ static bool pin_is_protected(const int8_t pin) { static const int8_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) if (pin == (int8_t)pgm_read_byte(&sensitive_pins[i])) return true; return false; } #include "gcode/control/M42.h" #if ENABLED(PINS_DEBUGGING) #include "gcode/config/M43.h" #endif #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) #include "gcode/calibrate/M48.h" #endif #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) #include "gcode/calibrate/M49.h" #endif #include "gcode/stats/M75.h" #include "gcode/stats/M76.h" #include "gcode/stats/M77.h" #if ENABLED(PRINTCOUNTER) #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, #if ENABLED(SHOW_TEMP_ADC_VALUES) const float r, #endif const int8_t e=-2 ) { #if !(HAS_TEMP_BED && HAS_TEMP_HOTEND) && HOTENDS <= 1 UNUSED(e); #endif SERIAL_PROTOCOLCHAR(' '); SERIAL_PROTOCOLCHAR( #if HAS_TEMP_BED && HAS_TEMP_HOTEND e == -1 ? 'B' : 'T' #elif HAS_TEMP_HOTEND 'T' #else 'B' #endif ); #if HOTENDS > 1 if (e >= 0) SERIAL_PROTOCOLCHAR('0' + e); #endif SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOL(c); SERIAL_PROTOCOLPAIR(" /" , t); #if ENABLED(SHOW_TEMP_ADC_VALUES) SERIAL_PROTOCOLPAIR(" (", r / OVERSAMPLENR); SERIAL_PROTOCOLCHAR(')'); #endif } void print_heaterstates() { #if HAS_TEMP_HOTEND print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder) #if ENABLED(SHOW_TEMP_ADC_VALUES) , thermalManager.rawHotendTemp(target_extruder) #endif ); #endif #if HAS_TEMP_BED print_heater_state(thermalManager.degBed(), thermalManager.degTargetBed(), #if ENABLED(SHOW_TEMP_ADC_VALUES) thermalManager.rawBedTemp(), #endif -1 // BED ); #endif #if HOTENDS > 1 HOTEND_LOOP() print_heater_state(thermalManager.degHotend(e), thermalManager.degTargetHotend(e), #if ENABLED(SHOW_TEMP_ADC_VALUES) thermalManager.rawHotendTemp(e), #endif e ); #endif SERIAL_PROTOCOLPGM(" @:"); SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder)); #if HAS_TEMP_BED SERIAL_PROTOCOLPGM(" B@:"); SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1)); #endif #if HOTENDS > 1 HOTEND_LOOP() { SERIAL_PROTOCOLPAIR(" @", e); SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOL(thermalManager.getHeaterPower(e)); } #endif } #endif // HAS_TEMP_HOTEND || HAS_TEMP_BED #include "gcode/temperature/M105.h" #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED) static uint8_t auto_report_temp_interval; static millis_t next_temp_report_ms; inline void auto_report_temperatures() { if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) { next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval; print_heaterstates(); SERIAL_EOL(); } } #include "gcode/temperature/M155.h" #endif // AUTO_REPORT_TEMPERATURES && (HAS_TEMP_HOTEND || HAS_TEMP_BED) #if FAN_COUNT > 0 #include "gcode/temperature/M106.h" #include "gcode/temperature/M107.h" #endif #if DISABLED(EMERGENCY_PARSER) #include "gcode/control/M108.h" #include "gcode/control/M112.h" #include "gcode/control/M410.h" #endif #include "gcode/temperature/M109.h" #if HAS_TEMP_BED #include "gcode/temperature/M190.h" #endif #include "gcode/host/M110.h" #include "gcode/control/M111.h" #if ENABLED(HOST_KEEPALIVE_FEATURE) #include "gcode/host/M113.h" #endif #if ENABLED(BARICUDA) #if HAS_HEATER_1 #include "gcode/feature/baricuda/M126.h" #include "gcode/feature/baricuda/M127.h" #endif #if HAS_HEATER_2 #include "gcode/feature/baricuda/M128.h" #include "gcode/feature/baricuda/M129.h" #endif #endif #include "gcode/temperature/M140.h" #if ENABLED(ULTIPANEL) #include "gcode/lcd/M145.h" #endif #if ENABLED(TEMPERATURE_UNITS_SUPPORT) #include "gcode/units/M149.h" #endif #if HAS_POWER_SWITCH #include "gcode/control/M80.h" #endif #include "gcode/control/M81.h" #include "gcode/units/M82_M83.h" #include "gcode/control/M18_M84.h" #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) #include "gcode/calibrate/M100.h" #endif /** * Output the current position to serial */ void report_current_position() { SERIAL_PROTOCOLPGM("X:"); SERIAL_PROTOCOL(current_position[X_AXIS]); SERIAL_PROTOCOLPGM(" Y:"); SERIAL_PROTOCOL(current_position[Y_AXIS]); SERIAL_PROTOCOLPGM(" Z:"); SERIAL_PROTOCOL(current_position[Z_AXIS]); SERIAL_PROTOCOLPGM(" E:"); SERIAL_PROTOCOL(current_position[E_AXIS]); stepper.report_positions(); #if IS_SCARA SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS)); SERIAL_PROTOCOLLNPAIR(" Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS)); SERIAL_EOL(); #endif } #include "gcode/host/M114.h" #include "gcode/host/M115.h" #include "gcode/lcd/M117.h" #include "gcode/host/M118.h" #include "gcode/host/M119.h" #include "gcode/control/M120_M121.h" #if ENABLED(PARK_HEAD_ON_PAUSE) #include "gcode/feature/pause/M125.h" #endif #if HAS_COLOR_LEDS #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 #include "gcode/config/M202.h" #endif #include "gcode/config/M203.h" #include "gcode/config/M204.h" #include "gcode/config/M205.h" #if HAS_M206_COMMAND #include "gcode/geometry/M206.h" #endif #if IS_KINEMATIC #include "gcode/calibrate/M665.h" #endif #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS) #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" #if ENABLED(EXPERIMENTAL_I2CBUS) #include "gcode/feature/i2c/M260_M261.h" #endif #if HAS_SERVOS #include "gcode/control/M280.h" #endif #if HAS_BUZZER #include "gcode/lcd/M300.h" #endif #if ENABLED(PIDTEMP) #include "gcode/config/M301.h" #endif #if ENABLED(PIDTEMPBED) #include "gcode/config/M304.h" #endif #if defined(CHDK) || HAS_PHOTOGRAPH #include "gcode/control/M240.h" #endif #if HAS_LCD_CONTRAST #include "gcode/control/M250.h" #endif #if ENABLED(PREVENT_COLD_EXTRUSION) #include "gcode/config/M302.h" #endif #include "gcode/temperature/M303.h" #if ENABLED(MORGAN_SCARA) #include "gcode/scara/M360-M364.h" #endif #if ENABLED(EXT_SOLENOID) #include "gcode/control/M380_M381.h" #endif #include "gcode/control/M400.h" #if HAS_BED_PROBE #include "gcode/probe/M401_M402.h" #endif #if ENABLED(FILAMENT_WIDTH_SENSOR) #include "gcode/sensor/M404.h" #include "gcode/sensor/M405.h" #include "gcode/sensor/M406.h" #include "gcode/sensor/M407.h" #endif void quickstop_stepper() { stepper.quick_stop(); stepper.synchronize(); set_current_from_steppers_for_axis(ALL_AXES); SYNC_PLAN_POSITION_KINEMATIC(); } #if HAS_LEVELING #include "gcode/calibrate/M420.h" #include "gcode/calibrate/M421.h" #endif #if HAS_M206_COMMAND #include "gcode/geometry/M428.h" #endif #include "gcode/eeprom/M500.h" #include "gcode/eeprom/M501.h" #include "gcode/eeprom/M502.h" #if DISABLED(DISABLE_M503) #include "gcode/eeprom/M503.h" #endif #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) #include "gcode/config/M540.h" #endif #if HAS_BED_PROBE #include "gcode/probe/M851.h" #endif #if ENABLED(ADVANCED_PAUSE_FEATURE) #include "gcode/feature/pause/M600.h" #endif #if ENABLED(MK2_MULTIPLEXER) #include "gcode/feature/snmm/M702.h" #endif #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) #include "gcode/control/M605.h" #endif #if ENABLED(LIN_ADVANCE) #include "gcode/feature/advance/M900.h" #endif #if ENABLED(HAVE_TMC2130) #include "feature/tmc2130.h" #include "gcode/feature/trinamic/M906.h" #include "gcode/feature/trinamic/M911.h" #include "gcode/feature/trinamic/M912.h" #if ENABLED(HYBRID_THRESHOLD) #include "gcode/feature/trinamic/M913.h" #endif #if ENABLED(SENSORLESS_HOMING) #include "gcode/feature/trinamic/M914.h" #endif #endif #include "gcode/feature/digipot/M907.h" #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT) #include "gcode/feature/digipot/M908.h" #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF #include "gcode/feature/digipot/M909.h" #include "gcode/feature/digipot/M910.h" #endif #endif #if HAS_MICROSTEPS #include "gcode/control/M350.h" #include "gcode/control/M351.h" #endif #include "gcode/feature/caselight/M355.h" #if ENABLED(MIXING_EXTRUDER) #include "gcode/feature/mixing/M163.h" #if MIXING_VIRTUAL_TOOLS > 1 #include "gcode/feature/mixing/M164.h" #endif #if ENABLED(DIRECT_MIXING_IN_G1) #include "gcode/feature/mixing/M165.h" #endif #endif #include "gcode/control/M999.h" #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 Line number of the command, if any * P Planner space remaining * B 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) #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A] #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A] #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y #define ABL_BG_GRID(X,Y) z_values_virt[X][Y] #else #define ABL_BG_SPACING(A) bilinear_grid_spacing[A] #define ABL_BG_FACTOR(A) bilinear_grid_factor[A] #define ABL_BG_POINTS_X GRID_MAX_POINTS_X #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y #define ABL_BG_GRID(X,Y) z_values[X][Y] #endif // Get the Z adjustment for non-linear bed leveling float bilinear_z_offset(const float logical[XYZ]) { static float z1, d2, z3, d4, L, D, ratio_x, ratio_y, last_x = -999.999, last_y = -999.999; // Whole units for the grid line indices. Constrained within bounds. static int8_t gridx, gridy, nextx, nexty, last_gridx = -99, last_gridy = -99; // XY relative to the probed area const float x = RAW_X_POSITION(logical[X_AXIS]) - bilinear_start[X_AXIS], y = RAW_Y_POSITION(logical[Y_AXIS]) - bilinear_start[Y_AXIS]; #if ENABLED(EXTRAPOLATE_BEYOND_GRID) // Keep using the last grid box #define FAR_EDGE_OR_BOX 2 #else // Just use the grid far edge #define FAR_EDGE_OR_BOX 1 #endif if (last_x != x) { last_x = x; ratio_x = x * ABL_BG_FACTOR(X_AXIS); const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - FAR_EDGE_OR_BOX); ratio_x -= gx; // Subtract whole to get the ratio within the grid box #if DISABLED(EXTRAPOLATE_BEYOND_GRID) // Beyond the grid maintain height at grid edges NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.) #endif gridx = gx; nextx = min(gridx + 1, ABL_BG_POINTS_X - 1); } if (last_y != y || last_gridx != gridx) { if (last_y != y) { last_y = y; ratio_y = y * ABL_BG_FACTOR(Y_AXIS); const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - FAR_EDGE_OR_BOX); ratio_y -= gy; #if DISABLED(EXTRAPOLATE_BEYOND_GRID) // Beyond the grid maintain height at grid edges NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.) #endif gridy = gy; nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1); } if (last_gridx != gridx || last_gridy != gridy) { last_gridx = gridx; last_gridy = gridy; // Z at the box corners z1 = ABL_BG_GRID(gridx, gridy); // left-front d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta) z3 = ABL_BG_GRID(nextx, gridy); // right-front d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta) } // Bilinear interpolate. Needed since y or gridx has changed. L = z1 + d2 * ratio_y; // Linear interp. LF -> LB const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB D = R - L; } const float offset = L + ratio_x * D; // the offset almost always changes /* static float last_offset = 0; if (FABS(last_offset - offset) > 0.2) { SERIAL_ECHOPGM("Sudden Shift at "); SERIAL_ECHOPAIR("x=", x); SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]); SERIAL_ECHOLNPAIR(" -> gridx=", gridx); SERIAL_ECHOPAIR(" y=", y); SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]); SERIAL_ECHOLNPAIR(" -> gridy=", gridy); SERIAL_ECHOPAIR(" ratio_x=", ratio_x); SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y); SERIAL_ECHOPAIR(" z1=", z1); SERIAL_ECHOPAIR(" z2=", z2); SERIAL_ECHOPAIR(" z3=", z3); SERIAL_ECHOLNPAIR(" z4=", z4); SERIAL_ECHOPAIR(" L=", L); SERIAL_ECHOPAIR(" R=", R); SERIAL_ECHOLNPAIR(" offset=", offset); } last_offset = offset; //*/ return offset; } #endif // AUTO_BED_LEVELING_BILINEAR #if ENABLED(DELTA) /** * Recalculate factors used for delta kinematics whenever * settings have been changed (e.g., by M665). */ void recalc_delta_settings(float radius, float diagonal_rod) { const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER, drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER; delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]); delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]); delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]); delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]); } #if ENABLED(DELTA_FAST_SQRT) && defined(ARDUINO_ARCH_AVR) /** * Fast inverse sqrt from Quake III Arena * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root */ float Q_rsqrt(float number) { long i; float x2, y; const float threehalfs = 1.5f; x2 = number * 0.5f; y = number; i = * ( long * ) &y; // evil floating point bit level hacking i = 0x5F3759DF - ( i >> 1 ); // what the f***? y = * ( float * ) &i; y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration // y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed return y; } #define _SQRT(n) (1.0f / Q_rsqrt(n)) #else #define _SQRT(n) SQRT(n) #endif /** * Delta Inverse Kinematics * * Calculate the tower positions for a given logical * position, storing the result in the delta[] array. * * This is an expensive calculation, requiring 3 square * roots per segmented linear move, and strains the limits * of a Mega2560 with a Graphical Display. * * Suggested optimizations include: * * - Disable the home_offset (M206) and/or position_shift (G92) * features to remove up to 12 float additions. * * - Use a fast-inverse-sqrt function and add the reciprocal. * (see above) */ // Macro to obtain the Z position of an individual tower #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \ delta_diagonal_rod_2_tower[T] - HYPOT2( \ delta_tower[T][X_AXIS] - raw[X_AXIS], \ delta_tower[T][Y_AXIS] - raw[Y_AXIS] \ ) \ ) #define DELTA_RAW_IK() do { \ delta[A_AXIS] = DELTA_Z(A_AXIS); \ delta[B_AXIS] = DELTA_Z(B_AXIS); \ delta[C_AXIS] = DELTA_Z(C_AXIS); \ }while(0) #define DELTA_LOGICAL_IK() do { \ const float raw[XYZ] = { \ RAW_X_POSITION(logical[X_AXIS]), \ RAW_Y_POSITION(logical[Y_AXIS]), \ RAW_Z_POSITION(logical[Z_AXIS]) \ }; \ DELTA_RAW_IK(); \ }while(0) #define DELTA_DEBUG() do { \ SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \ SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]); \ SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]); \ SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]); \ SERIAL_ECHOPAIR(" B:", delta[B_AXIS]); \ SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]); \ }while(0) void inverse_kinematics(const float logical[XYZ]) { DELTA_LOGICAL_IK(); // DELTA_DEBUG(); } /** * Calculate the highest Z position where the * effector has the full range of XY motion. */ float delta_safe_distance_from_top() { float cartesian[XYZ] = { LOGICAL_X_POSITION(0), LOGICAL_Y_POSITION(0), LOGICAL_Z_POSITION(0) }; inverse_kinematics(cartesian); float distance = delta[A_AXIS]; cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS); inverse_kinematics(cartesian); return FABS(distance - delta[A_AXIS]); } /** * Delta Forward Kinematics * * See the Wikipedia article "Trilateration" * https://en.wikipedia.org/wiki/Trilateration * * Establish a new coordinate system in the plane of the * three carriage points. This system has its origin at * tower1, with tower2 on the X axis. Tower3 is in the X-Y * plane with a Z component of zero. * We will define unit vectors in this coordinate system * in our original coordinate system. Then when we calculate * the Xnew, Ynew and Znew values, we can translate back into * the original system by moving along those unit vectors * by the corresponding values. * * Variable names matched to Marlin, c-version, and avoid the * use of any vector library. * * by Andreas Hardtung 2016-06-07 * based on a Java function from "Delta Robot Kinematics V3" * by Steve Graves * * The result is stored in the cartes[] array. */ void forward_kinematics_DELTA(float z1, float z2, float z3) { // Create a vector in old coordinates along x axis of new coordinate float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 }; // Get the Magnitude of vector. float d = SQRT( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) ); // Create unit vector by dividing by magnitude. float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d }; // Get the vector from the origin of the new system to the third point. float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 }; // Use the dot product to find the component of this vector on the X axis. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2]; // Create a vector along the x axis that represents the x component of p13. float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i }; // Subtract the X component from the original vector leaving only Y. We use the // variable that will be the unit vector after we scale it. float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] }; // The magnitude of Y component float j = SQRT( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) ); // Convert to a unit vector ey[0] /= j; ey[1] /= j; ey[2] /= j; // The cross product of the unit x and y is the unit z // float[] ez = vectorCrossProd(ex, ey); float ez[3] = { ex[1] * ey[2] - ex[2] * ey[1], ex[2] * ey[0] - ex[0] * ey[2], ex[0] * ey[1] - ex[1] * ey[0] }; // We now have the d, i and j values defined in Wikipedia. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2), Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j, Znew = SQRT(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew)); // Start from the origin of the old coordinates and add vectors in the // old coords that represent the Xnew, Ynew and Znew to find the point // in the old system. cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew; cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew; cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew; } void forward_kinematics_DELTA(float point[ABC]) { forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]); } #endif // DELTA /** * Get the stepper positions in the cartes[] array. * Forward kinematics are applied for DELTA and SCARA. * * The result is in the current coordinate space with * leveling applied. The coordinates need to be run through * unapply_leveling to obtain the "ideal" coordinates * suitable for current_position, etc. */ void get_cartesian_from_steppers() { #if ENABLED(DELTA) forward_kinematics_DELTA( stepper.get_axis_position_mm(A_AXIS), stepper.get_axis_position_mm(B_AXIS), stepper.get_axis_position_mm(C_AXIS) ); cartes[X_AXIS] += LOGICAL_X_POSITION(0); cartes[Y_AXIS] += LOGICAL_Y_POSITION(0); cartes[Z_AXIS] += LOGICAL_Z_POSITION(0); #elif IS_SCARA forward_kinematics_SCARA( stepper.get_axis_position_degrees(A_AXIS), stepper.get_axis_position_degrees(B_AXIS) ); cartes[X_AXIS] += LOGICAL_X_POSITION(0); cartes[Y_AXIS] += LOGICAL_Y_POSITION(0); cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); #else cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS); cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); #endif } /** * Set the current_position for an axis based on * the stepper positions, removing any leveling that * may have been applied. */ void set_current_from_steppers_for_axis(const AxisEnum axis) { get_cartesian_from_steppers(); #if PLANNER_LEVELING planner.unapply_leveling(cartes); #endif if (axis == ALL_AXES) COPY(current_position, cartes); else 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() { static millis_t lastMotorOn = 0, // Last time a motor was turned on nextMotorCheck = 0; // Last time the state was checked const millis_t ms = millis(); if (ELAPSED(ms, nextMotorCheck)) { nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_amount_bed > 0 || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled... #if E_STEPPERS > 1 || E1_ENABLE_READ == E_ENABLE_ON #if HAS_X2_ENABLE || X2_ENABLE_READ == X_ENABLE_ON #endif #if E_STEPPERS > 2 || E2_ENABLE_READ == E_ENABLE_ON #if E_STEPPERS > 3 || E3_ENABLE_READ == E_ENABLE_ON #if E_STEPPERS > 4 || E4_ENABLE_READ == E_ENABLE_ON #endif // E_STEPPERS > 4 #endif // E_STEPPERS > 3 #endif // E_STEPPERS > 2 #endif // E_STEPPERS > 1 ) { lastMotorOn = ms; //... set time to NOW so the fan will turn on } // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED; // allows digital or PWM fan output to be used (see M42 handling) WRITE(CONTROLLER_FAN_PIN, speed); analogWrite(CONTROLLER_FAN_PIN, speed); } } #endif // USE_CONTROLLER_FAN #if ENABLED(MORGAN_SCARA) /** * Morgan SCARA Forward Kinematics. Results in cartes[]. * Maths and first version by QHARLEY. * Integrated into Marlin and slightly restructured by Joachim Cerny. */ void forward_kinematics_SCARA(const float &a, const float &b) { float a_sin = sin(RADIANS(a)) * L1, a_cos = cos(RADIANS(a)) * L1, b_sin = sin(RADIANS(b)) * L2, b_cos = cos(RADIANS(b)) * L2; cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi /* SERIAL_ECHOPAIR("SCARA FK Angle a=", a); SERIAL_ECHOPAIR(" b=", b); SERIAL_ECHOPAIR(" a_sin=", a_sin); SERIAL_ECHOPAIR(" a_cos=", a_cos); SERIAL_ECHOPAIR(" b_sin=", b_sin); SERIAL_ECHOLNPAIR(" b_cos=", b_cos); SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]); SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]); //*/ } /** * Morgan SCARA Inverse Kinematics. Results in delta[]. * * See http://forums.reprap.org/read.php?185,283327 * * Maths and first version by QHARLEY. * Integrated into Marlin and slightly restructured by Joachim Cerny. */ void inverse_kinematics(const float logical[XYZ]) { static float C2, S2, SK1, SK2, THETA, PSI; float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X, // Translate SCARA to standard X Y sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y; // With scaling factor. if (L1 == L2) C2 = HYPOT2(sx, sy) / L1_2_2 - 1; else C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2); S2 = SQRT(1 - sq(C2)); // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End SK1 = L1 + L2 * C2; // Rotated Arm2 gives the distance from Arm1 to Arm2 SK2 = L2 * S2; // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow THETA = ATAN2(SK1, SK2) - ATAN2(sx, sy); // Angle of Arm2 PSI = ATAN2(S2, C2); delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor) delta[C_AXIS] = logical[Z_AXIS]; /* DEBUG_POS("SCARA IK", logical); DEBUG_POS("SCARA IK", delta); SERIAL_ECHOPAIR(" SCARA (x,y) ", sx); SERIAL_ECHOPAIR(",", sy); SERIAL_ECHOPAIR(" C2=", C2); SERIAL_ECHOPAIR(" S2=", S2); SERIAL_ECHOPAIR(" Theta=", THETA); SERIAL_ECHOLNPAIR(" Phi=", PHI); //*/ } #endif // MORGAN_SCARA #if ENABLED(TEMP_STAT_LEDS) static bool red_led = false; static millis_t next_status_led_update_ms = 0; void handle_status_leds(void) { if (ELAPSED(millis(), next_status_led_update_ms)) { next_status_led_update_ms += 500; // Update every 0.5s float max_temp = 0.0; #if HAS_TEMP_BED max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed()); #endif HOTEND_LOOP() max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e)); const bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led; if (new_led != red_led) { red_led = new_led; #if PIN_EXISTS(STAT_LED_RED) WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW); #if PIN_EXISTS(STAT_LED_BLUE) WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH); #endif #else WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW); #endif } } } #endif #if ENABLED(FILAMENT_RUNOUT_SENSOR) void handle_filament_runout() { if (!filament_ran_out) { filament_ran_out = true; enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT)); stepper.synchronize(); } } #endif // FILAMENT_RUNOUT_SENSOR float calculate_volumetric_multiplier(const float diameter) { if (!volumetric_enabled || diameter == 0) return 1.0; return 1.0 / (M_PI * sq(diameter * 0.5)); } void calculate_volumetric_multipliers() { for (uint8_t i = 0; i < COUNT(filament_size); i++) volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]); } void enable_all_steppers() { enable_X(); enable_Y(); enable_Z(); enable_E0(); enable_E1(); enable_E2(); enable_E3(); enable_E4(); } void disable_e_steppers() { disable_E0(); disable_E1(); disable_E2(); disable_E3(); disable_E4(); } void disable_all_steppers() { disable_X(); disable_Y(); disable_Z(); disable_e_steppers(); } /** * Manage several activities: * - Check for Filament Runout * - Keep the command buffer full * - Check for maximum inactive time between commands * - Check for maximum inactive time between stepper commands * - Check if pin CHDK needs to go LOW * - Check for KILL button held down * - Check for HOME button held down * - Check if cooling fan needs to be switched on * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT) */ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { #if ENABLED(FILAMENT_RUNOUT_SENSOR) if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING)) handle_filament_runout(); #endif if (commands_in_queue < BUFSIZE) get_available_commands(); const millis_t ms = millis(); if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) { SERIAL_ERROR_START(); SERIAL_ECHOLNPAIR(MSG_KILL_INACTIVE_TIME, parser.command_ptr); kill(PSTR(MSG_KILLED)); } // Prevent steppers timing-out in the middle of M600 #if ENABLED(ADVANCED_PAUSE_FEATURE) && ENABLED(PAUSE_PARK_NO_STEPPER_TIMEOUT) #define MOVE_AWAY_TEST !move_away_flag #else #define MOVE_AWAY_TEST true #endif if (MOVE_AWAY_TEST && stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time) && !ignore_stepper_queue && !planner.blocks_queued()) { #if ENABLED(DISABLE_INACTIVE_X) disable_X(); #endif #if ENABLED(DISABLE_INACTIVE_Y) disable_Y(); #endif #if ENABLED(DISABLE_INACTIVE_Z) disable_Z(); #endif #if ENABLED(DISABLE_INACTIVE_E) disable_e_steppers(); #endif #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD ubl_lcd_map_control = defer_return_to_status = false; #endif } #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH if (chdkActive && ELAPSED(ms, chdkHigh + CHDK_DELAY)) { chdkActive = false; WRITE(CHDK, LOW); } #endif #if HAS_KILL // Check if the kill button was pressed and wait just in case it was an accidental // key kill key press // ------------------------------------------------------------------------------- static int killCount = 0; // make the inactivity button a bit less responsive const int KILL_DELAY = 750; if (!READ(KILL_PIN)) killCount++; else if (killCount > 0) killCount--; // Exceeded threshold and we can confirm that it was not accidental // KILL the machine // ---------------------------------------------------------------- if (killCount >= KILL_DELAY) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_KILL_BUTTON); kill(PSTR(MSG_KILLED)); } #endif #if HAS_HOME // Check to see if we have to home, use poor man's debouncer // --------------------------------------------------------- static int homeDebounceCount = 0; // poor man's debouncing count const int HOME_DEBOUNCE_DELAY = 2500; if (!IS_SD_PRINTING && !READ(HOME_PIN)) { if (!homeDebounceCount) { enqueue_and_echo_commands_P(PSTR("G28")); LCD_MESSAGEPGM(MSG_AUTO_HOME); } if (homeDebounceCount < HOME_DEBOUNCE_DELAY) homeDebounceCount++; else homeDebounceCount = 0; } #endif #if ENABLED(USE_CONTROLLER_FAN) controllerFan(); // Check if fan should be turned on to cool stepper drivers down #endif #if ENABLED(EXTRUDER_RUNOUT_PREVENT) if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL) && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) { #if ENABLED(SWITCHING_EXTRUDER) const bool oldstatus = E0_ENABLE_READ; enable_E0(); #else // !SWITCHING_EXTRUDER bool oldstatus; switch (active_extruder) { default: oldstatus = E0_ENABLE_READ; enable_E0(); break; #if E_STEPPERS > 1 case 1: oldstatus = E1_ENABLE_READ; enable_E1(); break; #if E_STEPPERS > 2 case 2: oldstatus = E2_ENABLE_READ; enable_E2(); break; #if E_STEPPERS > 3 case 3: oldstatus = E3_ENABLE_READ; enable_E3(); break; #if E_STEPPERS > 4 case 4: oldstatus = E4_ENABLE_READ; enable_E4(); break; #endif // E_STEPPERS > 4 #endif // E_STEPPERS > 3 #endif // E_STEPPERS > 2 #endif // E_STEPPERS > 1 } #endif // !SWITCHING_EXTRUDER previous_cmd_ms = ms; // refresh_cmd_timeout() const float olde = current_position[E_AXIS]; current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE; planner.buffer_line_kinematic(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder); current_position[E_AXIS] = olde; planner.set_e_position_mm(olde); stepper.synchronize(); #if ENABLED(SWITCHING_EXTRUDER) E0_ENABLE_WRITE(oldstatus); #else switch (active_extruder) { case 0: E0_ENABLE_WRITE(oldstatus); break; #if E_STEPPERS > 1 case 1: E1_ENABLE_WRITE(oldstatus); break; #if E_STEPPERS > 2 case 2: E2_ENABLE_WRITE(oldstatus); break; #if E_STEPPERS > 3 case 3: E3_ENABLE_WRITE(oldstatus); break; #if E_STEPPERS > 4 case 4: E4_ENABLE_WRITE(oldstatus); break; #endif // E_STEPPERS > 4 #endif // E_STEPPERS > 3 #endif // E_STEPPERS > 2 #endif // E_STEPPERS > 1 } #endif // !SWITCHING_EXTRUDER } #endif // EXTRUDER_RUNOUT_PREVENT #if ENABLED(DUAL_X_CARRIAGE) // handle delayed move timeout if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) { // travel moves have been received so enact them delayed_move_time = 0xFFFFFFFFUL; // force moves to be done set_destination_to_current(); prepare_move_to_destination(); } #endif #if ENABLED(TEMP_STAT_LEDS) handle_status_leds(); #endif #if ENABLED(HAVE_TMC2130) tmc2130_checkOverTemp(); #endif planner.check_axes_activity(); } /** * Standard idle routine keeps the machine alive */ void idle( #if ENABLED(ADVANCED_PAUSE_FEATURE) bool no_stepper_sleep/*=false*/ #endif ) { #if ENABLED(MAX7219_DEBUG) Max7219_idle_tasks(); #endif // MAX7219_DEBUG lcd_update(); host_keepalive(); #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED) auto_report_temperatures(); #endif manage_inactivity( #if ENABLED(ADVANCED_PAUSE_FEATURE) no_stepper_sleep #endif ); thermalManager.manage_heater(); #if ENABLED(PRINTCOUNTER) print_job_timer.tick(); #endif #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER) buzzer.tick(); #endif #if ENABLED(I2C_POSITION_ENCODERS) if (planner.blocks_queued() && ( (blockBufferIndexRef != planner.block_buffer_head) || ((lastUpdateMillis + I2CPE_MIN_UPD_TIME_MS) < millis())) ) { blockBufferIndexRef = planner.block_buffer_head; I2CPEM.update(); lastUpdateMillis = millis(); } #endif } /** * Kill all activity and lock the machine. * After this the machine will need to be reset. */ void kill(const char* lcd_msg) { SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_ERR_KILLED); thermalManager.disable_all_heaters(); disable_all_steppers(); #if ENABLED(ULTRA_LCD) kill_screen(lcd_msg); #else UNUSED(lcd_msg); #endif _delay_ms(600); // Wait a short time (allows messages to get out before shutting down. cli(); // Stop interrupts _delay_ms(250); //Wait to ensure all interrupts routines stopped thermalManager.disable_all_heaters(); //turn off heaters again #ifdef ACTION_ON_KILL SERIAL_ECHOLNPGM("//action:" ACTION_ON_KILL); #endif #if HAS_POWER_SWITCH SET_INPUT(PS_ON_PIN); #endif suicide(); while (1) { #if ENABLED(USE_WATCHDOG) watchdog_reset(); #endif } // Wait for reset } /** * Turn off heaters and stop the print in progress * After a stop the machine may be resumed with M999 */ void stop() { thermalManager.disable_all_heaters(); // 'unpause' taken care of in here #if ENABLED(PROBING_FANS_OFF) if (fans_paused) fans_pause(false); // put things back the way they were #endif if (IsRunning()) { Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart SERIAL_ERROR_START(); SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); LCD_MESSAGEPGM(MSG_STOPPED); safe_delay(350); // allow enough time for messages to get out before stopping Running = false; } } /** * Marlin entry-point: Set up before the program loop * - Set up the kill pin, filament runout, power hold * - Start the serial port * - Print startup messages and diagnostics * - Get EEPROM or default settings * - Initialize managers for: * • temperature * • planner * • watchdog * • stepper * • photo pin * • servos * • LCD controller * • Digipot I2C * • Z probe sled * • status LEDs */ void setup() { #if ENABLED(MAX7219_DEBUG) Max7219_init(); #endif #ifdef DISABLE_JTAG // Disable JTAG on AT90USB chips to free up pins for IO MCUCR = 0x80; MCUCR = 0x80; #endif #if ENABLED(FILAMENT_RUNOUT_SENSOR) setup_filrunoutpin(); #endif setup_killpin(); setup_powerhold(); #if HAS_STEPPER_RESET disableStepperDrivers(); #endif MYSERIAL.begin(BAUDRATE); while(!MYSERIAL); SERIAL_PROTOCOLLNPGM("start"); SERIAL_ECHO_START(); // Check startup - does nothing if bootloader sets MCUSR to 0 byte mcu = HAL_get_reset_source(); if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP); if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET); if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET); if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET); if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET); HAL_clear_reset_source(); #if ENABLED(USE_WATCHDOG) //reinit watchdog after HAL_get_reset_source call watchdog_init(); #endif SERIAL_ECHOPGM(MSG_MARLIN); SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION); SERIAL_EOL(); #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR) SERIAL_ECHO_START(); SERIAL_ECHOPGM(MSG_CONFIGURATION_VER); SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE); SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR); SERIAL_ECHO_START(); SERIAL_ECHOLNPGM("Compiled: " __DATE__); #endif SERIAL_ECHO_START(); 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; // Load data from EEPROM if available (or use defaults) // This also updates variables in the planner, elsewhere (void)settings.load(); #if HAS_M206_COMMAND // Initialize current position based on home_offset COPY(current_position, home_offset); #else ZERO(current_position); #endif // Vital to init stepper/planner equivalent for current_position SYNC_PLAN_POSITION_KINEMATIC(); thermalManager.init(); // Initialize temperature loop stepper.init(); // Initialize stepper, this enables interrupts! servo_init(); #if HAS_PHOTOGRAPH OUT_WRITE(PHOTOGRAPH_PIN, LOW); #endif #if HAS_CASE_LIGHT case_light_on = CASE_LIGHT_DEFAULT_ON; case_light_brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS; update_case_light(); #endif #if ENABLED(SPINDLE_LASER_ENABLE) OUT_WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // init spindle to off #if SPINDLE_DIR_CHANGE OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR ? 255 : 0); // init rotation to clockwise (M3) #endif #if ENABLED(SPINDLE_LASER_PWM) && defined(SPINDLE_LASER_PWM_PIN) && SPINDLE_LASER_PWM_PIN >= 0 SET_OUTPUT(SPINDLE_LASER_PWM_PIN); analogWrite(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0); // set to lowest speed #endif #endif #if HAS_BED_PROBE endstops.enable_z_probe(false); #endif #if ENABLED(USE_CONTROLLER_FAN) SET_OUTPUT(CONTROLLER_FAN_PIN); //Set pin used for driver cooling fan #endif #if HAS_STEPPER_RESET enableStepperDrivers(); #endif #if ENABLED(DIGIPOT_I2C) digipot_i2c_init(); #endif #if ENABLED(DAC_STEPPER_CURRENT) dac_init(); #endif #if (ENABLED(Z_PROBE_SLED) || ENABLED(SOLENOID_PROBE)) && HAS_SOLENOID_1 OUT_WRITE(SOL1_PIN, LOW); // turn it off #endif #if HAS_HOME SET_INPUT_PULLUP(HOME_PIN); #endif #if PIN_EXISTS(STAT_LED_RED) OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off #endif #if PIN_EXISTS(STAT_LED_BLUE) OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off #endif #if ENABLED(NEOPIXEL_RGBW_LED) SET_OUTPUT(NEOPIXEL_PIN); setup_neopixel(); #endif #if ENABLED(RGB_LED) || ENABLED(RGBW_LED) SET_OUTPUT(RGB_LED_R_PIN); SET_OUTPUT(RGB_LED_G_PIN); SET_OUTPUT(RGB_LED_B_PIN); #if ENABLED(RGBW_LED) SET_OUTPUT(RGB_LED_W_PIN); #endif #endif #if ENABLED(MK2_MULTIPLEXER) SET_OUTPUT(E_MUX0_PIN); SET_OUTPUT(E_MUX1_PIN); SET_OUTPUT(E_MUX2_PIN); #endif #if HAS_FANMUX fanmux_init(); #endif lcd_init(); #ifndef CUSTOM_BOOTSCREEN_TIMEOUT #define CUSTOM_BOOTSCREEN_TIMEOUT 2500 #endif #if ENABLED(SHOW_BOOTSCREEN) #if ENABLED(DOGLCD) // On DOGM the first bootscreen is already drawn #if ENABLED(SHOW_CUSTOM_BOOTSCREEN) safe_delay(CUSTOM_BOOTSCREEN_TIMEOUT); // Custom boot screen pause lcd_bootscreen(); // Show Marlin boot screen #endif safe_delay(BOOTSCREEN_TIMEOUT); // Pause #elif ENABLED(ULTRA_LCD) lcd_bootscreen(); #if DISABLED(SDSUPPORT) lcd_init(); #endif #endif #endif #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1 // Initialize mixing to 100% color 1 for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] = (i == 0) ? 1.0 : 0.0; for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++) for (uint8_t i = 0; i < MIXING_STEPPERS; i++) mixing_virtual_tool_mix[t][i] = mixing_factor[i]; #endif #if ENABLED(BLTOUCH) // Make sure any BLTouch error condition is cleared bltouch_command(BLTOUCH_RESET); set_bltouch_deployed(true); set_bltouch_deployed(false); #endif #if ENABLED(I2C_POSITION_ENCODERS) I2CPEM.init(); #endif #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0 i2c.onReceive(i2c_on_receive); i2c.onRequest(i2c_on_request); #endif #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) setup_endstop_interrupts(); #endif #if ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH move_extruder_servo(0); // Initialize extruder servo #endif #if ENABLED(SWITCHING_NOZZLE) move_nozzle_servo(0); // Initialize nozzle servo #endif #if ENABLED(PARKING_EXTRUDER) #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) pe_activate_magnet(0); pe_activate_magnet(1); #else pe_deactivate_magnet(0); pe_deactivate_magnet(1); #endif #endif } /** * The main Marlin program loop * * - Save or log commands to SD * - Process available commands (if not saving) * - Call heater manager * - Call inactivity manager * - Call endstop manager * - Call LCD update */ void loop() { if (commands_in_queue < BUFSIZE) get_available_commands(); #if ENABLED(SDSUPPORT) card.checkautostart(false); #endif if (commands_in_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(); }