Scott Lahteine
7 years ago
162 changed files with 12052 additions and 336 deletions
@ -0,0 +1,27 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_G26() { |
|||
|
|||
ubl.G26(); |
|||
|
|||
} |
|||
@ -0,0 +1,324 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "common.h" |
|||
|
|||
#if HOTENDS > 1 |
|||
#include "../control/tool_change.h" |
|||
#endif |
|||
|
|||
#if ENABLED(QUICK_HOME) |
|||
|
|||
static void quick_home_xy() { |
|||
|
|||
// Pretend the current position is 0,0
|
|||
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; |
|||
sync_plan_position(); |
|||
|
|||
const int x_axis_home_dir = |
|||
#if ENABLED(DUAL_X_CARRIAGE) |
|||
x_home_dir(active_extruder) |
|||
#else |
|||
home_dir(X_AXIS) |
|||
#endif |
|||
; |
|||
|
|||
const float mlx = max_length(X_AXIS), |
|||
mly = max_length(Y_AXIS), |
|||
mlratio = mlx > mly ? mly / mlx : mlx / mly, |
|||
fr_mm_s = min(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); |
|||
|
|||
do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s); |
|||
endstops.hit_on_purpose(); // clear endstop hit flags
|
|||
current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; |
|||
} |
|||
|
|||
#endif // QUICK_HOME
|
|||
|
|||
#if ENABLED(Z_SAFE_HOMING) |
|||
|
|||
inline void home_z_safely() { |
|||
|
|||
// Disallow Z homing if X or Y are unknown
|
|||
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) { |
|||
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING); |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING); |
|||
return; |
|||
} |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>"); |
|||
#endif |
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
/**
|
|||
* Move the Z probe (or just the nozzle) to the safe homing point |
|||
*/ |
|||
destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT); |
|||
destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT); |
|||
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
|
|||
|
|||
#if HOMING_Z_WITH_PROBE |
|||
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER; |
|||
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER; |
|||
#endif |
|||
|
|||
if (position_is_reachable_xy(destination[X_AXIS], destination[Y_AXIS])) { |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination); |
|||
#endif |
|||
|
|||
// This causes the carriage on Dual X to unpark
|
|||
#if ENABLED(DUAL_X_CARRIAGE) |
|||
active_extruder_parked = false; |
|||
#endif |
|||
|
|||
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]); |
|||
HOMEAXIS(Z); |
|||
} |
|||
else { |
|||
LCD_MESSAGEPGM(MSG_ZPROBE_OUT); |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT); |
|||
} |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING"); |
|||
#endif |
|||
} |
|||
|
|||
#endif // Z_SAFE_HOMING
|
|||
|
|||
/**
|
|||
* G28: Home all axes according to settings |
|||
* |
|||
* Parameters |
|||
* |
|||
* None Home to all axes with no parameters. |
|||
* With QUICK_HOME enabled XY will home together, then Z. |
|||
* |
|||
* Cartesian parameters |
|||
* |
|||
* X Home to the X endstop |
|||
* Y Home to the Y endstop |
|||
* Z Home to the Z endstop |
|||
* |
|||
*/ |
|||
void gcode_G28(const bool always_home_all) { |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOLNPGM(">>> gcode_G28"); |
|||
log_machine_info(); |
|||
} |
|||
#endif |
|||
|
|||
// Wait for planner moves to finish!
|
|||
stepper.synchronize(); |
|||
|
|||
// Cancel the active G29 session
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
g29_in_progress = false; |
|||
#endif |
|||
|
|||
// Disable the leveling matrix before homing
|
|||
#if HAS_LEVELING |
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) |
|||
const bool ubl_state_at_entry = leveling_is_active(); |
|||
#endif |
|||
set_bed_leveling_enabled(false); |
|||
#endif |
|||
|
|||
#if ENABLED(CNC_WORKSPACE_PLANES) |
|||
workspace_plane = PLANE_XY; |
|||
#endif |
|||
|
|||
// Always home with tool 0 active
|
|||
#if HOTENDS > 1 |
|||
const uint8_t old_tool_index = active_extruder; |
|||
tool_change(0, 0, true); |
|||
#endif |
|||
|
|||
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) |
|||
extruder_duplication_enabled = false; |
|||
#endif |
|||
|
|||
setup_for_endstop_or_probe_move(); |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)"); |
|||
#endif |
|||
endstops.enable(true); // Enable endstops for next homing move
|
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
home_delta(); |
|||
UNUSED(always_home_all); |
|||
|
|||
#else // NOT DELTA
|
|||
|
|||
const bool homeX = always_home_all || parser.seen('X'), |
|||
homeY = always_home_all || parser.seen('Y'), |
|||
homeZ = always_home_all || parser.seen('Z'), |
|||
home_all = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ); |
|||
|
|||
set_destination_to_current(); |
|||
|
|||
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
|
|||
|
|||
if (home_all || homeZ) { |
|||
HOMEAXIS(Z); |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position); |
|||
#endif |
|||
} |
|||
|
|||
#else |
|||
|
|||
if (home_all || homeX || homeY) { |
|||
// Raise Z before homing any other axes and z is not already high enough (never lower z)
|
|||
destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT); |
|||
if (destination[Z_AXIS] > current_position[Z_AXIS]) { |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) |
|||
SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]); |
|||
#endif |
|||
|
|||
do_blocking_move_to_z(destination[Z_AXIS]); |
|||
} |
|||
} |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(QUICK_HOME) |
|||
|
|||
if (home_all || (homeX && homeY)) quick_home_xy(); |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(HOME_Y_BEFORE_X) |
|||
|
|||
// Home Y
|
|||
if (home_all || homeY) { |
|||
HOMEAXIS(Y); |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position); |
|||
#endif |
|||
} |
|||
|
|||
#endif |
|||
|
|||
// Home X
|
|||
if (home_all || homeX) { |
|||
|
|||
#if ENABLED(DUAL_X_CARRIAGE) |
|||
|
|||
// Always home the 2nd (right) extruder first
|
|||
active_extruder = 1; |
|||
HOMEAXIS(X); |
|||
|
|||
// Remember this extruder's position for later tool change
|
|||
inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]); |
|||
|
|||
// Home the 1st (left) extruder
|
|||
active_extruder = 0; |
|||
HOMEAXIS(X); |
|||
|
|||
// Consider the active extruder to be parked
|
|||
COPY(raised_parked_position, current_position); |
|||
delayed_move_time = 0; |
|||
active_extruder_parked = true; |
|||
|
|||
#else |
|||
|
|||
HOMEAXIS(X); |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position); |
|||
#endif |
|||
} |
|||
|
|||
#if DISABLED(HOME_Y_BEFORE_X) |
|||
// Home Y
|
|||
if (home_all || homeY) { |
|||
HOMEAXIS(Y); |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position); |
|||
#endif |
|||
} |
|||
#endif |
|||
|
|||
// Home Z last if homing towards the bed
|
|||
#if Z_HOME_DIR < 0 |
|||
if (home_all || homeZ) { |
|||
#if ENABLED(Z_SAFE_HOMING) |
|||
home_z_safely(); |
|||
#else |
|||
HOMEAXIS(Z); |
|||
#endif |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all || homeZ) > final", current_position); |
|||
#endif |
|||
} // home_all || homeZ
|
|||
#endif // Z_HOME_DIR < 0
|
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
#endif // !DELTA (gcode_G28)
|
|||
|
|||
endstops.not_homing(); |
|||
|
|||
#if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE) |
|||
// move to a height where we can use the full xy-area
|
|||
do_blocking_move_to_z(delta_clip_start_height); |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) |
|||
set_bed_leveling_enabled(ubl_state_at_entry); |
|||
#endif |
|||
|
|||
clean_up_after_endstop_or_probe_move(); |
|||
|
|||
// Restore the active tool after homing
|
|||
#if HOTENDS > 1 |
|||
tool_change(old_tool_index, 0, |
|||
#if ENABLED(PARKING_EXTRUDER) |
|||
false // fetch the previous toolhead
|
|||
#else |
|||
true |
|||
#endif |
|||
); |
|||
#endif |
|||
|
|||
lcd_refresh(); |
|||
|
|||
report_current_position(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28"); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,946 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ABL_GRID |
|||
#if ENABLED(PROBE_Y_FIRST) |
|||
#define PR_OUTER_VAR xCount |
|||
#define PR_OUTER_END abl_grid_points_x |
|||
#define PR_INNER_VAR yCount |
|||
#define PR_INNER_END abl_grid_points_y |
|||
#else |
|||
#define PR_OUTER_VAR yCount |
|||
#define PR_OUTER_END abl_grid_points_y |
|||
#define PR_INNER_VAR xCount |
|||
#define PR_INNER_END abl_grid_points_x |
|||
#endif |
|||
#endif |
|||
|
|||
/**
|
|||
* G29: Detailed Z probe, probes the bed at 3 or more points. |
|||
* Will fail if the printer has not been homed with G28. |
|||
* |
|||
* Enhanced G29 Auto Bed Leveling Probe Routine |
|||
* |
|||
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply |
|||
* or alter the bed level data. Useful to check the topology |
|||
* after a first run of G29. |
|||
* |
|||
* J Jettison current bed leveling data |
|||
* |
|||
* V Set the verbose level (0-4). Example: "G29 V3" |
|||
* |
|||
* Parameters With LINEAR leveling only: |
|||
* |
|||
* P Set the size of the grid that will be probed (P x P points). |
|||
* Example: "G29 P4" |
|||
* |
|||
* X Set the X size of the grid that will be probed (X x Y points). |
|||
* Example: "G29 X7 Y5" |
|||
* |
|||
* Y Set the Y size of the grid that will be probed (X x Y points). |
|||
* |
|||
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. |
|||
* This is useful for manual bed leveling and finding flaws in the bed (to |
|||
* assist with part placement). |
|||
* Not supported by non-linear delta printer bed leveling. |
|||
* |
|||
* Parameters With LINEAR and BILINEAR leveling only: |
|||
* |
|||
* S Set the XY travel speed between probe points (in units/min) |
|||
* |
|||
* F Set the Front limit of the probing grid |
|||
* B Set the Back limit of the probing grid |
|||
* L Set the Left limit of the probing grid |
|||
* R Set the Right limit of the probing grid |
|||
* |
|||
* Parameters with DEBUG_LEVELING_FEATURE only: |
|||
* |
|||
* C Make a totally fake grid with no actual probing. |
|||
* For use in testing when no probing is possible. |
|||
* |
|||
* Parameters with BILINEAR leveling only: |
|||
* |
|||
* Z Supply an additional Z probe offset |
|||
* |
|||
* Extra parameters with PROBE_MANUALLY: |
|||
* |
|||
* To do manual probing simply repeat G29 until the procedure is complete. |
|||
* The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort. |
|||
* |
|||
* Q Query leveling and G29 state |
|||
* |
|||
* A Abort current leveling procedure |
|||
* |
|||
* Extra parameters with BILINEAR only: |
|||
* |
|||
* W Write a mesh point. (If G29 is idle.) |
|||
* I X index for mesh point |
|||
* J Y index for mesh point |
|||
* X X for mesh point, overrides I |
|||
* Y Y for mesh point, overrides J |
|||
* Z Z for mesh point. Otherwise, raw current Z. |
|||
* |
|||
* Without PROBE_MANUALLY: |
|||
* |
|||
* E By default G29 will engage the Z probe, test the bed, then disengage. |
|||
* Include "E" to engage/disengage the Z probe for each sample. |
|||
* There's no extra effect if you have a fixed Z probe. |
|||
* |
|||
*/ |
|||
void gcode_G29() { |
|||
|
|||
// G29 Q is also available if debugging
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
const bool query = parser.seen('Q'); |
|||
const uint8_t old_debug_flags = marlin_debug_flags; |
|||
if (query) marlin_debug_flags |= DEBUG_LEVELING; |
|||
if (DEBUGGING(LEVELING)) { |
|||
DEBUG_POS(">>> gcode_G29", current_position); |
|||
log_machine_info(); |
|||
} |
|||
marlin_debug_flags = old_debug_flags; |
|||
#if DISABLED(PROBE_MANUALLY) |
|||
if (query) return; |
|||
#endif |
|||
#endif |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
const bool seenA = parser.seen('A'), seenQ = parser.seen('Q'), no_action = seenA || seenQ; |
|||
#endif |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) |
|||
const bool faux = parser.boolval('C'); |
|||
#elif ENABLED(PROBE_MANUALLY) |
|||
const bool faux = no_action; |
|||
#else |
|||
bool constexpr faux = false; |
|||
#endif |
|||
|
|||
// Don't allow auto-leveling without homing first
|
|||
if (axis_unhomed_error()) return; |
|||
|
|||
// Define local vars 'static' for manual probing, 'auto' otherwise
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
#define ABL_VAR static |
|||
#else |
|||
#define ABL_VAR |
|||
#endif |
|||
|
|||
ABL_VAR int verbose_level; |
|||
ABL_VAR float xProbe, yProbe, measured_z; |
|||
ABL_VAR bool dryrun, abl_should_enable; |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
ABL_VAR int abl_probe_index; |
|||
#endif |
|||
|
|||
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(PROBE_MANUALLY) |
|||
ABL_VAR bool enable_soft_endstops = true; |
|||
#endif |
|||
|
|||
#if ABL_GRID |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
ABL_VAR uint8_t PR_OUTER_VAR; |
|||
ABL_VAR int8_t PR_INNER_VAR; |
|||
#endif |
|||
|
|||
ABL_VAR int left_probe_bed_position, right_probe_bed_position, front_probe_bed_position, back_probe_bed_position; |
|||
ABL_VAR float xGridSpacing = 0, yGridSpacing = 0; |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
ABL_VAR uint8_t abl_grid_points_x = GRID_MAX_POINTS_X, |
|||
abl_grid_points_y = GRID_MAX_POINTS_Y; |
|||
ABL_VAR bool do_topography_map; |
|||
#else // Bilinear
|
|||
uint8_t constexpr abl_grid_points_x = GRID_MAX_POINTS_X, |
|||
abl_grid_points_y = GRID_MAX_POINTS_Y; |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(PROBE_MANUALLY) |
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
ABL_VAR int abl2; |
|||
#else // Bilinear
|
|||
int constexpr abl2 = GRID_MAX_POINTS; |
|||
#endif |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
ABL_VAR float zoffset; |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
|
|||
ABL_VAR int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; |
|||
|
|||
ABL_VAR float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
|
|||
eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
|
|||
mean; |
|||
#endif |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_3POINT) |
|||
|
|||
int constexpr abl2 = 3; |
|||
|
|||
// Probe at 3 arbitrary points
|
|||
ABL_VAR vector_3 points[3] = { |
|||
vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0), |
|||
vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0), |
|||
vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0) |
|||
}; |
|||
|
|||
#endif // AUTO_BED_LEVELING_3POINT
|
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
struct linear_fit_data lsf_results; |
|||
incremental_LSF_reset(&lsf_results); |
|||
#endif |
|||
|
|||
/**
|
|||
* On the initial G29 fetch command parameters. |
|||
*/ |
|||
if (!g29_in_progress) { |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) || ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
abl_probe_index = -1; |
|||
#endif |
|||
|
|||
abl_should_enable = leveling_is_active(); |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
if (parser.seen('W')) { |
|||
if (!leveling_is_valid()) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("No bilinear grid"); |
|||
return; |
|||
} |
|||
|
|||
const float z = parser.floatval('Z', RAW_CURRENT_POSITION(Z)); |
|||
if (!WITHIN(z, -10, 10)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("Bad Z value"); |
|||
return; |
|||
} |
|||
|
|||
const float x = parser.floatval('X', NAN), |
|||
y = parser.floatval('Y', NAN); |
|||
int8_t i = parser.byteval('I', -1), |
|||
j = parser.byteval('J', -1); |
|||
|
|||
if (!isnan(x) && !isnan(y)) { |
|||
// Get nearest i / j from x / y
|
|||
i = (x - LOGICAL_X_POSITION(bilinear_start[X_AXIS]) + 0.5 * xGridSpacing) / xGridSpacing; |
|||
j = (y - LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) + 0.5 * yGridSpacing) / yGridSpacing; |
|||
i = constrain(i, 0, GRID_MAX_POINTS_X - 1); |
|||
j = constrain(j, 0, GRID_MAX_POINTS_Y - 1); |
|||
} |
|||
if (WITHIN(i, 0, GRID_MAX_POINTS_X - 1) && WITHIN(j, 0, GRID_MAX_POINTS_Y)) { |
|||
set_bed_leveling_enabled(false); |
|||
z_values[i][j] = z; |
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
bed_level_virt_interpolate(); |
|||
#endif |
|||
set_bed_leveling_enabled(abl_should_enable); |
|||
} |
|||
return; |
|||
} // parser.seen('W')
|
|||
|
|||
#endif |
|||
|
|||
#if HAS_LEVELING |
|||
|
|||
// Jettison bed leveling data
|
|||
if (parser.seen('J')) { |
|||
reset_bed_level(); |
|||
return; |
|||
} |
|||
|
|||
#endif |
|||
|
|||
verbose_level = parser.intval('V'); |
|||
if (!WITHIN(verbose_level, 0, 4)) { |
|||
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4)."); |
|||
return; |
|||
} |
|||
|
|||
dryrun = parser.boolval('D') |
|||
#if ENABLED(PROBE_MANUALLY) |
|||
|| no_action |
|||
#endif |
|||
; |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
|
|||
do_topography_map = verbose_level > 2 || parser.boolval('T'); |
|||
|
|||
// X and Y specify points in each direction, overriding the default
|
|||
// These values may be saved with the completed mesh
|
|||
abl_grid_points_x = parser.intval('X', GRID_MAX_POINTS_X); |
|||
abl_grid_points_y = parser.intval('Y', GRID_MAX_POINTS_Y); |
|||
if (parser.seenval('P')) abl_grid_points_x = abl_grid_points_y = parser.value_int(); |
|||
|
|||
if (abl_grid_points_x < 2 || abl_grid_points_y < 2) { |
|||
SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum)."); |
|||
return; |
|||
} |
|||
|
|||
abl2 = abl_grid_points_x * abl_grid_points_y; |
|||
mean = 0; |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
zoffset = parser.linearval('Z'); |
|||
|
|||
#endif |
|||
|
|||
#if ABL_GRID |
|||
|
|||
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_SPEED)); |
|||
|
|||
left_probe_bed_position = (int)parser.linearval('L', LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION)); |
|||
right_probe_bed_position = (int)parser.linearval('R', LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION)); |
|||
front_probe_bed_position = (int)parser.linearval('F', LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION)); |
|||
back_probe_bed_position = (int)parser.linearval('B', LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION)); |
|||
|
|||
const bool left_out_l = left_probe_bed_position < LOGICAL_X_POSITION(MIN_PROBE_X), |
|||
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - (MIN_PROBE_EDGE), |
|||
right_out_r = right_probe_bed_position > LOGICAL_X_POSITION(MAX_PROBE_X), |
|||
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, |
|||
front_out_f = front_probe_bed_position < LOGICAL_Y_POSITION(MIN_PROBE_Y), |
|||
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - (MIN_PROBE_EDGE), |
|||
back_out_b = back_probe_bed_position > LOGICAL_Y_POSITION(MAX_PROBE_Y), |
|||
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE; |
|||
|
|||
if (left_out || right_out || front_out || back_out) { |
|||
if (left_out) { |
|||
out_of_range_error(PSTR("(L)eft")); |
|||
left_probe_bed_position = left_out_l ? LOGICAL_X_POSITION(MIN_PROBE_X) : right_probe_bed_position - (MIN_PROBE_EDGE); |
|||
} |
|||
if (right_out) { |
|||
out_of_range_error(PSTR("(R)ight")); |
|||
right_probe_bed_position = right_out_r ? LOGICAL_Y_POSITION(MAX_PROBE_X) : left_probe_bed_position + MIN_PROBE_EDGE; |
|||
} |
|||
if (front_out) { |
|||
out_of_range_error(PSTR("(F)ront")); |
|||
front_probe_bed_position = front_out_f ? LOGICAL_Y_POSITION(MIN_PROBE_Y) : back_probe_bed_position - (MIN_PROBE_EDGE); |
|||
} |
|||
if (back_out) { |
|||
out_of_range_error(PSTR("(B)ack")); |
|||
back_probe_bed_position = back_out_b ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE; |
|||
} |
|||
return; |
|||
} |
|||
|
|||
// probe at the points of a lattice grid
|
|||
xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1); |
|||
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1); |
|||
|
|||
#endif // ABL_GRID
|
|||
|
|||
if (verbose_level > 0) { |
|||
SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling"); |
|||
if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode"); |
|||
} |
|||
|
|||
stepper.synchronize(); |
|||
|
|||
// Disable auto bed leveling during G29
|
|||
planner.abl_enabled = false; |
|||
|
|||
if (!dryrun) { |
|||
// Re-orient the current position without leveling
|
|||
// based on where the steppers are positioned.
|
|||
set_current_from_steppers_for_axis(ALL_AXES); |
|||
|
|||
// Sync the planner to where the steppers stopped
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
} |
|||
|
|||
#if HAS_BED_PROBE |
|||
// Deploy the probe. Probe will raise if needed.
|
|||
if (DEPLOY_PROBE()) { |
|||
planner.abl_enabled = abl_should_enable; |
|||
return; |
|||
} |
|||
#endif |
|||
|
|||
if (!faux) setup_for_endstop_or_probe_move(); |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
if (!no_action) |
|||
#endif |
|||
if ( xGridSpacing != bilinear_grid_spacing[X_AXIS] |
|||
|| yGridSpacing != bilinear_grid_spacing[Y_AXIS] |
|||
|| left_probe_bed_position != LOGICAL_X_POSITION(bilinear_start[X_AXIS]) |
|||
|| front_probe_bed_position != LOGICAL_Y_POSITION(bilinear_start[Y_AXIS]) |
|||
) { |
|||
if (dryrun) { |
|||
// Before reset bed level, re-enable to correct the position
|
|||
planner.abl_enabled = abl_should_enable; |
|||
} |
|||
// Reset grid to 0.0 or "not probed". (Also disables ABL)
|
|||
reset_bed_level(); |
|||
|
|||
// Initialize a grid with the given dimensions
|
|||
bilinear_grid_spacing[X_AXIS] = xGridSpacing; |
|||
bilinear_grid_spacing[Y_AXIS] = yGridSpacing; |
|||
bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position); |
|||
bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position); |
|||
|
|||
// Can't re-enable (on error) until the new grid is written
|
|||
abl_should_enable = false; |
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_BILINEAR
|
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_3POINT) |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling"); |
|||
#endif |
|||
|
|||
// Probe at 3 arbitrary points
|
|||
points[0].z = points[1].z = points[2].z = 0; |
|||
|
|||
#endif // AUTO_BED_LEVELING_3POINT
|
|||
|
|||
} // !g29_in_progress
|
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
|
|||
// For manual probing, get the next index to probe now.
|
|||
// On the first probe this will be incremented to 0.
|
|||
if (!no_action) { |
|||
++abl_probe_index; |
|||
g29_in_progress = true; |
|||
} |
|||
|
|||
// Abort current G29 procedure, go back to idle state
|
|||
if (seenA && g29_in_progress) { |
|||
SERIAL_PROTOCOLLNPGM("Manual G29 aborted"); |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
soft_endstops_enabled = enable_soft_endstops; |
|||
#endif |
|||
planner.abl_enabled = abl_should_enable; |
|||
g29_in_progress = false; |
|||
#if ENABLED(LCD_BED_LEVELING) |
|||
lcd_wait_for_move = false; |
|||
#endif |
|||
} |
|||
|
|||
// Query G29 status
|
|||
if (verbose_level || seenQ) { |
|||
SERIAL_PROTOCOLPGM("Manual G29 "); |
|||
if (g29_in_progress) { |
|||
SERIAL_PROTOCOLPAIR("point ", min(abl_probe_index + 1, abl2)); |
|||
SERIAL_PROTOCOLLNPAIR(" of ", abl2); |
|||
} |
|||
else |
|||
SERIAL_PROTOCOLLNPGM("idle"); |
|||
} |
|||
|
|||
if (no_action) return; |
|||
|
|||
if (abl_probe_index == 0) { |
|||
// For the initial G29 save software endstop state
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
enable_soft_endstops = soft_endstops_enabled; |
|||
#endif |
|||
} |
|||
else { |
|||
// For G29 after adjusting Z.
|
|||
// Save the previous Z before going to the next point
|
|||
measured_z = current_position[Z_AXIS]; |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
|
|||
mean += measured_z; |
|||
eqnBVector[abl_probe_index] = measured_z; |
|||
eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; |
|||
eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; |
|||
eqnAMatrix[abl_probe_index + 2 * abl2] = 1; |
|||
|
|||
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
z_values[xCount][yCount] = measured_z + zoffset; |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_PROTOCOLPAIR("Save X", xCount); |
|||
SERIAL_PROTOCOLPAIR(" Y", yCount); |
|||
SERIAL_PROTOCOLLNPAIR(" Z", measured_z + zoffset); |
|||
} |
|||
#endif |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_3POINT) |
|||
|
|||
points[abl_probe_index].z = measured_z; |
|||
|
|||
#endif |
|||
} |
|||
|
|||
//
|
|||
// If there's another point to sample, move there with optional lift.
|
|||
//
|
|||
|
|||
#if ABL_GRID |
|||
|
|||
// Skip any unreachable points
|
|||
while (abl_probe_index < abl2) { |
|||
|
|||
// Set xCount, yCount based on abl_probe_index, with zig-zag
|
|||
PR_OUTER_VAR = abl_probe_index / PR_INNER_END; |
|||
PR_INNER_VAR = abl_probe_index - (PR_OUTER_VAR * PR_INNER_END); |
|||
|
|||
// Probe in reverse order for every other row/column
|
|||
bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_END) & 1);
|
|||
|
|||
if (zig) PR_INNER_VAR = (PR_INNER_END - 1) - PR_INNER_VAR; |
|||
|
|||
const float xBase = xCount * xGridSpacing + left_probe_bed_position, |
|||
yBase = yCount * yGridSpacing + front_probe_bed_position; |
|||
|
|||
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); |
|||
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
indexIntoAB[xCount][yCount] = abl_probe_index; |
|||
#endif |
|||
|
|||
// Keep looping till a reachable point is found
|
|||
if (position_is_reachable_xy(xProbe, yProbe)) break; |
|||
++abl_probe_index; |
|||
} |
|||
|
|||
// Is there a next point to move to?
|
|||
if (abl_probe_index < abl2) { |
|||
_manual_goto_xy(xProbe, yProbe); // Can be used here too!
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// Disable software endstops to allow manual adjustment
|
|||
// If G29 is not completed, they will not be re-enabled
|
|||
soft_endstops_enabled = false; |
|||
#endif |
|||
return; |
|||
} |
|||
else { |
|||
|
|||
// Leveling done! Fall through to G29 finishing code below
|
|||
|
|||
SERIAL_PROTOCOLLNPGM("Grid probing done."); |
|||
|
|||
// Re-enable software endstops, if needed
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
soft_endstops_enabled = enable_soft_endstops; |
|||
#endif |
|||
} |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_3POINT) |
|||
|
|||
// Probe at 3 arbitrary points
|
|||
if (abl_probe_index < 3) { |
|||
xProbe = LOGICAL_X_POSITION(points[abl_probe_index].x); |
|||
yProbe = LOGICAL_Y_POSITION(points[abl_probe_index].y); |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// Disable software endstops to allow manual adjustment
|
|||
// If G29 is not completed, they will not be re-enabled
|
|||
soft_endstops_enabled = false; |
|||
#endif |
|||
return; |
|||
} |
|||
else { |
|||
|
|||
SERIAL_PROTOCOLLNPGM("3-point probing done."); |
|||
|
|||
// Re-enable software endstops, if needed
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
soft_endstops_enabled = enable_soft_endstops; |
|||
#endif |
|||
|
|||
if (!dryrun) { |
|||
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); |
|||
if (planeNormal.z < 0) { |
|||
planeNormal.x *= -1; |
|||
planeNormal.y *= -1; |
|||
planeNormal.z *= -1; |
|||
} |
|||
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); |
|||
|
|||
// Can't re-enable (on error) until the new grid is written
|
|||
abl_should_enable = false; |
|||
} |
|||
|
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_3POINT
|
|||
|
|||
#else // !PROBE_MANUALLY
|
|||
{ |
|||
const bool stow_probe_after_each = parser.boolval('E'); |
|||
|
|||
measured_z = 0; |
|||
|
|||
#if ABL_GRID |
|||
|
|||
bool zig = PR_OUTER_END & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
|
|||
|
|||
// Outer loop is Y with PROBE_Y_FIRST disabled
|
|||
for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END && !isnan(measured_z); PR_OUTER_VAR++) { |
|||
|
|||
int8_t inStart, inStop, inInc; |
|||
|
|||
if (zig) { // away from origin
|
|||
inStart = 0; |
|||
inStop = PR_INNER_END; |
|||
inInc = 1; |
|||
} |
|||
else { // towards origin
|
|||
inStart = PR_INNER_END - 1; |
|||
inStop = -1; |
|||
inInc = -1; |
|||
} |
|||
|
|||
zig ^= true; // zag
|
|||
|
|||
// Inner loop is Y with PROBE_Y_FIRST enabled
|
|||
for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) { |
|||
|
|||
float xBase = left_probe_bed_position + xGridSpacing * xCount, |
|||
yBase = front_probe_bed_position + yGridSpacing * yCount; |
|||
|
|||
xProbe = FLOOR(xBase + (xBase < 0 ? 0 : 0.5)); |
|||
yProbe = FLOOR(yBase + (yBase < 0 ? 0 : 0.5)); |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
indexIntoAB[xCount][yCount] = ++abl_probe_index; // 0...
|
|||
#endif |
|||
|
|||
#if IS_KINEMATIC |
|||
// Avoid probing outside the round or hexagonal area
|
|||
if (!position_is_reachable_by_probe_xy(xProbe, yProbe)) continue; |
|||
#endif |
|||
|
|||
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); |
|||
|
|||
if (isnan(measured_z)) { |
|||
planner.abl_enabled = abl_should_enable; |
|||
break; |
|||
} |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
|
|||
mean += measured_z; |
|||
eqnBVector[abl_probe_index] = measured_z; |
|||
eqnAMatrix[abl_probe_index + 0 * abl2] = xProbe; |
|||
eqnAMatrix[abl_probe_index + 1 * abl2] = yProbe; |
|||
eqnAMatrix[abl_probe_index + 2 * abl2] = 1; |
|||
|
|||
incremental_LSF(&lsf_results, xProbe, yProbe, measured_z); |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
z_values[xCount][yCount] = measured_z + zoffset; |
|||
|
|||
#endif |
|||
|
|||
abl_should_enable = false; |
|||
idle(); |
|||
|
|||
} // inner
|
|||
} // outer
|
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_3POINT) |
|||
|
|||
// Probe at 3 arbitrary points
|
|||
|
|||
for (uint8_t i = 0; i < 3; ++i) { |
|||
// Retain the last probe position
|
|||
xProbe = LOGICAL_X_POSITION(points[i].x); |
|||
yProbe = LOGICAL_Y_POSITION(points[i].y); |
|||
measured_z = faux ? 0.001 * random(-100, 101) : probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level); |
|||
if (isnan(measured_z)) { |
|||
planner.abl_enabled = abl_should_enable; |
|||
break; |
|||
} |
|||
points[i].z = measured_z; |
|||
} |
|||
|
|||
if (!dryrun && !isnan(measured_z)) { |
|||
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); |
|||
if (planeNormal.z < 0) { |
|||
planeNormal.x *= -1; |
|||
planeNormal.y *= -1; |
|||
planeNormal.z *= -1; |
|||
} |
|||
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); |
|||
|
|||
// Can't re-enable (on error) until the new grid is written
|
|||
abl_should_enable = false; |
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_3POINT
|
|||
|
|||
// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
|
|||
if (STOW_PROBE()) { |
|||
planner.abl_enabled = abl_should_enable; |
|||
measured_z = NAN; |
|||
} |
|||
} |
|||
#endif // !PROBE_MANUALLY
|
|||
|
|||
//
|
|||
// G29 Finishing Code
|
|||
//
|
|||
// Unless this is a dry run, auto bed leveling will
|
|||
// definitely be enabled after this point.
|
|||
//
|
|||
// If code above wants to continue leveling, it should
|
|||
// return or loop before this point.
|
|||
//
|
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position); |
|||
#endif |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
g29_in_progress = false; |
|||
#if ENABLED(LCD_BED_LEVELING) |
|||
lcd_wait_for_move = false; |
|||
#endif |
|||
#endif |
|||
|
|||
// Calculate leveling, print reports, correct the position
|
|||
if (!isnan(measured_z)) { |
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
if (!dryrun) extrapolate_unprobed_bed_level(); |
|||
print_bilinear_leveling_grid(); |
|||
|
|||
refresh_bed_level(); |
|||
|
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
print_bilinear_leveling_grid_virt(); |
|||
#endif |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_LINEAR) |
|||
|
|||
// For LINEAR leveling calculate matrix, print reports, correct the position
|
|||
|
|||
/**
|
|||
* solve the plane equation ax + by + d = z |
|||
* A is the matrix with rows [x y 1] for all the probed points |
|||
* B is the vector of the Z positions |
|||
* the normal vector to the plane is formed by the coefficients of the |
|||
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 |
|||
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z |
|||
*/ |
|||
float plane_equation_coefficients[3]; |
|||
|
|||
finish_incremental_LSF(&lsf_results); |
|||
plane_equation_coefficients[0] = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
|
|||
plane_equation_coefficients[1] = -lsf_results.B; // but that is not yet tested.
|
|||
plane_equation_coefficients[2] = -lsf_results.D; |
|||
|
|||
mean /= abl2; |
|||
|
|||
if (verbose_level) { |
|||
SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); |
|||
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); |
|||
SERIAL_PROTOCOLPGM(" b: "); |
|||
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8); |
|||
SERIAL_PROTOCOLPGM(" d: "); |
|||
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8); |
|||
SERIAL_EOL(); |
|||
if (verbose_level > 2) { |
|||
SERIAL_PROTOCOLPGM("Mean of sampled points: "); |
|||
SERIAL_PROTOCOL_F(mean, 8); |
|||
SERIAL_EOL(); |
|||
} |
|||
} |
|||
|
|||
// Create the matrix but don't correct the position yet
|
|||
if (!dryrun) |
|||
planner.bed_level_matrix = matrix_3x3::create_look_at( |
|||
vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1) // We can eliminate the '-' here and up above
|
|||
); |
|||
|
|||
// Show the Topography map if enabled
|
|||
if (do_topography_map) { |
|||
|
|||
SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n" |
|||
" +--- BACK --+\n" |
|||
" | |\n" |
|||
" L | (+) | R\n" |
|||
" E | | I\n" |
|||
" F | (-) N (+) | G\n" |
|||
" T | | H\n" |
|||
" | (-) | T\n" |
|||
" | |\n" |
|||
" O-- FRONT --+\n" |
|||
" (0,0)"); |
|||
|
|||
float min_diff = 999; |
|||
|
|||
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { |
|||
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { |
|||
int ind = indexIntoAB[xx][yy]; |
|||
float diff = eqnBVector[ind] - mean, |
|||
x_tmp = eqnAMatrix[ind + 0 * abl2], |
|||
y_tmp = eqnAMatrix[ind + 1 * abl2], |
|||
z_tmp = 0; |
|||
|
|||
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); |
|||
|
|||
NOMORE(min_diff, eqnBVector[ind] - z_tmp); |
|||
|
|||
if (diff >= 0.0) |
|||
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
|
|||
else |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOL_F(diff, 5); |
|||
} // xx
|
|||
SERIAL_EOL(); |
|||
} // yy
|
|||
SERIAL_EOL(); |
|||
|
|||
if (verbose_level > 3) { |
|||
SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:"); |
|||
|
|||
for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) { |
|||
for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) { |
|||
int ind = indexIntoAB[xx][yy]; |
|||
float x_tmp = eqnAMatrix[ind + 0 * abl2], |
|||
y_tmp = eqnAMatrix[ind + 1 * abl2], |
|||
z_tmp = 0; |
|||
|
|||
apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp); |
|||
|
|||
float diff = eqnBVector[ind] - z_tmp - min_diff; |
|||
if (diff >= 0.0) |
|||
SERIAL_PROTOCOLPGM(" +"); |
|||
// Include + for column alignment
|
|||
else |
|||
SERIAL_PROTOCOLCHAR(' '); |
|||
SERIAL_PROTOCOL_F(diff, 5); |
|||
} // xx
|
|||
SERIAL_EOL(); |
|||
} // yy
|
|||
SERIAL_EOL(); |
|||
} |
|||
} //do_topography_map
|
|||
|
|||
#endif // AUTO_BED_LEVELING_LINEAR
|
|||
|
|||
#if ABL_PLANAR |
|||
|
|||
// For LINEAR and 3POINT leveling correct the current position
|
|||
|
|||
if (verbose_level > 0) |
|||
planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:")); |
|||
|
|||
if (!dryrun) { |
|||
//
|
|||
// Correct the current XYZ position based on the tilted plane.
|
|||
//
|
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position); |
|||
#endif |
|||
|
|||
float converted[XYZ]; |
|||
COPY(converted, current_position); |
|||
|
|||
planner.abl_enabled = true; |
|||
planner.unapply_leveling(converted); // use conversion machinery
|
|||
planner.abl_enabled = false; |
|||
|
|||
// Use the last measured distance to the bed, if possible
|
|||
if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER)) |
|||
&& NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER)) |
|||
) { |
|||
const float simple_z = current_position[Z_AXIS] - measured_z; |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("Z from Probe:", simple_z); |
|||
SERIAL_ECHOPAIR(" Matrix:", converted[Z_AXIS]); |
|||
SERIAL_ECHOLNPAIR(" Discrepancy:", simple_z - converted[Z_AXIS]); |
|||
} |
|||
#endif |
|||
converted[Z_AXIS] = simple_z; |
|||
} |
|||
|
|||
// The rotated XY and corrected Z are now current_position
|
|||
COPY(current_position, converted); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position); |
|||
#endif |
|||
} |
|||
|
|||
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
|
|||
if (!dryrun) { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]); |
|||
#endif |
|||
|
|||
// Unapply the offset because it is going to be immediately applied
|
|||
// and cause compensation movement in Z
|
|||
current_position[Z_AXIS] -= bilinear_z_offset(current_position); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]); |
|||
#endif |
|||
} |
|||
|
|||
#endif // ABL_PLANAR
|
|||
|
|||
#ifdef Z_PROBE_END_SCRIPT |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); |
|||
#endif |
|||
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT)); |
|||
stepper.synchronize(); |
|||
#endif |
|||
|
|||
// Auto Bed Leveling is complete! Enable if possible.
|
|||
planner.abl_enabled = dryrun ? abl_should_enable : true; |
|||
} // !isnan(measured_z)
|
|||
|
|||
// Restore state after probing
|
|||
if (!faux) clean_up_after_endstop_or_probe_move(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29"); |
|||
#endif |
|||
|
|||
report_current_position(); |
|||
|
|||
KEEPALIVE_STATE(IN_HANDLER); |
|||
|
|||
if (planner.abl_enabled) |
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
} |
|||
@ -0,0 +1,200 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../libs/buzzer.h" |
|||
#include "../../lcd/ultralcd.h" |
|||
|
|||
// Save 130 bytes with non-duplication of PSTR
|
|||
void echo_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); } |
|||
|
|||
void mbl_mesh_report() { |
|||
SERIAL_PROTOCOLLNPGM("Num X,Y: " STRINGIFY(GRID_MAX_POINTS_X) "," STRINGIFY(GRID_MAX_POINTS_Y)); |
|||
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5); |
|||
SERIAL_PROTOCOLLNPGM("\nMeasured points:"); |
|||
print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, |
|||
[](const uint8_t ix, const uint8_t iy) { return mbl.z_values[ix][iy]; } |
|||
); |
|||
} |
|||
|
|||
void mesh_probing_done() { |
|||
mbl.set_has_mesh(true); |
|||
home_all_axes(); |
|||
set_bed_leveling_enabled(true); |
|||
#if ENABLED(MESH_G28_REST_ORIGIN) |
|||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS); |
|||
set_destination_to_current(); |
|||
line_to_destination(homing_feedrate(Z_AXIS)); |
|||
stepper.synchronize(); |
|||
#endif |
|||
} |
|||
|
|||
/**
|
|||
* G29: Mesh-based Z probe, probes a grid and produces a |
|||
* mesh to compensate for variable bed height |
|||
* |
|||
* Parameters With MESH_BED_LEVELING: |
|||
* |
|||
* S0 Produce a mesh report |
|||
* S1 Start probing mesh points |
|||
* S2 Probe the next mesh point |
|||
* S3 Xn Yn Zn.nn Manually modify a single point |
|||
* S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed. |
|||
* S5 Reset and disable mesh |
|||
* |
|||
* The S0 report the points as below |
|||
* |
|||
* +----> X-axis 1-n |
|||
* | |
|||
* | |
|||
* v Y-axis 1-n |
|||
* |
|||
*/ |
|||
void gcode_G29() { |
|||
|
|||
static int mbl_probe_index = -1; |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
static bool enable_soft_endstops; |
|||
#endif |
|||
|
|||
const MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport); |
|||
if (!WITHIN(state, 0, 5)) { |
|||
SERIAL_PROTOCOLLNPGM("S out of range (0-5)."); |
|||
return; |
|||
} |
|||
|
|||
int8_t px, py; |
|||
|
|||
switch (state) { |
|||
case MeshReport: |
|||
if (leveling_is_valid()) { |
|||
SERIAL_PROTOCOLLNPAIR("State: ", leveling_is_active() ? MSG_ON : MSG_OFF); |
|||
mbl_mesh_report(); |
|||
} |
|||
else |
|||
SERIAL_PROTOCOLLNPGM("Mesh bed leveling has no data."); |
|||
break; |
|||
|
|||
case MeshStart: |
|||
mbl.reset(); |
|||
mbl_probe_index = 0; |
|||
enqueue_and_echo_commands_P(PSTR("G28\nG29 S2")); |
|||
break; |
|||
|
|||
case MeshNext: |
|||
if (mbl_probe_index < 0) { |
|||
SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first."); |
|||
return; |
|||
} |
|||
// For each G29 S2...
|
|||
if (mbl_probe_index == 0) { |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// For the initial G29 S2 save software endstop state
|
|||
enable_soft_endstops = soft_endstops_enabled; |
|||
#endif |
|||
} |
|||
else { |
|||
// For G29 S2 after adjusting Z.
|
|||
mbl.set_zigzag_z(mbl_probe_index - 1, current_position[Z_AXIS]); |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
soft_endstops_enabled = enable_soft_endstops; |
|||
#endif |
|||
} |
|||
// If there's another point to sample, move there with optional lift.
|
|||
if (mbl_probe_index < GRID_MAX_POINTS) { |
|||
mbl.zigzag(mbl_probe_index, px, py); |
|||
_manual_goto_xy(mbl.index_to_xpos[px], mbl.index_to_ypos[py]); |
|||
|
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
// Disable software endstops to allow manual adjustment
|
|||
// If G29 is not completed, they will not be re-enabled
|
|||
soft_endstops_enabled = false; |
|||
#endif |
|||
|
|||
mbl_probe_index++; |
|||
} |
|||
else { |
|||
// One last "return to the bed" (as originally coded) at completion
|
|||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(Z_MIN_POS) + MANUAL_PROBE_HEIGHT; |
|||
line_to_current_position(); |
|||
stepper.synchronize(); |
|||
|
|||
// After recording the last point, activate home and activate
|
|||
mbl_probe_index = -1; |
|||
SERIAL_PROTOCOLLNPGM("Mesh probing done."); |
|||
BUZZ(100, 659); |
|||
BUZZ(100, 698); |
|||
mesh_probing_done(); |
|||
} |
|||
break; |
|||
|
|||
case MeshSet: |
|||
if (parser.seenval('X')) { |
|||
px = parser.value_int() - 1; |
|||
if (!WITHIN(px, 0, GRID_MAX_POINTS_X - 1)) { |
|||
SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(GRID_MAX_POINTS_X) ")."); |
|||
return; |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_CHAR('X'); echo_not_entered(); |
|||
return; |
|||
} |
|||
|
|||
if (parser.seenval('Y')) { |
|||
py = parser.value_int() - 1; |
|||
if (!WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) { |
|||
SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(GRID_MAX_POINTS_Y) ")."); |
|||
return; |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_CHAR('Y'); echo_not_entered(); |
|||
return; |
|||
} |
|||
|
|||
if (parser.seenval('Z')) { |
|||
mbl.z_values[px][py] = parser.value_linear_units(); |
|||
} |
|||
else { |
|||
SERIAL_CHAR('Z'); echo_not_entered(); |
|||
return; |
|||
} |
|||
break; |
|||
|
|||
case MeshSetZOffset: |
|||
if (parser.seenval('Z')) { |
|||
mbl.z_offset = parser.value_linear_units(); |
|||
} |
|||
else { |
|||
SERIAL_CHAR('Z'); echo_not_entered(); |
|||
return; |
|||
} |
|||
break; |
|||
|
|||
case MeshReset: |
|||
reset_bed_level(); |
|||
break; |
|||
|
|||
} // switch(state)
|
|||
|
|||
report_current_position(); |
|||
} |
|||
@ -0,0 +1,27 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_G29() { |
|||
|
|||
ubl.G29(); |
|||
|
|||
} |
|||
@ -0,0 +1,65 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) || ENABLED(PROBE_MANUALLY) |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) |
|||
extern bool lcd_wait_for_move; |
|||
#endif |
|||
|
|||
inline void _manual_goto_xy(const float &x, const float &y) { |
|||
const float old_feedrate_mm_s = feedrate_mm_s; |
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
const float prev_z = current_position[Z_AXIS]; |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = LOGICAL_Z_POSITION(MANUAL_PROBE_HEIGHT); |
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); |
|||
current_position[X_AXIS] = LOGICAL_X_POSITION(x); |
|||
current_position[Y_AXIS] = LOGICAL_Y_POSITION(y); |
|||
line_to_current_position(); |
|||
|
|||
#if MANUAL_PROBE_HEIGHT > 0 |
|||
feedrate_mm_s = homing_feedrate(Z_AXIS); |
|||
current_position[Z_AXIS] = prev_z; // move back to the previous Z.
|
|||
line_to_current_position(); |
|||
#endif |
|||
|
|||
feedrate_mm_s = old_feedrate_mm_s; |
|||
stepper.synchronize(); |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) && ENABLED(LCD_BED_LEVELING) |
|||
lcd_wait_for_move = false; |
|||
#endif |
|||
} |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(MESH_BED_LEVELING) |
|||
#include "G29-mbl.h" |
|||
#elif ENABLED(AUTO_BED_LEVELING_UBL) |
|||
#include "G29-ubl.h" |
|||
#elif HAS_ABL |
|||
#include "G29-abl.h" |
|||
#endif |
|||
@ -0,0 +1,451 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "common.h" |
|||
|
|||
#if HOTENDS > 1 |
|||
#include "../control/tool_change.h" |
|||
#endif |
|||
|
|||
/**
|
|||
* G33 - Delta '1-4-7-point' Auto-Calibration |
|||
* Calibrate height, endstops, delta radius, and tower angles. |
|||
* |
|||
* Parameters: |
|||
* |
|||
* Pn Number of probe points: |
|||
* |
|||
* P1 Probe center and set height only. |
|||
* P2 Probe center and towers. Set height, endstops, and delta radius. |
|||
* P3 Probe all positions: center, towers and opposite towers. Set all. |
|||
* P4-P7 Probe all positions at different locations and average them. |
|||
* |
|||
* T0 Don't calibrate tower angle corrections |
|||
* |
|||
* Cn.nn Calibration precision; when omitted calibrates to maximum precision |
|||
* |
|||
* Fn Force to run at least n iterations and takes the best result |
|||
* |
|||
* Vn Verbose level: |
|||
* |
|||
* V0 Dry-run mode. Report settings and probe results. No calibration. |
|||
* V1 Report settings |
|||
* V2 Report settings and probe results |
|||
* |
|||
* E Engage the probe for each point |
|||
*/ |
|||
|
|||
void print_signed_float(const char * const prefix, const float &f) { |
|||
SERIAL_PROTOCOLPGM(" "); |
|||
serialprintPGM(prefix); |
|||
SERIAL_PROTOCOLCHAR(':'); |
|||
if (f >= 0) SERIAL_CHAR('+'); |
|||
SERIAL_PROTOCOL_F(f, 2); |
|||
} |
|||
|
|||
inline void print_G33_settings(const bool end_stops, const bool tower_angles){ // TODO echo these to LCD ???
|
|||
SERIAL_PROTOCOLPAIR(".Height:", DELTA_HEIGHT + home_offset[Z_AXIS]); |
|||
if (end_stops) { |
|||
print_signed_float(PSTR(" Ex"), endstop_adj[A_AXIS]); |
|||
print_signed_float(PSTR("Ey"), endstop_adj[B_AXIS]); |
|||
print_signed_float(PSTR("Ez"), endstop_adj[C_AXIS]); |
|||
SERIAL_PROTOCOLPAIR(" Radius:", delta_radius); |
|||
} |
|||
SERIAL_EOL(); |
|||
if (tower_angles) { |
|||
SERIAL_PROTOCOLPGM(".Tower angle : "); |
|||
print_signed_float(PSTR("Tx"), delta_tower_angle_trim[A_AXIS]); |
|||
print_signed_float(PSTR("Ty"), delta_tower_angle_trim[B_AXIS]); |
|||
SERIAL_PROTOCOLLNPGM(" Tz:+0.00"); |
|||
} |
|||
} |
|||
|
|||
void G33_cleanup( |
|||
#if HOTENDS > 1 |
|||
const uint8_t old_tool_index |
|||
#endif |
|||
) { |
|||
#if ENABLED(DELTA_HOME_TO_SAFE_ZONE) |
|||
do_blocking_move_to_z(delta_clip_start_height); |
|||
#endif |
|||
STOW_PROBE(); |
|||
clean_up_after_endstop_or_probe_move(); |
|||
#if HOTENDS > 1 |
|||
tool_change(old_tool_index, 0, true); |
|||
#endif |
|||
} |
|||
|
|||
void gcode_G33() { |
|||
|
|||
const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); |
|||
if (!WITHIN(probe_points, 1, 7)) { |
|||
SERIAL_PROTOCOLLNPGM("?(P)oints is implausible (1-7)."); |
|||
return; |
|||
} |
|||
|
|||
const int8_t verbose_level = parser.byteval('V', 1); |
|||
if (!WITHIN(verbose_level, 0, 2)) { |
|||
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-2)."); |
|||
return; |
|||
} |
|||
|
|||
const float calibration_precision = parser.floatval('C'); |
|||
if (calibration_precision < 0) { |
|||
SERIAL_PROTOCOLLNPGM("?(C)alibration precision is implausible (>0)."); |
|||
return; |
|||
} |
|||
|
|||
const int8_t force_iterations = parser.intval('F', 0); |
|||
if (!WITHIN(force_iterations, 0, 30)) { |
|||
SERIAL_PROTOCOLLNPGM("?(F)orce iteration is implausible (0-30)."); |
|||
return; |
|||
} |
|||
|
|||
const bool towers_set = parser.boolval('T', true), |
|||
stow_after_each = parser.boolval('E'), |
|||
_1p_calibration = probe_points == 1, |
|||
_4p_calibration = probe_points == 2, |
|||
_4p_towers_points = _4p_calibration && towers_set, |
|||
_4p_opposite_points = _4p_calibration && !towers_set, |
|||
_7p_calibration = probe_points >= 3, |
|||
_7p_half_circle = probe_points == 3, |
|||
_7p_double_circle = probe_points == 5, |
|||
_7p_triple_circle = probe_points == 6, |
|||
_7p_quadruple_circle = probe_points == 7, |
|||
_7p_multi_circle = _7p_double_circle || _7p_triple_circle || _7p_quadruple_circle, |
|||
_7p_intermed_points = _7p_calibration && !_7p_half_circle; |
|||
const static char save_message[] PROGMEM = "Save with M500 and/or copy to Configuration.h"; |
|||
const float dx = (X_PROBE_OFFSET_FROM_EXTRUDER), |
|||
dy = (Y_PROBE_OFFSET_FROM_EXTRUDER); |
|||
int8_t iterations = 0; |
|||
float test_precision, |
|||
zero_std_dev = (verbose_level ? 999.0 : 0.0), // 0.0 in dry-run mode : forced end
|
|||
zero_std_dev_old = zero_std_dev, |
|||
zero_std_dev_min = zero_std_dev, |
|||
e_old[XYZ] = { |
|||
endstop_adj[A_AXIS], |
|||
endstop_adj[B_AXIS], |
|||
endstop_adj[C_AXIS] |
|||
}, |
|||
dr_old = delta_radius, |
|||
zh_old = home_offset[Z_AXIS], |
|||
alpha_old = delta_tower_angle_trim[A_AXIS], |
|||
beta_old = delta_tower_angle_trim[B_AXIS]; |
|||
|
|||
if (!_1p_calibration) { // test if the outer radius is reachable
|
|||
const float circles = (_7p_quadruple_circle ? 1.5 : |
|||
_7p_triple_circle ? 1.0 : |
|||
_7p_double_circle ? 0.5 : 0), |
|||
r = (1 + circles * 0.1) * delta_calibration_radius; |
|||
for (uint8_t axis = 1; axis < 13; ++axis) { |
|||
const float a = RADIANS(180 + 30 * axis); |
|||
if (!position_is_reachable_xy(cos(a) * r, sin(a) * r)) { |
|||
SERIAL_PROTOCOLLNPGM("?(M665 B)ed radius is implausible."); |
|||
return; |
|||
} |
|||
} |
|||
} |
|||
SERIAL_PROTOCOLLNPGM("G33 Auto Calibrate"); |
|||
|
|||
stepper.synchronize(); |
|||
#if HAS_LEVELING |
|||
reset_bed_level(); // After calibration bed-level data is no longer valid
|
|||
#endif |
|||
|
|||
#if HOTENDS > 1 |
|||
const uint8_t old_tool_index = active_extruder; |
|||
tool_change(0, 0, true); |
|||
#define G33_CLEANUP() G33_cleanup(old_tool_index) |
|||
#else |
|||
#define G33_CLEANUP() G33_cleanup() |
|||
#endif |
|||
|
|||
setup_for_endstop_or_probe_move(); |
|||
endstops.enable(true); |
|||
if (!home_delta()) |
|||
return; |
|||
endstops.not_homing(); |
|||
|
|||
// print settings
|
|||
|
|||
const char *checkingac = PSTR("Checking... AC"); // TODO: Make translatable string
|
|||
serialprintPGM(checkingac); |
|||
if (verbose_level == 0) SERIAL_PROTOCOLPGM(" (DRY-RUN)"); |
|||
SERIAL_EOL(); |
|||
lcd_setstatusPGM(checkingac); |
|||
|
|||
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); |
|||
|
|||
#if DISABLED(PROBE_MANUALLY) |
|||
const float measured_z = probe_pt(dx, dy, stow_after_each, 1, false); // 1st probe to set height
|
|||
if (isnan(measured_z)) return G33_CLEANUP(); |
|||
home_offset[Z_AXIS] -= measured_z; |
|||
#endif |
|||
|
|||
do { |
|||
|
|||
float z_at_pt[13] = { 0.0 }; |
|||
|
|||
test_precision = zero_std_dev_old != 999.0 ? (zero_std_dev + zero_std_dev_old) / 2 : zero_std_dev; |
|||
|
|||
iterations++; |
|||
|
|||
// Probe the points
|
|||
|
|||
if (!_7p_half_circle && !_7p_triple_circle) { // probe the center
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
z_at_pt[0] += lcd_probe_pt(0, 0); |
|||
#else |
|||
z_at_pt[0] += probe_pt(dx, dy, stow_after_each, 1, false); |
|||
if (isnan(z_at_pt[0])) return G33_CLEANUP(); |
|||
#endif |
|||
} |
|||
if (_7p_calibration) { // probe extra center points
|
|||
for (int8_t axis = _7p_multi_circle ? 11 : 9; axis > 0; axis -= _7p_multi_circle ? 2 : 4) { |
|||
const float a = RADIANS(180 + 30 * axis), r = delta_calibration_radius * 0.1; |
|||
#if ENABLED(PROBE_MANUALLY) |
|||
z_at_pt[0] += lcd_probe_pt(cos(a) * r, sin(a) * r); |
|||
#else |
|||
z_at_pt[0] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); |
|||
if (isnan(z_at_pt[0])) return G33_CLEANUP(); |
|||
#endif |
|||
} |
|||
z_at_pt[0] /= float(_7p_double_circle ? 7 : probe_points); |
|||
} |
|||
if (!_1p_calibration) { // probe the radius
|
|||
bool zig_zag = true; |
|||
const uint8_t start = _4p_opposite_points ? 3 : 1, |
|||
step = _4p_calibration ? 4 : _7p_half_circle ? 2 : 1; |
|||
for (uint8_t axis = start; axis < 13; axis += step) { |
|||
const float zigadd = (zig_zag ? 0.5 : 0.0), |
|||
offset_circles = _7p_quadruple_circle ? zigadd + 1.0 : |
|||
_7p_triple_circle ? zigadd + 0.5 : |
|||
_7p_double_circle ? zigadd : 0; |
|||
for (float circles = -offset_circles ; circles <= offset_circles; circles++) { |
|||
const float a = RADIANS(180 + 30 * axis), |
|||
r = delta_calibration_radius * (1 + circles * (zig_zag ? 0.1 : -0.1)); |
|||
#if ENABLED(PROBE_MANUALLY) |
|||
z_at_pt[axis] += lcd_probe_pt(cos(a) * r, sin(a) * r); |
|||
#else |
|||
z_at_pt[axis] += probe_pt(cos(a) * r + dx, sin(a) * r + dy, stow_after_each, 1); |
|||
if (isnan(z_at_pt[axis])) return G33_CLEANUP(); |
|||
#endif |
|||
} |
|||
zig_zag = !zig_zag; |
|||
z_at_pt[axis] /= (2 * offset_circles + 1); |
|||
} |
|||
} |
|||
if (_7p_intermed_points) // average intermediates to tower and opposites
|
|||
for (uint8_t axis = 1; axis < 13; axis += 2) |
|||
z_at_pt[axis] = (z_at_pt[axis] + (z_at_pt[axis + 1] + z_at_pt[(axis + 10) % 12 + 1]) / 2.0) / 2.0; |
|||
|
|||
float S1 = z_at_pt[0], |
|||
S2 = sq(z_at_pt[0]); |
|||
int16_t N = 1; |
|||
if (!_1p_calibration) // std dev from zero plane
|
|||
for (uint8_t axis = (_4p_opposite_points ? 3 : 1); axis < 13; axis += (_4p_calibration ? 4 : 2)) { |
|||
S1 += z_at_pt[axis]; |
|||
S2 += sq(z_at_pt[axis]); |
|||
N++; |
|||
} |
|||
zero_std_dev_old = zero_std_dev; |
|||
zero_std_dev = round(SQRT(S2 / N) * 1000.0) / 1000.0 + 0.00001; |
|||
|
|||
// Solve matrices
|
|||
|
|||
if ((zero_std_dev < test_precision && zero_std_dev > calibration_precision) || iterations <= force_iterations) { |
|||
if (zero_std_dev < zero_std_dev_min) { |
|||
COPY(e_old, endstop_adj); |
|||
dr_old = delta_radius; |
|||
zh_old = home_offset[Z_AXIS]; |
|||
alpha_old = delta_tower_angle_trim[A_AXIS]; |
|||
beta_old = delta_tower_angle_trim[B_AXIS]; |
|||
} |
|||
|
|||
float e_delta[XYZ] = { 0.0 }, r_delta = 0.0, t_alpha = 0.0, t_beta = 0.0; |
|||
const float r_diff = delta_radius - delta_calibration_radius, |
|||
h_factor = 1.00 + r_diff * 0.001, //1.02 for r_diff = 20mm
|
|||
r_factor = -(1.75 + 0.005 * r_diff + 0.001 * sq(r_diff)), //2.25 for r_diff = 20mm
|
|||
a_factor = 100.0 / delta_calibration_radius; //1.25 for cal_rd = 80mm
|
|||
|
|||
#define ZP(N,I) ((N) * z_at_pt[I]) |
|||
#define Z1000(I) ZP(1.00, I) |
|||
#define Z1050(I) ZP(h_factor, I) |
|||
#define Z0700(I) ZP(h_factor * 2.0 / 3.00, I) |
|||
#define Z0350(I) ZP(h_factor / 3.00, I) |
|||
#define Z0175(I) ZP(h_factor / 6.00, I) |
|||
#define Z2250(I) ZP(r_factor, I) |
|||
#define Z0750(I) ZP(r_factor / 3.00, I) |
|||
#define Z0375(I) ZP(r_factor / 6.00, I) |
|||
#define Z0444(I) ZP(a_factor * 4.0 / 9.0, I) |
|||
#define Z0888(I) ZP(a_factor * 8.0 / 9.0, I) |
|||
|
|||
#if ENABLED(PROBE_MANUALLY) |
|||
test_precision = 0.00; // forced end
|
|||
#endif |
|||
|
|||
switch (probe_points) { |
|||
case 1: |
|||
test_precision = 0.00; // forced end
|
|||
LOOP_XYZ(i) e_delta[i] = Z1000(0); |
|||
break; |
|||
|
|||
case 2: |
|||
if (towers_set) { |
|||
e_delta[X_AXIS] = Z1050(0) + Z0700(1) - Z0350(5) - Z0350(9); |
|||
e_delta[Y_AXIS] = Z1050(0) - Z0350(1) + Z0700(5) - Z0350(9); |
|||
e_delta[Z_AXIS] = Z1050(0) - Z0350(1) - Z0350(5) + Z0700(9); |
|||
r_delta = Z2250(0) - Z0750(1) - Z0750(5) - Z0750(9); |
|||
} |
|||
else { |
|||
e_delta[X_AXIS] = Z1050(0) - Z0700(7) + Z0350(11) + Z0350(3); |
|||
e_delta[Y_AXIS] = Z1050(0) + Z0350(7) - Z0700(11) + Z0350(3); |
|||
e_delta[Z_AXIS] = Z1050(0) + Z0350(7) + Z0350(11) - Z0700(3); |
|||
r_delta = Z2250(0) - Z0750(7) - Z0750(11) - Z0750(3); |
|||
} |
|||
break; |
|||
|
|||
default: |
|||
e_delta[X_AXIS] = Z1050(0) + Z0350(1) - Z0175(5) - Z0175(9) - Z0350(7) + Z0175(11) + Z0175(3); |
|||
e_delta[Y_AXIS] = Z1050(0) - Z0175(1) + Z0350(5) - Z0175(9) + Z0175(7) - Z0350(11) + Z0175(3); |
|||
e_delta[Z_AXIS] = Z1050(0) - Z0175(1) - Z0175(5) + Z0350(9) + Z0175(7) + Z0175(11) - Z0350(3); |
|||
r_delta = Z2250(0) - Z0375(1) - Z0375(5) - Z0375(9) - Z0375(7) - Z0375(11) - Z0375(3); |
|||
|
|||
if (towers_set) { |
|||
t_alpha = Z0444(1) - Z0888(5) + Z0444(9) + Z0444(7) - Z0888(11) + Z0444(3); |
|||
t_beta = Z0888(1) - Z0444(5) - Z0444(9) + Z0888(7) - Z0444(11) - Z0444(3); |
|||
} |
|||
break; |
|||
} |
|||
|
|||
LOOP_XYZ(axis) endstop_adj[axis] += e_delta[axis]; |
|||
delta_radius += r_delta; |
|||
delta_tower_angle_trim[A_AXIS] += t_alpha; |
|||
delta_tower_angle_trim[B_AXIS] += t_beta; |
|||
|
|||
// adjust delta_height and endstops by the max amount
|
|||
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]); |
|||
home_offset[Z_AXIS] -= z_temp; |
|||
LOOP_XYZ(i) endstop_adj[i] -= z_temp; |
|||
|
|||
recalc_delta_settings(delta_radius, delta_diagonal_rod); |
|||
} |
|||
else if (zero_std_dev >= test_precision) { // step one back
|
|||
COPY(endstop_adj, e_old); |
|||
delta_radius = dr_old; |
|||
home_offset[Z_AXIS] = zh_old; |
|||
delta_tower_angle_trim[A_AXIS] = alpha_old; |
|||
delta_tower_angle_trim[B_AXIS] = beta_old; |
|||
|
|||
recalc_delta_settings(delta_radius, delta_diagonal_rod); |
|||
} |
|||
NOMORE(zero_std_dev_min, zero_std_dev); |
|||
|
|||
// print report
|
|||
|
|||
if (verbose_level != 1) { |
|||
SERIAL_PROTOCOLPGM(". "); |
|||
print_signed_float(PSTR("c"), z_at_pt[0]); |
|||
if (_4p_towers_points || _7p_calibration) { |
|||
print_signed_float(PSTR(" x"), z_at_pt[1]); |
|||
print_signed_float(PSTR(" y"), z_at_pt[5]); |
|||
print_signed_float(PSTR(" z"), z_at_pt[9]); |
|||
} |
|||
if (!_4p_opposite_points) SERIAL_EOL(); |
|||
if ((_4p_opposite_points) || _7p_calibration) { |
|||
if (_7p_calibration) { |
|||
SERIAL_CHAR('.'); |
|||
SERIAL_PROTOCOL_SP(13); |
|||
} |
|||
print_signed_float(PSTR(" yz"), z_at_pt[7]); |
|||
print_signed_float(PSTR("zx"), z_at_pt[11]); |
|||
print_signed_float(PSTR("xy"), z_at_pt[3]); |
|||
SERIAL_EOL(); |
|||
} |
|||
} |
|||
if (verbose_level != 0) { // !dry run
|
|||
if ((zero_std_dev >= test_precision || zero_std_dev <= calibration_precision) && iterations > force_iterations) { // end iterations
|
|||
SERIAL_PROTOCOLPGM("Calibration OK"); |
|||
SERIAL_PROTOCOL_SP(36); |
|||
#if DISABLED(PROBE_MANUALLY) |
|||
if (zero_std_dev >= test_precision && !_1p_calibration) |
|||
SERIAL_PROTOCOLPGM("rolling back."); |
|||
else |
|||
#endif |
|||
{ |
|||
SERIAL_PROTOCOLPGM("std dev:"); |
|||
SERIAL_PROTOCOL_F(zero_std_dev_min, 3); |
|||
} |
|||
SERIAL_EOL(); |
|||
char mess[21]; |
|||
sprintf_P(mess, PSTR("Calibration sd:")); |
|||
if (zero_std_dev_min < 1) |
|||
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev_min * 1000.0)); |
|||
else |
|||
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev_min)); |
|||
lcd_setstatus(mess); |
|||
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); |
|||
serialprintPGM(save_message); |
|||
SERIAL_EOL(); |
|||
} |
|||
else { // !end iterations
|
|||
char mess[15]; |
|||
if (iterations < 31) |
|||
sprintf_P(mess, PSTR("Iteration : %02i"), (int)iterations); |
|||
else |
|||
sprintf_P(mess, PSTR("No convergence")); |
|||
SERIAL_PROTOCOL(mess); |
|||
SERIAL_PROTOCOL_SP(36); |
|||
SERIAL_PROTOCOLPGM("std dev:"); |
|||
SERIAL_PROTOCOL_F(zero_std_dev, 3); |
|||
SERIAL_EOL(); |
|||
lcd_setstatus(mess); |
|||
print_G33_settings(!_1p_calibration, _7p_calibration && towers_set); |
|||
} |
|||
} |
|||
else { // dry run
|
|||
const char *enddryrun = PSTR("End DRY-RUN"); |
|||
serialprintPGM(enddryrun); |
|||
SERIAL_PROTOCOL_SP(39); |
|||
SERIAL_PROTOCOLPGM("std dev:"); |
|||
SERIAL_PROTOCOL_F(zero_std_dev, 3); |
|||
SERIAL_EOL(); |
|||
|
|||
char mess[21]; |
|||
sprintf_P(mess, enddryrun); |
|||
sprintf_P(&mess[11], PSTR(" sd:")); |
|||
if (zero_std_dev < 1) |
|||
sprintf_P(&mess[15], PSTR("0.%03i"), (int)round(zero_std_dev * 1000.0)); |
|||
else |
|||
sprintf_P(&mess[15], PSTR("%03i.x"), (int)round(zero_std_dev)); |
|||
lcd_setstatus(mess); |
|||
} |
|||
|
|||
endstops.enable(true); |
|||
home_delta(); |
|||
endstops.not_homing(); |
|||
|
|||
} |
|||
while ((zero_std_dev < test_precision && zero_std_dev > calibration_precision && iterations < 31) || iterations <= force_iterations); |
|||
|
|||
G33_CLEANUP(); |
|||
} |
|||
@ -0,0 +1,121 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M420: Enable/Disable Bed Leveling and/or set the Z fade height. |
|||
* |
|||
* S[bool] Turns leveling on or off |
|||
* Z[height] Sets the Z fade height (0 or none to disable) |
|||
* V[bool] Verbose - Print the leveling grid |
|||
* |
|||
* With AUTO_BED_LEVELING_UBL only: |
|||
* |
|||
* L[index] Load UBL mesh from index (0 is default) |
|||
*/ |
|||
void gcode_M420() { |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) |
|||
|
|||
// L to load a mesh from the EEPROM
|
|||
if (parser.seen('L')) { |
|||
|
|||
#if ENABLED(EEPROM_SETTINGS) |
|||
const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.state.storage_slot; |
|||
const int16_t a = settings.calc_num_meshes(); |
|||
|
|||
if (!a) { |
|||
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available."); |
|||
return; |
|||
} |
|||
|
|||
if (!WITHIN(storage_slot, 0, a - 1)) { |
|||
SERIAL_PROTOCOLLNPGM("?Invalid storage slot."); |
|||
SERIAL_PROTOCOLLNPAIR("?Use 0 to ", a - 1); |
|||
return; |
|||
} |
|||
|
|||
settings.load_mesh(storage_slot); |
|||
ubl.state.storage_slot = storage_slot; |
|||
|
|||
#else |
|||
|
|||
SERIAL_PROTOCOLLNPGM("?EEPROM storage not available."); |
|||
return; |
|||
|
|||
#endif |
|||
} |
|||
|
|||
// L to load a mesh from the EEPROM
|
|||
if (parser.seen('L') || parser.seen('V')) { |
|||
ubl.display_map(0); // Currently only supports one map type
|
|||
SERIAL_ECHOLNPAIR("UBL_MESH_VALID = ", UBL_MESH_VALID); |
|||
SERIAL_ECHOLNPAIR("ubl.state.storage_slot = ", ubl.state.storage_slot); |
|||
} |
|||
|
|||
#endif // AUTO_BED_LEVELING_UBL
|
|||
|
|||
// V to print the matrix or mesh
|
|||
if (parser.seen('V')) { |
|||
#if ABL_PLANAR |
|||
planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:")); |
|||
#else |
|||
if (leveling_is_valid()) { |
|||
#if ENABLED(AUTO_BED_LEVELING_BILINEAR) |
|||
print_bilinear_leveling_grid(); |
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
print_bilinear_leveling_grid_virt(); |
|||
#endif |
|||
#elif ENABLED(MESH_BED_LEVELING) |
|||
SERIAL_ECHOLNPGM("Mesh Bed Level data:"); |
|||
mbl_mesh_report(); |
|||
#endif |
|||
} |
|||
#endif |
|||
} |
|||
|
|||
const bool to_enable = parser.boolval('S'); |
|||
if (parser.seen('S')) |
|||
set_bed_leveling_enabled(to_enable); |
|||
|
|||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|||
if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units()); |
|||
#endif |
|||
|
|||
const bool new_status = leveling_is_active(); |
|||
|
|||
if (to_enable && !new_status) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M420_FAILED); |
|||
} |
|||
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOLNPAIR("Bed Leveling ", new_status ? MSG_ON : MSG_OFF); |
|||
|
|||
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPGM("Fade Height "); |
|||
if (planner.z_fade_height > 0.0) |
|||
SERIAL_ECHOLN(planner.z_fade_height); |
|||
else |
|||
SERIAL_ECHOLNPGM(MSG_OFF); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,51 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M421: Set a single Mesh Bed Leveling Z coordinate |
|||
* |
|||
* Usage: |
|||
* M421 I<xindex> J<yindex> Z<linear> |
|||
* M421 I<xindex> J<yindex> Q<offset> |
|||
*/ |
|||
void gcode_M421() { |
|||
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1); |
|||
const bool hasI = ix >= 0, |
|||
hasJ = iy >= 0, |
|||
hasZ = parser.seen('Z'), |
|||
hasQ = !hasZ && parser.seen('Q'); |
|||
|
|||
if (!hasI || !hasJ || !(hasZ || hasQ)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); |
|||
} |
|||
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); |
|||
} |
|||
else { |
|||
z_values[ix][iy] = parser.value_linear_units() + (hasQ ? z_values[ix][iy] : 0); |
|||
#if ENABLED(ABL_BILINEAR_SUBDIVISION) |
|||
bed_level_virt_interpolate(); |
|||
#endif |
|||
} |
|||
} |
|||
@ -0,0 +1,49 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M421: Set a single Mesh Bed Leveling Z coordinate |
|||
* |
|||
* Usage: |
|||
* M421 X<linear> Y<linear> Z<linear> |
|||
* M421 X<linear> Y<linear> Q<offset> |
|||
* M421 I<xindex> J<yindex> Z<linear> |
|||
* M421 I<xindex> J<yindex> Q<offset> |
|||
*/ |
|||
void gcode_M421() { |
|||
const bool hasX = parser.seen('X'), hasI = parser.seen('I'); |
|||
const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; |
|||
const bool hasY = parser.seen('Y'), hasJ = parser.seen('J'); |
|||
const int8_t iy = hasJ ? parser.value_int() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; |
|||
const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); |
|||
|
|||
if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); |
|||
} |
|||
else if (ix < 0 || iy < 0) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); |
|||
} |
|||
else |
|||
mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0)); |
|||
} |
|||
@ -0,0 +1,56 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M421: Set a single Mesh Bed Leveling Z coordinate |
|||
* |
|||
* Usage: |
|||
* M421 I<xindex> J<yindex> Z<linear> |
|||
* M421 I<xindex> J<yindex> Q<offset> |
|||
* M421 C Z<linear> |
|||
* M421 C Q<offset> |
|||
*/ |
|||
void gcode_M421() { |
|||
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1); |
|||
const bool hasI = ix >= 0, |
|||
hasJ = iy >= 0, |
|||
hasC = parser.seen('C'), |
|||
hasZ = parser.seen('Z'), |
|||
hasQ = !hasZ && parser.seen('Q'); |
|||
|
|||
if (hasC) { |
|||
const mesh_index_pair location = ubl.find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false); |
|||
ix = location.x_index; |
|||
iy = location.y_index; |
|||
} |
|||
|
|||
if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); |
|||
} |
|||
else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); |
|||
} |
|||
else |
|||
ubl.z_values[ix][iy] = parser.value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0); |
|||
} |
|||
@ -0,0 +1,273 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M48: Z probe repeatability measurement function. |
|||
* |
|||
* Usage: |
|||
* M48 <P#> <X#> <Y#> <V#> <E> <L#> |
|||
* P = Number of sampled points (4-50, default 10) |
|||
* X = Sample X position |
|||
* Y = Sample Y position |
|||
* V = Verbose level (0-4, default=1) |
|||
* E = Engage Z probe for each reading |
|||
* L = Number of legs of movement before probe |
|||
* S = Schizoid (Or Star if you prefer) |
|||
* |
|||
* This function assumes the bed has been homed. Specifically, that a G28 command |
|||
* as been issued prior to invoking the M48 Z probe repeatability measurement function. |
|||
* Any information generated by a prior G29 Bed leveling command will be lost and need to be |
|||
* regenerated. |
|||
*/ |
|||
void gcode_M48() { |
|||
|
|||
if (axis_unhomed_error()) return; |
|||
|
|||
const int8_t verbose_level = parser.byteval('V', 1); |
|||
if (!WITHIN(verbose_level, 0, 4)) { |
|||
SERIAL_PROTOCOLLNPGM("?(V)erbose level is implausible (0-4)."); |
|||
return; |
|||
} |
|||
|
|||
if (verbose_level > 0) |
|||
SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test"); |
|||
|
|||
const int8_t n_samples = parser.byteval('P', 10); |
|||
if (!WITHIN(n_samples, 4, 50)) { |
|||
SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50)."); |
|||
return; |
|||
} |
|||
|
|||
const bool stow_probe_after_each = parser.boolval('E'); |
|||
|
|||
float X_current = current_position[X_AXIS], |
|||
Y_current = current_position[Y_AXIS]; |
|||
|
|||
const float X_probe_location = parser.linearval('X', X_current + X_PROBE_OFFSET_FROM_EXTRUDER), |
|||
Y_probe_location = parser.linearval('Y', Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER); |
|||
|
|||
#if DISABLED(DELTA) |
|||
if (!WITHIN(X_probe_location, LOGICAL_X_POSITION(MIN_PROBE_X), LOGICAL_X_POSITION(MAX_PROBE_X))) { |
|||
out_of_range_error(PSTR("X")); |
|||
return; |
|||
} |
|||
if (!WITHIN(Y_probe_location, LOGICAL_Y_POSITION(MIN_PROBE_Y), LOGICAL_Y_POSITION(MAX_PROBE_Y))) { |
|||
out_of_range_error(PSTR("Y")); |
|||
return; |
|||
} |
|||
#else |
|||
if (!position_is_reachable_by_probe_xy(X_probe_location, Y_probe_location)) { |
|||
SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius."); |
|||
return; |
|||
} |
|||
#endif |
|||
|
|||
bool seen_L = parser.seen('L'); |
|||
uint8_t n_legs = seen_L ? parser.value_byte() : 0; |
|||
if (n_legs > 15) { |
|||
SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15)."); |
|||
return; |
|||
} |
|||
if (n_legs == 1) n_legs = 2; |
|||
|
|||
const bool schizoid_flag = parser.boolval('S'); |
|||
if (schizoid_flag && !seen_L) n_legs = 7; |
|||
|
|||
/**
|
|||
* Now get everything to the specified probe point So we can safely do a |
|||
* probe to get us close to the bed. If the Z-Axis is far from the bed, |
|||
* we don't want to use that as a starting point for each probe. |
|||
*/ |
|||
if (verbose_level > 2) |
|||
SERIAL_PROTOCOLLNPGM("Positioning the probe..."); |
|||
|
|||
// Disable bed level correction in M48 because we want the raw data when we probe
|
|||
|
|||
#if HAS_LEVELING |
|||
const bool was_enabled = leveling_is_active(); |
|||
set_bed_leveling_enabled(false); |
|||
#endif |
|||
|
|||
setup_for_endstop_or_probe_move(); |
|||
|
|||
double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples]; |
|||
|
|||
// Move to the first point, deploy, and probe
|
|||
const float t = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level); |
|||
bool probing_good = !isnan(t); |
|||
|
|||
if (probing_good) { |
|||
randomSeed(millis()); |
|||
|
|||
for (uint8_t n = 0; n < n_samples; n++) { |
|||
if (n_legs) { |
|||
const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise
|
|||
float angle = random(0.0, 360.0); |
|||
const float radius = random( |
|||
#if ENABLED(DELTA) |
|||
0.1250000000 * (DELTA_PROBEABLE_RADIUS), |
|||
0.3333333333 * (DELTA_PROBEABLE_RADIUS) |
|||
#else |
|||
5.0, 0.125 * min(X_BED_SIZE, Y_BED_SIZE) |
|||
#endif |
|||
); |
|||
|
|||
if (verbose_level > 3) { |
|||
SERIAL_ECHOPAIR("Starting radius: ", radius); |
|||
SERIAL_ECHOPAIR(" angle: ", angle); |
|||
SERIAL_ECHOPGM(" Direction: "); |
|||
if (dir > 0) SERIAL_ECHOPGM("Counter-"); |
|||
SERIAL_ECHOLNPGM("Clockwise"); |
|||
} |
|||
|
|||
for (uint8_t l = 0; l < n_legs - 1; l++) { |
|||
double delta_angle; |
|||
|
|||
if (schizoid_flag) |
|||
// The points of a 5 point star are 72 degrees apart. We need to
|
|||
// skip a point and go to the next one on the star.
|
|||
delta_angle = dir * 2.0 * 72.0; |
|||
|
|||
else |
|||
// If we do this line, we are just trying to move further
|
|||
// around the circle.
|
|||
delta_angle = dir * (float) random(25, 45); |
|||
|
|||
angle += delta_angle; |
|||
|
|||
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
|
|||
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
|
|||
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
|
|||
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
|
|||
|
|||
X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius; |
|||
Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius; |
|||
|
|||
#if DISABLED(DELTA) |
|||
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS); |
|||
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS); |
|||
#else |
|||
// If we have gone out too far, we can do a simple fix and scale the numbers
|
|||
// back in closer to the origin.
|
|||
while (!position_is_reachable_by_probe_xy(X_current, Y_current)) { |
|||
X_current *= 0.8; |
|||
Y_current *= 0.8; |
|||
if (verbose_level > 3) { |
|||
SERIAL_ECHOPAIR("Pulling point towards center:", X_current); |
|||
SERIAL_ECHOLNPAIR(", ", Y_current); |
|||
} |
|||
} |
|||
#endif |
|||
if (verbose_level > 3) { |
|||
SERIAL_PROTOCOLPGM("Going to:"); |
|||
SERIAL_ECHOPAIR(" X", X_current); |
|||
SERIAL_ECHOPAIR(" Y", Y_current); |
|||
SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]); |
|||
} |
|||
do_blocking_move_to_xy(X_current, Y_current); |
|||
} // n_legs loop
|
|||
} // n_legs
|
|||
|
|||
// Probe a single point
|
|||
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0); |
|||
|
|||
// Break the loop if the probe fails
|
|||
probing_good = !isnan(sample_set[n]); |
|||
if (!probing_good) break; |
|||
|
|||
/**
|
|||
* Get the current mean for the data points we have so far |
|||
*/ |
|||
double sum = 0.0; |
|||
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j]; |
|||
mean = sum / (n + 1); |
|||
|
|||
NOMORE(min, sample_set[n]); |
|||
NOLESS(max, sample_set[n]); |
|||
|
|||
/**
|
|||
* Now, use that mean to calculate the standard deviation for the |
|||
* data points we have so far |
|||
*/ |
|||
sum = 0.0; |
|||
for (uint8_t j = 0; j <= n; j++) |
|||
sum += sq(sample_set[j] - mean); |
|||
|
|||
sigma = SQRT(sum / (n + 1)); |
|||
if (verbose_level > 0) { |
|||
if (verbose_level > 1) { |
|||
SERIAL_PROTOCOL(n + 1); |
|||
SERIAL_PROTOCOLPGM(" of "); |
|||
SERIAL_PROTOCOL((int)n_samples); |
|||
SERIAL_PROTOCOLPGM(": z: "); |
|||
SERIAL_PROTOCOL_F(sample_set[n], 3); |
|||
if (verbose_level > 2) { |
|||
SERIAL_PROTOCOLPGM(" mean: "); |
|||
SERIAL_PROTOCOL_F(mean, 4); |
|||
SERIAL_PROTOCOLPGM(" sigma: "); |
|||
SERIAL_PROTOCOL_F(sigma, 6); |
|||
SERIAL_PROTOCOLPGM(" min: "); |
|||
SERIAL_PROTOCOL_F(min, 3); |
|||
SERIAL_PROTOCOLPGM(" max: "); |
|||
SERIAL_PROTOCOL_F(max, 3); |
|||
SERIAL_PROTOCOLPGM(" range: "); |
|||
SERIAL_PROTOCOL_F(max-min, 3); |
|||
} |
|||
SERIAL_EOL(); |
|||
} |
|||
} |
|||
|
|||
} // n_samples loop
|
|||
} |
|||
|
|||
STOW_PROBE(); |
|||
|
|||
if (probing_good) { |
|||
SERIAL_PROTOCOLLNPGM("Finished!"); |
|||
|
|||
if (verbose_level > 0) { |
|||
SERIAL_PROTOCOLPGM("Mean: "); |
|||
SERIAL_PROTOCOL_F(mean, 6); |
|||
SERIAL_PROTOCOLPGM(" Min: "); |
|||
SERIAL_PROTOCOL_F(min, 3); |
|||
SERIAL_PROTOCOLPGM(" Max: "); |
|||
SERIAL_PROTOCOL_F(max, 3); |
|||
SERIAL_PROTOCOLPGM(" Range: "); |
|||
SERIAL_PROTOCOL_F(max-min, 3); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
SERIAL_PROTOCOLPGM("Standard Deviation: "); |
|||
SERIAL_PROTOCOL_F(sigma, 6); |
|||
SERIAL_EOL(); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
clean_up_after_endstop_or_probe_move(); |
|||
|
|||
// Re-enable bed level correction if it had been on
|
|||
#if HAS_LEVELING |
|||
set_bed_leveling_enabled(was_enabled); |
|||
#endif |
|||
|
|||
report_current_position(); |
|||
} |
|||
@ -0,0 +1,27 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_M49() { |
|||
ubl.g26_debug_flag ^= true; |
|||
SERIAL_PROTOCOLPGM("UBL Debug Flag turned "); |
|||
serialprintPGM(ubl.g26_debug_flag ? PSTR("on.") : PSTR("off.")); |
|||
} |
|||
@ -0,0 +1,93 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
/**
|
|||
* M665: Set delta configurations |
|||
* |
|||
* H = delta height |
|||
* L = diagonal rod |
|||
* R = delta radius |
|||
* S = segments per second |
|||
* B = delta calibration radius |
|||
* X = Alpha (Tower 1) angle trim |
|||
* Y = Beta (Tower 2) angle trim |
|||
* Z = Rotate A and B by this angle |
|||
*/ |
|||
void gcode_M665() { |
|||
if (parser.seen('H')) { |
|||
home_offset[Z_AXIS] = parser.value_linear_units() - DELTA_HEIGHT; |
|||
update_software_endstops(Z_AXIS); |
|||
} |
|||
if (parser.seen('L')) delta_diagonal_rod = parser.value_linear_units(); |
|||
if (parser.seen('R')) delta_radius = parser.value_linear_units(); |
|||
if (parser.seen('S')) delta_segments_per_second = parser.value_float(); |
|||
if (parser.seen('B')) delta_calibration_radius = parser.value_float(); |
|||
if (parser.seen('X')) delta_tower_angle_trim[A_AXIS] = parser.value_float(); |
|||
if (parser.seen('Y')) delta_tower_angle_trim[B_AXIS] = parser.value_float(); |
|||
if (parser.seen('Z')) { // rotate all 3 axis for Z = 0
|
|||
delta_tower_angle_trim[A_AXIS] -= parser.value_float(); |
|||
delta_tower_angle_trim[B_AXIS] -= parser.value_float(); |
|||
} |
|||
recalc_delta_settings(delta_radius, delta_diagonal_rod); |
|||
} |
|||
|
|||
#elif IS_SCARA |
|||
|
|||
/**
|
|||
* M665: Set SCARA settings |
|||
* |
|||
* Parameters: |
|||
* |
|||
* S[segments-per-second] - Segments-per-second |
|||
* P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle |
|||
* T[theta-offset] - Theta offset, added to the elbow (B/Y) angle |
|||
* |
|||
* A, P, and X are all aliases for the shoulder angle |
|||
* B, T, and Y are all aliases for the elbow angle |
|||
*/ |
|||
void gcode_M665() { |
|||
if (parser.seen('S')) delta_segments_per_second = parser.value_float(); |
|||
|
|||
const bool hasA = parser.seen('A'), hasP = parser.seen('P'), hasX = parser.seen('X'); |
|||
const uint8_t sumAPX = hasA + hasP + hasX; |
|||
if (sumAPX == 1) |
|||
home_offset[A_AXIS] = parser.value_float(); |
|||
else if (sumAPX > 1) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("Only one of A, P, or X is allowed."); |
|||
return; |
|||
} |
|||
|
|||
const bool hasB = parser.seen('B'), hasT = parser.seen('T'), hasY = parser.seen('Y'); |
|||
const uint8_t sumBTY = hasB + hasT + hasY; |
|||
if (sumBTY == 1) |
|||
home_offset[B_AXIS] = parser.value_float(); |
|||
else if (sumBTY > 1) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("Only one of B, T, or Y is allowed."); |
|||
return; |
|||
} |
|||
} |
|||
|
|||
#endif |
|||
@ -0,0 +1,66 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
/**
|
|||
* M666: Set delta endstop adjustment |
|||
*/ |
|||
void gcode_M666() { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOLNPGM(">>> gcode_M666"); |
|||
} |
|||
#endif |
|||
LOOP_XYZ(i) { |
|||
if (parser.seen(axis_codes[i])) { |
|||
endstop_adj[i] = parser.value_linear_units(); |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]); |
|||
SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]); |
|||
} |
|||
#endif |
|||
} |
|||
} |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOLNPGM("<<< gcode_M666"); |
|||
} |
|||
#endif |
|||
// normalize endstops so all are <=0; set the residue to delta height
|
|||
const float z_temp = MAX3(endstop_adj[A_AXIS], endstop_adj[B_AXIS], endstop_adj[C_AXIS]); |
|||
home_offset[Z_AXIS] -= z_temp; |
|||
LOOP_XYZ(i) endstop_adj[i] -= z_temp; |
|||
} |
|||
|
|||
#elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
|
|||
|
|||
/**
|
|||
* M666: For Z Dual Endstop setup, set z axis offset to the z2 axis. |
|||
*/ |
|||
void gcode_M666() { |
|||
if (parser.seen('Z')) z_endstop_adj = parser.value_linear_units(); |
|||
SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj); |
|||
} |
|||
|
|||
#endif |
|||
@ -0,0 +1,81 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#ifndef CALIBRATE_COMMON_H |
|||
#define CALIBRATE_COMMON_H |
|||
|
|||
#if ENABLED(DELTA) |
|||
|
|||
/**
|
|||
* A delta can only safely home all axes at the same time |
|||
* This is like quick_home_xy() but for 3 towers. |
|||
*/ |
|||
inline bool home_delta() { |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position); |
|||
#endif |
|||
// Init the current position of all carriages to 0,0,0
|
|||
ZERO(current_position); |
|||
sync_plan_position(); |
|||
|
|||
// Move all carriages together linearly until an endstop is hit.
|
|||
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (DELTA_HEIGHT + home_offset[Z_AXIS] + 10); |
|||
feedrate_mm_s = homing_feedrate(X_AXIS); |
|||
line_to_current_position(); |
|||
stepper.synchronize(); |
|||
|
|||
// If an endstop was not hit, then damage can occur if homing is continued.
|
|||
// This can occur if the delta height (DELTA_HEIGHT + home_offset[Z_AXIS]) is
|
|||
// not set correctly.
|
|||
if (!(Endstops::endstop_hit_bits & (_BV(X_MAX) | _BV(Y_MAX) | _BV(Z_MAX)))) { |
|||
LCD_MESSAGEPGM(MSG_ERR_HOMING_FAILED); |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_HOMING_FAILED); |
|||
return false; |
|||
} |
|||
|
|||
endstops.hit_on_purpose(); // clear endstop hit flags
|
|||
|
|||
// At least one carriage has reached the top.
|
|||
// Now re-home each carriage separately.
|
|||
HOMEAXIS(A); |
|||
HOMEAXIS(B); |
|||
HOMEAXIS(C); |
|||
|
|||
// Set all carriages to their home positions
|
|||
// Do this here all at once for Delta, because
|
|||
// XYZ isn't ABC. Applying this per-tower would
|
|||
// give the impression that they are the same.
|
|||
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); |
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position); |
|||
#endif |
|||
|
|||
return true; |
|||
} |
|||
|
|||
#endif // DELTA
|
|||
|
|||
#endif // CALIBRATE_COMMON_H
|
|||
@ -0,0 +1,46 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M200: Set filament diameter and set E axis units to cubic units |
|||
* |
|||
* T<extruder> - Optional extruder number. Current extruder if omitted. |
|||
* D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis. |
|||
*/ |
|||
void gcode_M200() { |
|||
|
|||
if (get_target_extruder_from_command(200)) return; |
|||
|
|||
if (parser.seen('D')) { |
|||
// setting any extruder filament size disables volumetric on the assumption that
|
|||
// slicers either generate in extruder values as cubic mm or as as filament feeds
|
|||
// for all extruders
|
|||
volumetric_enabled = (parser.value_linear_units() != 0.0); |
|||
if (volumetric_enabled) { |
|||
filament_size[target_extruder] = parser.value_linear_units(); |
|||
// make sure all extruders have some sane value for the filament size
|
|||
for (uint8_t i = 0; i < COUNT(filament_size); i++) |
|||
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA; |
|||
} |
|||
} |
|||
calculate_volumetric_multipliers(); |
|||
} |
|||
@ -0,0 +1,40 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) |
|||
* |
|||
* With multiple extruders use T to specify which one. |
|||
*/ |
|||
void gcode_M201() { |
|||
|
|||
GET_TARGET_EXTRUDER(201); |
|||
|
|||
LOOP_XYZE(i) { |
|||
if (parser.seen(axis_codes[i])) { |
|||
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0); |
|||
planner.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a); |
|||
} |
|||
} |
|||
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
|
|||
planner.reset_acceleration_rates(); |
|||
} |
|||
@ -0,0 +1,37 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec |
|||
* |
|||
* With multiple extruders use T to specify which one. |
|||
*/ |
|||
void gcode_M203() { |
|||
|
|||
GET_TARGET_EXTRUDER(203); |
|||
|
|||
LOOP_XYZE(i) |
|||
if (parser.seen(axis_codes[i])) { |
|||
const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0); |
|||
planner.max_feedrate_mm_s[a] = parser.value_axis_units((AxisEnum)a); |
|||
} |
|||
} |
|||
@ -0,0 +1,49 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000) |
|||
* |
|||
* P = Printing moves |
|||
* R = Retract only (no X, Y, Z) moves |
|||
* T = Travel (non printing) moves |
|||
* |
|||
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate |
|||
*/ |
|||
void gcode_M204() { |
|||
if (parser.seen('S')) { // Kept for legacy compatibility. Should NOT BE USED for new developments.
|
|||
planner.travel_acceleration = planner.acceleration = parser.value_linear_units(); |
|||
SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration); |
|||
} |
|||
if (parser.seen('P')) { |
|||
planner.acceleration = parser.value_linear_units(); |
|||
SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration); |
|||
} |
|||
if (parser.seen('R')) { |
|||
planner.retract_acceleration = parser.value_linear_units(); |
|||
SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration); |
|||
} |
|||
if (parser.seen('T')) { |
|||
planner.travel_acceleration = parser.value_linear_units(); |
|||
SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration); |
|||
} |
|||
} |
|||
@ -0,0 +1,42 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M205: Set Advanced Settings |
|||
* |
|||
* S = Min Feed Rate (units/s) |
|||
* T = Min Travel Feed Rate (units/s) |
|||
* B = Min Segment Time (µs) |
|||
* X = Max X Jerk (units/sec^2) |
|||
* Y = Max Y Jerk (units/sec^2) |
|||
* Z = Max Z Jerk (units/sec^2) |
|||
* E = Max E Jerk (units/sec^2) |
|||
*/ |
|||
void gcode_M205() { |
|||
if (parser.seen('S')) planner.min_feedrate_mm_s = parser.value_linear_units(); |
|||
if (parser.seen('T')) planner.min_travel_feedrate_mm_s = parser.value_linear_units(); |
|||
if (parser.seen('B')) planner.min_segment_time = parser.value_millis(); |
|||
if (parser.seen('X')) planner.max_jerk[X_AXIS] = parser.value_linear_units(); |
|||
if (parser.seen('Y')) planner.max_jerk[Y_AXIS] = parser.value_linear_units(); |
|||
if (parser.seen('Z')) planner.max_jerk[Z_AXIS] = parser.value_linear_units(); |
|||
if (parser.seen('E')) planner.max_jerk[E_AXIS] = parser.value_linear_units(); |
|||
} |
|||
@ -0,0 +1,54 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M218 - set hotend offset (in linear units) |
|||
* |
|||
* T<tool> |
|||
* X<xoffset> |
|||
* Y<yoffset> |
|||
* Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE |
|||
*/ |
|||
void gcode_M218() { |
|||
if (get_target_extruder_from_command(218) || target_extruder == 0) return; |
|||
|
|||
if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units(); |
|||
if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units(); |
|||
|
|||
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER) |
|||
if (parser.seenval('Z')) hotend_offset[Z_AXIS][target_extruder] = parser.value_linear_units(); |
|||
#endif |
|||
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); |
|||
HOTEND_LOOP() { |
|||
SERIAL_CHAR(' '); |
|||
SERIAL_ECHO(hotend_offset[X_AXIS][e]); |
|||
SERIAL_CHAR(','); |
|||
SERIAL_ECHO(hotend_offset[Y_AXIS][e]); |
|||
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_NOZZLE) || ENABLED(PARKING_EXTRUDER) |
|||
SERIAL_CHAR(','); |
|||
SERIAL_ECHO(hotend_offset[Z_AXIS][e]); |
|||
#endif |
|||
} |
|||
SERIAL_EOL(); |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95) |
|||
*/ |
|||
void gcode_M220() { |
|||
if (parser.seenval('S')) feedrate_percentage = parser.value_int(); |
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M221: Set extrusion percentage (M221 T0 S95) |
|||
*/ |
|||
void gcode_M221() { |
|||
if (get_target_extruder_from_command(221)) return; |
|||
if (parser.seenval('S')) |
|||
flow_percentage[target_extruder] = parser.value_int(); |
|||
} |
|||
@ -0,0 +1,69 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M301: Set PID parameters P I D (and optionally C, L) |
|||
* |
|||
* P[float] Kp term |
|||
* I[float] Ki term (unscaled) |
|||
* D[float] Kd term (unscaled) |
|||
* |
|||
* With PID_EXTRUSION_SCALING: |
|||
* |
|||
* C[float] Kc term |
|||
* L[float] LPQ length |
|||
*/ |
|||
void gcode_M301() { |
|||
|
|||
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
|
|||
// default behaviour (omitting E parameter) is to update for extruder 0 only
|
|||
const uint8_t e = parser.byteval('E'); // extruder being updated
|
|||
|
|||
if (e < HOTENDS) { // catch bad input value
|
|||
if (parser.seen('P')) PID_PARAM(Kp, e) = parser.value_float(); |
|||
if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float()); |
|||
if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float()); |
|||
#if ENABLED(PID_EXTRUSION_SCALING) |
|||
if (parser.seen('C')) PID_PARAM(Kc, e) = parser.value_float(); |
|||
if (parser.seen('L')) lpq_len = parser.value_float(); |
|||
NOMORE(lpq_len, LPQ_MAX_LEN); |
|||
#endif |
|||
|
|||
thermalManager.updatePID(); |
|||
SERIAL_ECHO_START(); |
|||
#if ENABLED(PID_PARAMS_PER_HOTEND) |
|||
SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
|
|||
#endif // PID_PARAMS_PER_HOTEND
|
|||
SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e)); |
|||
SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e))); |
|||
SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e))); |
|||
#if ENABLED(PID_EXTRUSION_SCALING) |
|||
//Kc does not have scaling applied above, or in resetting defaults
|
|||
SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e)); |
|||
#endif |
|||
SERIAL_EOL(); |
|||
} |
|||
else { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLN(MSG_INVALID_EXTRUDER); |
|||
} |
|||
} |
|||
@ -0,0 +1,54 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M302: Allow cold extrudes, or set the minimum extrude temperature |
|||
* |
|||
* S<temperature> sets the minimum extrude temperature |
|||
* P<bool> enables (1) or disables (0) cold extrusion |
|||
* |
|||
* Examples: |
|||
* |
|||
* M302 ; report current cold extrusion state |
|||
* M302 P0 ; enable cold extrusion checking |
|||
* M302 P1 ; disables cold extrusion checking |
|||
* M302 S0 ; always allow extrusion (disables checking) |
|||
* M302 S170 ; only allow extrusion above 170 |
|||
* M302 S170 P1 ; set min extrude temp to 170 but leave disabled |
|||
*/ |
|||
void gcode_M302() { |
|||
const bool seen_S = parser.seen('S'); |
|||
if (seen_S) { |
|||
thermalManager.extrude_min_temp = parser.value_celsius(); |
|||
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0); |
|||
} |
|||
|
|||
if (parser.seen('P')) |
|||
thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool(); |
|||
else if (!seen_S) { |
|||
// Report current state
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis")); |
|||
SERIAL_ECHOPAIR("abled (min temp ", thermalManager.extrude_min_temp); |
|||
SERIAL_ECHOLNPGM("C)"); |
|||
} |
|||
} |
|||
@ -0,0 +1,34 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_M304() { |
|||
if (parser.seen('P')) thermalManager.bedKp = parser.value_float(); |
|||
if (parser.seen('I')) thermalManager.bedKi = scalePID_i(parser.value_float()); |
|||
if (parser.seen('D')) thermalManager.bedKd = scalePID_d(parser.value_float()); |
|||
|
|||
thermalManager.updatePID(); |
|||
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPAIR(" p:", thermalManager.bedKp); |
|||
SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi)); |
|||
SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd)); |
|||
} |
|||
@ -0,0 +1,311 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../pins/pinsDebug.h" |
|||
|
|||
inline void toggle_pins() { |
|||
const bool I_flag = parser.boolval('I'); |
|||
const int repeat = parser.intval('R', 1), |
|||
start = parser.intval('S'), |
|||
end = parser.intval('E', NUM_DIGITAL_PINS - 1), |
|||
wait = parser.intval('W', 500); |
|||
|
|||
for (uint8_t pin = start; pin <= end; pin++) { |
|||
//report_pin_state_extended(pin, I_flag, false);
|
|||
if (!VALID_PIN(pin)) continue; |
|||
if (!I_flag && pin_is_protected(pin)) { |
|||
report_pin_state_extended(pin, I_flag, true, "Untouched "); |
|||
SERIAL_EOL(); |
|||
} |
|||
else { |
|||
report_pin_state_extended(pin, I_flag, true, "Pulsing "); |
|||
#if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO
|
|||
if (pin == TEENSY_E2) { |
|||
SET_OUTPUT(TEENSY_E2); |
|||
for (int16_t j = 0; j < repeat; j++) { |
|||
WRITE(TEENSY_E2, LOW); safe_delay(wait); |
|||
WRITE(TEENSY_E2, HIGH); safe_delay(wait); |
|||
WRITE(TEENSY_E2, LOW); safe_delay(wait); |
|||
} |
|||
} |
|||
else if (pin == TEENSY_E3) { |
|||
SET_OUTPUT(TEENSY_E3); |
|||
for (int16_t j = 0; j < repeat; j++) { |
|||
WRITE(TEENSY_E3, LOW); safe_delay(wait); |
|||
WRITE(TEENSY_E3, HIGH); safe_delay(wait); |
|||
WRITE(TEENSY_E3, LOW); safe_delay(wait); |
|||
} |
|||
} |
|||
else |
|||
#endif |
|||
{ |
|||
pinMode(pin, OUTPUT); |
|||
for (int16_t j = 0; j < repeat; j++) { |
|||
digitalWrite(pin, 0); safe_delay(wait); |
|||
digitalWrite(pin, 1); safe_delay(wait); |
|||
digitalWrite(pin, 0); safe_delay(wait); |
|||
} |
|||
} |
|||
|
|||
} |
|||
SERIAL_EOL(); |
|||
} |
|||
SERIAL_ECHOLNPGM("Done."); |
|||
|
|||
} // toggle_pins
|
|||
|
|||
inline void servo_probe_test() { |
|||
#if !(NUM_SERVOS > 0 && HAS_SERVO_0) |
|||
|
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("SERVO not setup"); |
|||
|
|||
#elif !HAS_Z_SERVO_ENDSTOP |
|||
|
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM("Z_ENDSTOP_SERVO_NR not setup"); |
|||
|
|||
#else // HAS_Z_SERVO_ENDSTOP
|
|||
|
|||
const uint8_t probe_index = parser.byteval('P', Z_ENDSTOP_SERVO_NR); |
|||
|
|||
SERIAL_PROTOCOLLNPGM("Servo probe test"); |
|||
SERIAL_PROTOCOLLNPAIR(". using index: ", probe_index); |
|||
SERIAL_PROTOCOLLNPAIR(". deploy angle: ", z_servo_angle[0]); |
|||
SERIAL_PROTOCOLLNPAIR(". stow angle: ", z_servo_angle[1]); |
|||
|
|||
bool probe_inverting; |
|||
|
|||
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) |
|||
|
|||
#define PROBE_TEST_PIN Z_MIN_PIN |
|||
|
|||
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN pin: ", PROBE_TEST_PIN); |
|||
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_ENDSTOP_INVERTING (ignores Z_MIN_PROBE_ENDSTOP_INVERTING)"); |
|||
SERIAL_PROTOCOLPGM(". Z_MIN_ENDSTOP_INVERTING: "); |
|||
|
|||
#if Z_MIN_ENDSTOP_INVERTING |
|||
SERIAL_PROTOCOLLNPGM("true"); |
|||
#else |
|||
SERIAL_PROTOCOLLNPGM("false"); |
|||
#endif |
|||
|
|||
probe_inverting = Z_MIN_ENDSTOP_INVERTING; |
|||
|
|||
#elif ENABLED(Z_MIN_PROBE_ENDSTOP) |
|||
|
|||
#define PROBE_TEST_PIN Z_MIN_PROBE_PIN |
|||
SERIAL_PROTOCOLLNPAIR(". probe uses Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); |
|||
SERIAL_PROTOCOLLNPGM(". uses Z_MIN_PROBE_ENDSTOP_INVERTING (ignores Z_MIN_ENDSTOP_INVERTING)"); |
|||
SERIAL_PROTOCOLPGM(". Z_MIN_PROBE_ENDSTOP_INVERTING: "); |
|||
|
|||
#if Z_MIN_PROBE_ENDSTOP_INVERTING |
|||
SERIAL_PROTOCOLLNPGM("true"); |
|||
#else |
|||
SERIAL_PROTOCOLLNPGM("false"); |
|||
#endif |
|||
|
|||
probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING; |
|||
|
|||
#endif |
|||
|
|||
SERIAL_PROTOCOLLNPGM(". deploy & stow 4 times"); |
|||
SET_INPUT_PULLUP(PROBE_TEST_PIN); |
|||
bool deploy_state, stow_state; |
|||
for (uint8_t i = 0; i < 4; i++) { |
|||
MOVE_SERVO(probe_index, z_servo_angle[0]); //deploy
|
|||
safe_delay(500); |
|||
deploy_state = READ(PROBE_TEST_PIN); |
|||
MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
|
|||
safe_delay(500); |
|||
stow_state = READ(PROBE_TEST_PIN); |
|||
} |
|||
if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards"); |
|||
|
|||
refresh_cmd_timeout(); |
|||
|
|||
if (deploy_state != stow_state) { |
|||
SERIAL_PROTOCOLLNPGM("BLTouch clone detected"); |
|||
if (deploy_state) { |
|||
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: HIGH (logic 1)"); |
|||
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: LOW (logic 0)"); |
|||
} |
|||
else { |
|||
SERIAL_PROTOCOLLNPGM(". DEPLOYED state: LOW (logic 0)"); |
|||
SERIAL_PROTOCOLLNPGM(". STOWED (triggered) state: HIGH (logic 1)"); |
|||
} |
|||
#if ENABLED(BLTOUCH) |
|||
SERIAL_PROTOCOLLNPGM("ERROR: BLTOUCH enabled - set this device up as a Z Servo Probe with inverting as true."); |
|||
#endif |
|||
|
|||
} |
|||
else { // measure active signal length
|
|||
MOVE_SERVO(probe_index, z_servo_angle[0]); // deploy
|
|||
safe_delay(500); |
|||
SERIAL_PROTOCOLLNPGM("please trigger probe"); |
|||
uint16_t probe_counter = 0; |
|||
|
|||
// Allow 30 seconds max for operator to trigger probe
|
|||
for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) { |
|||
|
|||
safe_delay(2); |
|||
|
|||
if (0 == j % (500 * 1)) // keep cmd_timeout happy
|
|||
refresh_cmd_timeout(); |
|||
|
|||
if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered
|
|||
|
|||
for (probe_counter = 1; probe_counter < 50 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter) |
|||
safe_delay(2); |
|||
|
|||
if (probe_counter == 50) |
|||
SERIAL_PROTOCOLLNPGM("Z Servo Probe detected"); // >= 100mS active time
|
|||
else if (probe_counter >= 2) |
|||
SERIAL_PROTOCOLLNPAIR("BLTouch compatible probe detected - pulse width (+/- 4mS): ", probe_counter * 2); // allow 4 - 100mS pulse
|
|||
else |
|||
SERIAL_PROTOCOLLNPGM("noise detected - please re-run test"); // less than 2mS pulse
|
|||
|
|||
MOVE_SERVO(probe_index, z_servo_angle[1]); //stow
|
|||
|
|||
} // pulse detected
|
|||
|
|||
} // for loop waiting for trigger
|
|||
|
|||
if (probe_counter == 0) SERIAL_PROTOCOLLNPGM("trigger not detected"); |
|||
|
|||
} // measure active signal length
|
|||
|
|||
#endif |
|||
|
|||
} // servo_probe_test
|
|||
|
|||
/**
|
|||
* M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report |
|||
* |
|||
* M43 - report name and state of pin(s) |
|||
* P<pin> Pin to read or watch. If omitted, reads all pins. |
|||
* I Flag to ignore Marlin's pin protection. |
|||
* |
|||
* M43 W - Watch pins -reporting changes- until reset, click, or M108. |
|||
* P<pin> Pin to read or watch. If omitted, read/watch all pins. |
|||
* I Flag to ignore Marlin's pin protection. |
|||
* |
|||
* M43 E<bool> - Enable / disable background endstop monitoring |
|||
* - Machine continues to operate |
|||
* - Reports changes to endstops |
|||
* - Toggles LED_PIN when an endstop changes |
|||
* - Can not reliably catch the 5mS pulse from BLTouch type probes |
|||
* |
|||
* M43 T - Toggle pin(s) and report which pin is being toggled |
|||
* S<pin> - Start Pin number. If not given, will default to 0 |
|||
* L<pin> - End Pin number. If not given, will default to last pin defined for this board |
|||
* I<bool> - Flag to ignore Marlin's pin protection. Use with caution!!!! |
|||
* R - Repeat pulses on each pin this number of times before continueing to next pin |
|||
* W - Wait time (in miliseconds) between pulses. If not given will default to 500 |
|||
* |
|||
* M43 S - Servo probe test |
|||
* P<index> - Probe index (optional - defaults to 0 |
|||
*/ |
|||
void gcode_M43() { |
|||
|
|||
if (parser.seen('T')) { // must be first or else its "S" and "E" parameters will execute endstop or servo test
|
|||
toggle_pins(); |
|||
return; |
|||
} |
|||
|
|||
// Enable or disable endstop monitoring
|
|||
if (parser.seen('E')) { |
|||
endstop_monitor_flag = parser.value_bool(); |
|||
SERIAL_PROTOCOLPGM("endstop monitor "); |
|||
serialprintPGM(endstop_monitor_flag ? PSTR("en") : PSTR("dis")); |
|||
SERIAL_PROTOCOLLNPGM("abled"); |
|||
return; |
|||
} |
|||
|
|||
if (parser.seen('S')) { |
|||
servo_probe_test(); |
|||
return; |
|||
} |
|||
|
|||
// Get the range of pins to test or watch
|
|||
const uint8_t first_pin = parser.byteval('P'), |
|||
last_pin = parser.seenval('P') ? first_pin : NUM_DIGITAL_PINS - 1; |
|||
|
|||
if (first_pin > last_pin) return; |
|||
|
|||
const bool ignore_protection = parser.boolval('I'); |
|||
|
|||
// Watch until click, M108, or reset
|
|||
if (parser.boolval('W')) { |
|||
SERIAL_PROTOCOLLNPGM("Watching pins"); |
|||
uint8_t pin_state[last_pin - first_pin + 1]; |
|||
for (int8_t pin = first_pin; pin <= last_pin; pin++) { |
|||
if (!VALID_PIN(pin)) continue; |
|||
if (pin_is_protected(pin) && !ignore_protection) continue; |
|||
pinMode(pin, INPUT_PULLUP); |
|||
delay(1); |
|||
/*
|
|||
if (IS_ANALOG(pin)) |
|||
pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...]
|
|||
else |
|||
//*/
|
|||
pin_state[pin - first_pin] = digitalRead(pin); |
|||
} |
|||
|
|||
#if HAS_RESUME_CONTINUE |
|||
wait_for_user = true; |
|||
KEEPALIVE_STATE(PAUSED_FOR_USER); |
|||
#endif |
|||
|
|||
for (;;) { |
|||
for (int8_t pin = first_pin; pin <= last_pin; pin++) { |
|||
if (!VALID_PIN(pin)) continue; |
|||
if (pin_is_protected(pin) && !ignore_protection) continue; |
|||
const byte val = |
|||
/*
|
|||
IS_ANALOG(pin) |
|||
? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val
|
|||
: |
|||
//*/
|
|||
digitalRead(pin); |
|||
if (val != pin_state[pin - first_pin]) { |
|||
report_pin_state_extended(pin, ignore_protection, false); |
|||
pin_state[pin - first_pin] = val; |
|||
} |
|||
} |
|||
|
|||
#if HAS_RESUME_CONTINUE |
|||
if (!wait_for_user) { |
|||
KEEPALIVE_STATE(IN_HANDLER); |
|||
break; |
|||
} |
|||
#endif |
|||
|
|||
safe_delay(200); |
|||
} |
|||
return; |
|||
} |
|||
|
|||
// Report current state of selected pin(s)
|
|||
for (uint8_t pin = first_pin; pin <= last_pin; pin++) |
|||
if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true); |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) |
|||
*/ |
|||
void gcode_M540() { |
|||
if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool(); |
|||
} |
|||
@ -0,0 +1,51 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E. |
|||
* (Follows the same syntax as G92) |
|||
* |
|||
* With multiple extruders use T to specify which one. |
|||
*/ |
|||
void gcode_M92() { |
|||
|
|||
GET_TARGET_EXTRUDER(92); |
|||
|
|||
LOOP_XYZE(i) { |
|||
if (parser.seen(axis_codes[i])) { |
|||
if (i == E_AXIS) { |
|||
const float value = parser.value_per_axis_unit((AxisEnum)(E_AXIS + TARGET_EXTRUDER)); |
|||
if (value < 20.0) { |
|||
float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
|
|||
planner.max_jerk[E_AXIS] *= factor; |
|||
planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor; |
|||
planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor; |
|||
} |
|||
planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value; |
|||
} |
|||
else { |
|||
planner.axis_steps_per_mm[i] = parser.value_per_axis_unit((AxisEnum)i); |
|||
} |
|||
} |
|||
} |
|||
planner.refresh_positioning(); |
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature. |
|||
*/ |
|||
void gcode_M108() { |
|||
|
|||
wait_for_heatup = false; |
|||
|
|||
} |
|||
@ -0,0 +1,61 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M111: Set the debug level |
|||
*/ |
|||
void gcode_M111() { |
|||
if (parser.seen('S')) marlin_debug_flags = parser.byteval('S'); |
|||
|
|||
const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO, |
|||
str_debug_2[] PROGMEM = MSG_DEBUG_INFO, |
|||
str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS, |
|||
str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN, |
|||
str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
, str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING |
|||
#endif |
|||
; |
|||
|
|||
const static char* const debug_strings[] PROGMEM = { |
|||
str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16 |
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
, str_debug_32 |
|||
#endif |
|||
}; |
|||
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPGM(MSG_DEBUG_PREFIX); |
|||
if (marlin_debug_flags) { |
|||
uint8_t comma = 0; |
|||
for (uint8_t i = 0; i < COUNT(debug_strings); i++) { |
|||
if (TEST(marlin_debug_flags, i)) { |
|||
if (comma++) SERIAL_CHAR(','); |
|||
serialprintPGM((char*)pgm_read_word(&debug_strings[i])); |
|||
} |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_ECHOPGM(MSG_DEBUG_OFF); |
|||
} |
|||
SERIAL_EOL(); |
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M112: Emergency Stop |
|||
*/ |
|||
void gcode_M112() { |
|||
|
|||
kill(PSTR(MSG_KILLED)); |
|||
|
|||
} |
|||
@ -0,0 +1,39 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M120: Enable endstops and set non-homing endstop state to "enabled" |
|||
*/ |
|||
void gcode_M120() { |
|||
|
|||
endstops.enable_globally(true); |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* M121: Disable endstops and set non-homing endstop state to "disabled" |
|||
*/ |
|||
void gcode_M121() { |
|||
|
|||
endstops.enable_globally(false); |
|||
|
|||
} |
|||
@ -0,0 +1,29 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M17: Enable power on all stepper motors |
|||
*/ |
|||
void gcode_M17() { |
|||
LCD_MESSAGEPGM(MSG_NO_MOVE); |
|||
enable_all_steppers(); |
|||
} |
|||
@ -0,0 +1,53 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) |
|||
extern bool defer_return_to_status; |
|||
#endif |
|||
|
|||
/**
|
|||
* M18, M84: Disable stepper motors |
|||
*/ |
|||
void gcode_M18_M84() { |
|||
if (parser.seenval('S')) { |
|||
stepper_inactive_time = parser.value_millis_from_seconds(); |
|||
} |
|||
else { |
|||
bool all_axis = !((parser.seen('X')) || (parser.seen('Y')) || (parser.seen('Z')) || (parser.seen('E'))); |
|||
if (all_axis) { |
|||
stepper.finish_and_disable(); |
|||
} |
|||
else { |
|||
stepper.synchronize(); |
|||
if (parser.seen('X')) disable_X(); |
|||
if (parser.seen('Y')) disable_Y(); |
|||
if (parser.seen('Z')) disable_Z(); |
|||
#if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN // Only enable on boards that have separate ENABLE_PINS
|
|||
if (parser.seen('E')) disable_e_steppers(); |
|||
#endif |
|||
} |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(ULTRA_LCD) // Only needed with an LCD
|
|||
ubl_lcd_map_control = defer_return_to_status = false; |
|||
#endif |
|||
} |
|||
} |
|||
@ -0,0 +1,46 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M211: Enable, Disable, and/or Report software endstops |
|||
* |
|||
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report |
|||
*/ |
|||
void gcode_M211() { |
|||
SERIAL_ECHO_START(); |
|||
#if HAS_SOFTWARE_ENDSTOPS |
|||
if (parser.seen('S')) soft_endstops_enabled = parser.value_bool(); |
|||
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS); |
|||
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF)); |
|||
#else |
|||
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS); |
|||
SERIAL_ECHOPGM(MSG_OFF); |
|||
#endif |
|||
SERIAL_ECHOPGM(MSG_SOFT_MIN); |
|||
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]); |
|||
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]); |
|||
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]); |
|||
SERIAL_ECHOPGM(MSG_SOFT_MAX); |
|||
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]); |
|||
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]); |
|||
SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]); |
|||
} |
|||
@ -0,0 +1,54 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>) |
|||
*/ |
|||
void gcode_M226() { |
|||
if (parser.seen('P')) { |
|||
const int pin_number = parser.value_int(), |
|||
pin_state = parser.intval('S', -1); // required pin state - default is inverted
|
|||
|
|||
if (WITHIN(pin_state, -1, 1) && pin_number > -1 && !pin_is_protected(pin_number)) { |
|||
|
|||
int target = LOW; |
|||
|
|||
stepper.synchronize(); |
|||
|
|||
pinMode(pin_number, INPUT); |
|||
switch (pin_state) { |
|||
case 1: |
|||
target = HIGH; |
|||
break; |
|||
case 0: |
|||
target = LOW; |
|||
break; |
|||
case -1: |
|||
target = !digitalRead(pin_number); |
|||
break; |
|||
} |
|||
|
|||
while (digitalRead(pin_number) != target) idle(); |
|||
|
|||
} // pin_state -1 0 1 && pin_number > -1
|
|||
} // parser.seen('P')
|
|||
} |
|||
@ -0,0 +1,43 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M280: Get or set servo position. P<index> [S<angle>] |
|||
*/ |
|||
void gcode_M280() { |
|||
if (!parser.seen('P')) return; |
|||
const int servo_index = parser.value_int(); |
|||
if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) { |
|||
if (parser.seen('S')) |
|||
MOVE_SERVO(servo_index, parser.value_int()); |
|||
else { |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPAIR(" Servo ", servo_index); |
|||
SERIAL_ECHOLNPAIR(": ", servo[servo_index].read()); |
|||
} |
|||
} |
|||
else { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ECHOPAIR("Servo ", servo_index); |
|||
SERIAL_ECHOLNPGM(" out of range"); |
|||
} |
|||
} |
|||
@ -0,0 +1,127 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M3: Spindle Clockwise |
|||
* M4: Spindle Counter-clockwise |
|||
* |
|||
* S0 turns off spindle. |
|||
* |
|||
* If no speed PWM output is defined then M3/M4 just turns it on. |
|||
* |
|||
* At least 12.8KHz (50Hz * 256) is needed for spindle PWM. |
|||
* Hardware PWM is required. ISRs are too slow. |
|||
* |
|||
* NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5. |
|||
* No other settings give a PWM signal that goes from 0 to 5 volts. |
|||
* |
|||
* The system automatically sets WGM to Mode 1, so no special |
|||
* initialization is needed. |
|||
* |
|||
* WGM bits for timer 2 are automatically set by the system to |
|||
* Mode 1. This produces an acceptable 0 to 5 volt signal. |
|||
* No special initialization is needed. |
|||
* |
|||
* NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler |
|||
* factors for timers 2, 3, 4, and 5 are acceptable. |
|||
* |
|||
* SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on |
|||
* the spindle/laser during power-up or when connecting to the host |
|||
* (usually goes through a reset which sets all I/O pins to tri-state) |
|||
* |
|||
* PWM duty cycle goes from 0 (off) to 255 (always on). |
|||
*/ |
|||
|
|||
// Wait for spindle to come up to speed
|
|||
inline void delay_for_power_up() { dwell(SPINDLE_LASER_POWERUP_DELAY); } |
|||
|
|||
// Wait for spindle to stop turning
|
|||
inline void delay_for_power_down() { dwell(SPINDLE_LASER_POWERDOWN_DELAY); } |
|||
|
|||
/**
|
|||
* ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line |
|||
* |
|||
* it accepts inputs of 0-255 |
|||
*/ |
|||
|
|||
inline void ocr_val_mode() { |
|||
uint8_t spindle_laser_power = parser.value_byte(); |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
|
|||
if (SPINDLE_LASER_PWM_INVERT) spindle_laser_power = 255 - spindle_laser_power; |
|||
analogWrite(SPINDLE_LASER_PWM_PIN, spindle_laser_power); |
|||
} |
|||
|
|||
void gcode_M3_M4(bool is_M3) { |
|||
|
|||
stepper.synchronize(); // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle
|
|||
#if SPINDLE_DIR_CHANGE |
|||
const bool rotation_dir = (is_M3 != SPINDLE_INVERT_DIR); |
|||
if (SPINDLE_STOP_ON_DIR_CHANGE \ |
|||
&& READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT \ |
|||
&& READ(SPINDLE_DIR_PIN) != rotation_dir |
|||
) { |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off
|
|||
delay_for_power_down(); |
|||
} |
|||
WRITE(SPINDLE_DIR_PIN, rotation_dir); |
|||
#endif |
|||
|
|||
/**
|
|||
* Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t. |
|||
* Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111. |
|||
* Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest. |
|||
*/ |
|||
#if ENABLED(SPINDLE_LASER_PWM) |
|||
if (parser.seen('O')) ocr_val_mode(); |
|||
else { |
|||
const float spindle_laser_power = parser.floatval('S'); |
|||
if (spindle_laser_power == 0) { |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); // turn spindle off (active low)
|
|||
delay_for_power_down(); |
|||
} |
|||
else { |
|||
int16_t ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // convert RPM to PWM duty cycle
|
|||
NOMORE(ocr_val, 255); // limit to max the Atmel PWM will support
|
|||
if (spindle_laser_power <= SPEED_POWER_MIN) |
|||
ocr_val = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // minimum setting
|
|||
if (spindle_laser_power >= SPEED_POWER_MAX) |
|||
ocr_val = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * (1.0 / (SPEED_POWER_SLOPE)); // limit to max RPM
|
|||
if (SPINDLE_LASER_PWM_INVERT) ocr_val = 255 - ocr_val; |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
|
|||
analogWrite(SPINDLE_LASER_PWM_PIN, ocr_val & 0xFF); // only write low byte
|
|||
delay_for_power_up(); |
|||
} |
|||
} |
|||
#else |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low) if spindle speed option not enabled
|
|||
delay_for_power_up(); |
|||
#endif |
|||
} |
|||
|
|||
/**
|
|||
* M5 turn off spindle |
|||
*/ |
|||
void gcode_M5() { |
|||
stepper.synchronize(); |
|||
WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT); |
|||
delay_for_power_down(); |
|||
} |
|||
@ -0,0 +1,33 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M350: Set axis microstepping modes. S sets mode for all drivers. |
|||
* |
|||
* Warning: Steps-per-unit remains unchanged. |
|||
*/ |
|||
void gcode_M350() { |
|||
if (parser.seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, parser.value_byte()); |
|||
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte()); |
|||
if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte()); |
|||
stepper.microstep_readings(); |
|||
} |
|||
@ -0,0 +1,39 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B |
|||
* S# determines MS1 or MS2, X# sets the pin high/low. |
|||
*/ |
|||
void gcode_M351() { |
|||
if (parser.seenval('S')) switch (parser.value_byte()) { |
|||
case 1: |
|||
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1); |
|||
if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1); |
|||
break; |
|||
case 2: |
|||
LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte()); |
|||
if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte()); |
|||
break; |
|||
} |
|||
stepper.microstep_readings(); |
|||
} |
|||
@ -0,0 +1,93 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(EXT_SOLENOID) |
|||
|
|||
void enable_solenoid(const uint8_t num) { |
|||
switch (num) { |
|||
case 0: |
|||
OUT_WRITE(SOL0_PIN, HIGH); |
|||
break; |
|||
#if HAS_SOLENOID_1 && EXTRUDERS > 1 |
|||
case 1: |
|||
OUT_WRITE(SOL1_PIN, HIGH); |
|||
break; |
|||
#endif |
|||
#if HAS_SOLENOID_2 && EXTRUDERS > 2 |
|||
case 2: |
|||
OUT_WRITE(SOL2_PIN, HIGH); |
|||
break; |
|||
#endif |
|||
#if HAS_SOLENOID_3 && EXTRUDERS > 3 |
|||
case 3: |
|||
OUT_WRITE(SOL3_PIN, HIGH); |
|||
break; |
|||
#endif |
|||
#if HAS_SOLENOID_4 && EXTRUDERS > 4 |
|||
case 4: |
|||
OUT_WRITE(SOL4_PIN, HIGH); |
|||
break; |
|||
#endif |
|||
default: |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID); |
|||
break; |
|||
} |
|||
} |
|||
|
|||
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } |
|||
|
|||
void disable_all_solenoids() { |
|||
OUT_WRITE(SOL0_PIN, LOW); |
|||
#if HAS_SOLENOID_1 && EXTRUDERS > 1 |
|||
OUT_WRITE(SOL1_PIN, LOW); |
|||
#endif |
|||
#if HAS_SOLENOID_2 && EXTRUDERS > 2 |
|||
OUT_WRITE(SOL2_PIN, LOW); |
|||
#endif |
|||
#if HAS_SOLENOID_3 && EXTRUDERS > 3 |
|||
OUT_WRITE(SOL3_PIN, LOW); |
|||
#endif |
|||
#if HAS_SOLENOID_4 && EXTRUDERS > 4 |
|||
OUT_WRITE(SOL4_PIN, LOW); |
|||
#endif |
|||
} |
|||
|
|||
/**
|
|||
* M380: Enable solenoid on the active extruder |
|||
*/ |
|||
void gcode_M380() { |
|||
|
|||
enable_solenoid_on_active_extruder(); |
|||
|
|||
} |
|||
|
|||
/**
|
|||
* M381: Disable all solenoids |
|||
*/ |
|||
void gcode_M381() { |
|||
|
|||
disable_all_solenoids(); |
|||
|
|||
} |
|||
|
|||
#endif // EXT_SOLENOID
|
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M400: Finish all moves |
|||
*/ |
|||
void gcode_M400() { |
|||
|
|||
stepper.synchronize(); |
|||
|
|||
} |
|||
@ -0,0 +1,33 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M410: Quickstop - Abort all planned moves |
|||
* |
|||
* This will stop the carriages mid-move, so most likely they |
|||
* will be out of sync with the stepper position after this. |
|||
*/ |
|||
void gcode_M410() { |
|||
|
|||
quickstop_stepper(); |
|||
|
|||
} |
|||
@ -0,0 +1,59 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M42: Change pin status via GCode |
|||
* |
|||
* P<pin> Pin number (LED if omitted) |
|||
* S<byte> Pin status from 0 - 255 |
|||
*/ |
|||
void gcode_M42() { |
|||
if (!parser.seenval('S')) return; |
|||
const byte pin_status = parser.value_byte(); |
|||
|
|||
const int pin_number = parser.intval('P', LED_PIN); |
|||
if (pin_number < 0) return; |
|||
|
|||
if (pin_is_protected(pin_number)) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN); |
|||
return; |
|||
} |
|||
|
|||
pinMode(pin_number, OUTPUT); |
|||
digitalWrite(pin_number, pin_status); |
|||
analogWrite(pin_number, pin_status); |
|||
|
|||
#if FAN_COUNT > 0 |
|||
switch (pin_number) { |
|||
#if HAS_FAN0 |
|||
case FAN_PIN: fanSpeeds[0] = pin_status; break; |
|||
#endif |
|||
#if HAS_FAN1 |
|||
case FAN1_PIN: fanSpeeds[1] = pin_status; break; |
|||
#endif |
|||
#if HAS_FAN2 |
|||
case FAN2_PIN: fanSpeeds[2] = pin_status; break; |
|||
#endif |
|||
} |
|||
#endif |
|||
} |
|||
@ -0,0 +1,76 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if ENABLED(DUAL_X_CARRIAGE) |
|||
|
|||
/**
|
|||
* M605: Set dual x-carriage movement mode |
|||
* |
|||
* M605 S0: Full control mode. The slicer has full control over x-carriage movement |
|||
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement |
|||
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn |
|||
* units x-offset and an optional differential hotend temperature of |
|||
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate |
|||
* the first with a spacing of 100mm in the x direction and 2 degrees hotter. |
|||
* |
|||
* Note: the X axis should be homed after changing dual x-carriage mode. |
|||
*/ |
|||
void gcode_M605() { |
|||
stepper.synchronize(); |
|||
if (parser.seen('S')) dual_x_carriage_mode = (DualXMode)parser.value_byte(); |
|||
switch (dual_x_carriage_mode) { |
|||
case DXC_FULL_CONTROL_MODE: |
|||
case DXC_AUTO_PARK_MODE: |
|||
break; |
|||
case DXC_DUPLICATION_MODE: |
|||
if (parser.seen('X')) duplicate_extruder_x_offset = max(parser.value_linear_units(), X2_MIN_POS - x_home_pos(0)); |
|||
if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); |
|||
SERIAL_CHAR(' '); |
|||
SERIAL_ECHO(hotend_offset[X_AXIS][0]); |
|||
SERIAL_CHAR(','); |
|||
SERIAL_ECHO(hotend_offset[Y_AXIS][0]); |
|||
SERIAL_CHAR(' '); |
|||
SERIAL_ECHO(duplicate_extruder_x_offset); |
|||
SERIAL_CHAR(','); |
|||
SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]); |
|||
break; |
|||
default: |
|||
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; |
|||
break; |
|||
} |
|||
active_extruder_parked = false; |
|||
extruder_duplication_enabled = false; |
|||
delayed_move_time = 0; |
|||
} |
|||
|
|||
#elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) |
|||
|
|||
void gcode_M605() { |
|||
stepper.synchronize(); |
|||
extruder_duplication_enabled = parser.intval('S') == (int)DXC_DUPLICATION_MODE; |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF); |
|||
} |
|||
|
|||
#endif // DUAL_NOZZLE_DUPLICATION_MODE
|
|||
@ -0,0 +1,56 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M80 : Turn on the Power Supply |
|||
* M80 S : Report the current state and exit |
|||
*/ |
|||
void gcode_M80() { |
|||
|
|||
// S: Report the current power supply state and exit
|
|||
if (parser.seen('S')) { |
|||
serialprintPGM(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n")); |
|||
return; |
|||
} |
|||
|
|||
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND
|
|||
|
|||
/**
|
|||
* If you have a switch on suicide pin, this is useful |
|||
* if you want to start another print with suicide feature after |
|||
* a print without suicide... |
|||
*/ |
|||
#if HAS_SUICIDE |
|||
OUT_WRITE(SUICIDE_PIN, HIGH); |
|||
#endif |
|||
|
|||
#if ENABLED(HAVE_TMC2130) |
|||
delay(100); |
|||
tmc2130_init(); // Settings only stick when the driver has power
|
|||
#endif |
|||
|
|||
powersupply_on = true; |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
LCD_MESSAGEPGM(WELCOME_MSG); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,53 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M81: Turn off Power, including Power Supply, if there is one. |
|||
* |
|||
* This code should ALWAYS be available for EMERGENCY SHUTDOWN! |
|||
*/ |
|||
void gcode_M81() { |
|||
thermalManager.disable_all_heaters(); |
|||
stepper.finish_and_disable(); |
|||
|
|||
#if FAN_COUNT > 0 |
|||
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0; |
|||
#if ENABLED(PROBING_FANS_OFF) |
|||
fans_paused = false; |
|||
ZERO(paused_fanSpeeds); |
|||
#endif |
|||
#endif |
|||
|
|||
safe_delay(1000); // Wait 1 second before switching off
|
|||
|
|||
#if HAS_SUICIDE |
|||
stepper.synchronize(); |
|||
suicide(); |
|||
#elif HAS_POWER_SWITCH |
|||
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); |
|||
powersupply_on = false; |
|||
#endif |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF "."); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,31 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) |
|||
*/ |
|||
void gcode_M85() { |
|||
|
|||
if (parser.seen('S')) max_inactive_time = parser.value_millis_from_seconds(); |
|||
|
|||
} |
|||
|
|||
@ -0,0 +1,41 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M999: Restart after being stopped |
|||
* |
|||
* Default behaviour is to flush the serial buffer and request |
|||
* a resend to the host starting on the last N line received. |
|||
* |
|||
* Sending "M999 S1" will resume printing without flushing the |
|||
* existing command buffer. |
|||
* |
|||
*/ |
|||
void gcode_M999() { |
|||
Running = true; |
|||
lcd_reset_alert_level(); |
|||
|
|||
if (parser.boolval('S')) return; |
|||
|
|||
// gcode_LastN = Stopped_gcode_LastN;
|
|||
FlushSerialRequestResend(); |
|||
} |
|||
@ -0,0 +1,62 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "../../module/tool_change.h" |
|||
|
|||
/**
|
|||
* T0-T3: Switch tool, usually switching extruders |
|||
* |
|||
* F[units/min] Set the movement feedrate |
|||
* S1 Don't move the tool in XY after change |
|||
*/ |
|||
void gcode_T(uint8_t tmp_extruder) { |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder); |
|||
SERIAL_CHAR(')'); |
|||
SERIAL_EOL(); |
|||
DEBUG_POS("BEFORE", current_position); |
|||
} |
|||
#endif |
|||
|
|||
#if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1) |
|||
|
|||
tool_change(tmp_extruder); |
|||
|
|||
#elif HOTENDS > 1 |
|||
|
|||
tool_change( |
|||
tmp_extruder, |
|||
MMM_TO_MMS(parser.linearval('F')), |
|||
(tmp_extruder == active_extruder) || parser.boolval('S') |
|||
); |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(DEBUG_LEVELING_FEATURE) |
|||
if (DEBUGGING(LEVELING)) { |
|||
DEBUG_POS("AFTER", current_position); |
|||
SERIAL_ECHOLNPGM("<<< gcode_T"); |
|||
} |
|||
#endif |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M500: Store settings in EEPROM |
|||
*/ |
|||
void gcode_M500() { |
|||
(void)settings.save(); |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M501: Read settings from EEPROM |
|||
*/ |
|||
void gcode_M501() { |
|||
(void)settings.load(); |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M502: Revert to default settings |
|||
*/ |
|||
void gcode_M502() { |
|||
(void)settings.reset(); |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M503: print settings currently in memory |
|||
*/ |
|||
void gcode_M503() { |
|||
(void)settings.report(!parser.boolval('S', true)); |
|||
} |
|||
@ -0,0 +1,52 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M900: Set and/or Get advance K factor and WH/D ratio |
|||
* |
|||
* K<factor> Set advance K factor |
|||
* R<ratio> Set ratio directly (overrides WH/D) |
|||
* W<width> H<height> D<diam> Set ratio from WH/D |
|||
*/ |
|||
void gcode_M900() { |
|||
stepper.synchronize(); |
|||
|
|||
const float newK = parser.floatval('K', -1); |
|||
if (newK >= 0) planner.extruder_advance_k = newK; |
|||
|
|||
float newR = parser.floatval('R', -1); |
|||
if (newR < 0) { |
|||
const float newD = parser.floatval('D', -1), |
|||
newW = parser.floatval('W', -1), |
|||
newH = parser.floatval('H', -1); |
|||
if (newD >= 0 && newW >= 0 && newH >= 0) |
|||
newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0; |
|||
} |
|||
if (newR >= 0) planner.advance_ed_ratio = newR; |
|||
|
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k); |
|||
SERIAL_ECHOPGM(" E/D="); |
|||
const float ratio = planner.advance_ed_ratio; |
|||
if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto"); |
|||
SERIAL_EOL(); |
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M126: Heater 1 valve open |
|||
*/ |
|||
void gcode_M126() { |
|||
|
|||
baricuda_valve_pressure = parser.byteval('S', 255); |
|||
|
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M127: Heater 1 valve close |
|||
*/ |
|||
void gcode_M127() { |
|||
|
|||
baricuda_valve_pressure = 0; |
|||
|
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M128: Heater 2 valve open |
|||
*/ |
|||
void gcode_M128() { |
|||
|
|||
baricuda_e_to_p_pressure = parser.byteval('S', 255); |
|||
|
|||
} |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M129: Heater 2 valve close |
|||
*/ |
|||
void gcode_M129() { |
|||
|
|||
baricuda_e_to_p_pressure = 0; |
|||
|
|||
} |
|||
@ -0,0 +1,53 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M240: Trigger a camera by emulating a Canon RC-1 |
|||
* See http://www.doc-diy.net/photo/rc-1_hacked/
|
|||
*/ |
|||
void gcode_M240() { |
|||
#ifdef CHDK |
|||
|
|||
OUT_WRITE(CHDK, HIGH); |
|||
chdkHigh = millis(); |
|||
chdkActive = true; |
|||
|
|||
#elif HAS_PHOTOGRAPH |
|||
|
|||
const uint8_t NUM_PULSES = 16; |
|||
const float PULSE_LENGTH = 0.01524; |
|||
for (int i = 0; i < NUM_PULSES; i++) { |
|||
WRITE(PHOTOGRAPH_PIN, HIGH); |
|||
_delay_ms(PULSE_LENGTH); |
|||
WRITE(PHOTOGRAPH_PIN, LOW); |
|||
_delay_ms(PULSE_LENGTH); |
|||
} |
|||
delay(7.33); |
|||
for (int i = 0; i < NUM_PULSES; i++) { |
|||
WRITE(PHOTOGRAPH_PIN, HIGH); |
|||
_delay_ms(PULSE_LENGTH); |
|||
WRITE(PHOTOGRAPH_PIN, LOW); |
|||
_delay_ms(PULSE_LENGTH); |
|||
} |
|||
|
|||
#endif |
|||
} |
|||
@ -0,0 +1,77 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#if HAS_CASE_LIGHT |
|||
|
|||
#ifndef INVERT_CASE_LIGHT |
|||
#define INVERT_CASE_LIGHT false |
|||
#endif |
|||
int case_light_brightness; // LCD routine wants INT
|
|||
bool case_light_on; |
|||
|
|||
void update_case_light() { |
|||
pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
|
|||
uint8_t case_light_bright = (uint8_t)case_light_brightness; |
|||
if (case_light_on) { |
|||
if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) { |
|||
analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness ); |
|||
} |
|||
else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH); |
|||
} |
|||
else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW); |
|||
} |
|||
|
|||
#endif // HAS_CASE_LIGHT
|
|||
|
|||
/**
|
|||
* M355: Turn case light on/off and set brightness |
|||
* |
|||
* P<byte> Set case light brightness (PWM pin required - ignored otherwise) |
|||
* |
|||
* S<bool> Set case light on/off |
|||
* |
|||
* When S turns on the light on a PWM pin then the current brightness level is used/restored |
|||
* |
|||
* M355 P200 S0 turns off the light & sets the brightness level |
|||
* M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin) |
|||
*/ |
|||
void gcode_M355() { |
|||
#if HAS_CASE_LIGHT |
|||
uint8_t args = 0; |
|||
if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte(); |
|||
if (parser.seenval('S')) ++args, case_light_on = parser.value_bool(); |
|||
if (args) update_case_light(); |
|||
|
|||
// always report case light status
|
|||
SERIAL_ECHO_START(); |
|||
if (!case_light_on) { |
|||
SERIAL_ECHOLN("Case light: off"); |
|||
} |
|||
else { |
|||
if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on"); |
|||
else SERIAL_ECHOLNPAIR("Case light: ", case_light_brightness); |
|||
} |
|||
#else |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* G12: Clean the nozzle |
|||
*/ |
|||
void gcode_G12() { |
|||
// Don't allow nozzle cleaning without homing first
|
|||
if (axis_unhomed_error()) return; |
|||
|
|||
const uint8_t pattern = parser.ushortval('P', 0), |
|||
strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES), |
|||
objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES); |
|||
const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS); |
|||
|
|||
Nozzle::clean(pattern, strokes, radius, objects); |
|||
} |
|||
@ -0,0 +1,61 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S |
|||
*/ |
|||
void gcode_M907() { |
|||
#if HAS_DIGIPOTSS |
|||
|
|||
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int()); |
|||
if (parser.seen('B')) stepper.digipot_current(4, parser.value_int()); |
|||
if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int()); |
|||
|
|||
#elif HAS_MOTOR_CURRENT_PWM |
|||
|
|||
#if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) |
|||
if (parser.seen('X')) stepper.digipot_current(0, parser.value_int()); |
|||
#endif |
|||
#if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) |
|||
if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int()); |
|||
#endif |
|||
#if PIN_EXISTS(MOTOR_CURRENT_PWM_E) |
|||
if (parser.seen('E')) stepper.digipot_current(2, parser.value_int()); |
|||
#endif |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(DIGIPOT_I2C) |
|||
// this one uses actual amps in floating point
|
|||
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float()); |
|||
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
|
|||
for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float()); |
|||
#endif |
|||
|
|||
#if ENABLED(DAC_STEPPER_CURRENT) |
|||
if (parser.seen('S')) { |
|||
const float dac_percent = parser.value_float(); |
|||
for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent); |
|||
} |
|||
LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float()); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,39 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M908: Control digital trimpot directly (M908 P<pin> S<current>) |
|||
*/ |
|||
void gcode_M908() { |
|||
#if HAS_DIGIPOTSS |
|||
stepper.digitalPotWrite( |
|||
parser.intval('P'), |
|||
parser.intval('S') |
|||
); |
|||
#endif |
|||
#ifdef DAC_STEPPER_CURRENT |
|||
dac_current_raw( |
|||
parser.byteval('P', -1), |
|||
parser.ushortval('S', 0) |
|||
); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,27 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_M909() { |
|||
|
|||
dac_print_values(); |
|||
|
|||
} |
|||
@ -0,0 +1,27 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void gcode_M910() { |
|||
|
|||
dac_commit_eeprom(); |
|||
|
|||
} |
|||
@ -0,0 +1,41 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* G10 - Retract filament according to settings of M207 |
|||
*/ |
|||
void gcode_G10() { |
|||
#if EXTRUDERS > 1 |
|||
const bool rs = parser.boolval('S'); |
|||
retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
|
|||
#endif |
|||
retract(true |
|||
#if EXTRUDERS > 1 |
|||
, rs |
|||
#endif |
|||
); |
|||
} |
|||
|
|||
/**
|
|||
* G11 - Recover filament according to settings of M208 |
|||
*/ |
|||
void gcode_G11() { retract(false); } |
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M207: Set firmware retraction values |
|||
* |
|||
* S[+units] retract_length |
|||
* W[+units] swap_retract_length (multi-extruder) |
|||
* F[units/min] retract_feedrate_mm_s |
|||
* Z[units] retract_zlift |
|||
*/ |
|||
void gcode_M207() { |
|||
if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS); |
|||
if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); |
|||
if (parser.seen('Z')) retract_zlift = parser.value_linear_units(); |
|||
if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS); |
|||
} |
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M208: Set firmware un-retraction values |
|||
* |
|||
* S[+units] retract_recover_length (in addition to M207 S*) |
|||
* W[+units] swap_retract_recover_length (multi-extruder) |
|||
* F[units/min] retract_recover_feedrate_mm_s |
|||
* R[units/min] swap_retract_recover_feedrate_mm_s |
|||
*/ |
|||
void gcode_M208() { |
|||
if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS); |
|||
if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); |
|||
if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); |
|||
if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS); |
|||
} |
|||
@ -0,0 +1,35 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M209: Enable automatic retract (M209 S1) |
|||
* For slicers that don't support G10/11, reversed extrude-only |
|||
* moves will be classified as retraction. |
|||
*/ |
|||
void gcode_M209() { |
|||
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { |
|||
if (parser.seen('S')) { |
|||
autoretract_enabled = parser.value_bool(); |
|||
for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false; |
|||
} |
|||
} |
|||
} |
|||
@ -0,0 +1,70 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M260: Send data to a I2C slave device |
|||
* |
|||
* This is a PoC, the formating and arguments for the GCODE will |
|||
* change to be more compatible, the current proposal is: |
|||
* |
|||
* M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to |
|||
* |
|||
* M260 B<byte-1 value in base 10> |
|||
* M260 B<byte-2 value in base 10> |
|||
* M260 B<byte-3 value in base 10> |
|||
* |
|||
* M260 S1 ; Send the buffered data and reset the buffer |
|||
* M260 R1 ; Reset the buffer without sending data |
|||
* |
|||
*/ |
|||
void gcode_M260() { |
|||
// Set the target address
|
|||
if (parser.seen('A')) i2c.address(parser.value_byte()); |
|||
|
|||
// Add a new byte to the buffer
|
|||
if (parser.seen('B')) i2c.addbyte(parser.value_byte()); |
|||
|
|||
// Flush the buffer to the bus
|
|||
if (parser.seen('S')) i2c.send(); |
|||
|
|||
// Reset and rewind the buffer
|
|||
else if (parser.seen('R')) i2c.reset(); |
|||
} |
|||
|
|||
/**
|
|||
* M261: Request X bytes from I2C slave device |
|||
* |
|||
* Usage: M261 A<slave device address base 10> B<number of bytes> |
|||
*/ |
|||
void gcode_M261() { |
|||
if (parser.seen('A')) i2c.address(parser.value_byte()); |
|||
|
|||
uint8_t bytes = parser.byteval('B', 1); |
|||
|
|||
if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) { |
|||
i2c.relay(bytes); |
|||
} |
|||
else { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLN("Bad i2c request"); |
|||
} |
|||
} |
|||
@ -0,0 +1,46 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M150: Set Status LED Color - Use R-U-B-W for R-G-B-W |
|||
* |
|||
* Always sets all 3 or 4 components. If a component is left out, set to 0. |
|||
* |
|||
* Examples: |
|||
* |
|||
* M150 R255 ; Turn LED red |
|||
* M150 R255 U127 ; Turn LED orange (PWM only) |
|||
* M150 ; Turn LED off |
|||
* M150 R U B ; Turn LED white |
|||
* M150 W ; Turn LED white using a white LED |
|||
* |
|||
*/ |
|||
void gcode_M150() { |
|||
set_led_color( |
|||
parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0, |
|||
parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0, |
|||
parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0 |
|||
#if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED) |
|||
, parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0 |
|||
#endif |
|||
); |
|||
} |
|||
@ -0,0 +1,38 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M163: Set a single mix factor for a mixing extruder |
|||
* This is called "weight" by some systems. |
|||
* |
|||
* S[index] The channel index to set |
|||
* P[float] The mix value |
|||
* |
|||
*/ |
|||
void gcode_M163() { |
|||
const int mix_index = parser.intval('S'); |
|||
if (mix_index < MIXING_STEPPERS) { |
|||
float mix_value = parser.floatval('P'); |
|||
NOLESS(mix_value, 0.0); |
|||
mixing_factor[mix_index] = RECIPROCAL(mix_value); |
|||
} |
|||
} |
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M164: Store the current mix factors as a virtual tool. |
|||
* |
|||
* S[index] The virtual tool to store |
|||
* |
|||
*/ |
|||
void gcode_M164() { |
|||
const int tool_index = parser.intval('S'); |
|||
if (tool_index < MIXING_VIRTUAL_TOOLS) { |
|||
normalize_mix(); |
|||
for (uint8_t i = 0; i < MIXING_STEPPERS; i++) |
|||
mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i]; |
|||
} |
|||
} |
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M165: Set multiple mix factors for a mixing extruder. |
|||
* Factors that are left out will be set to 0. |
|||
* All factors together must add up to 1.0. |
|||
* |
|||
* A[factor] Mix factor for extruder stepper 1 |
|||
* B[factor] Mix factor for extruder stepper 2 |
|||
* C[factor] Mix factor for extruder stepper 3 |
|||
* D[factor] Mix factor for extruder stepper 4 |
|||
* H[factor] Mix factor for extruder stepper 5 |
|||
* I[factor] Mix factor for extruder stepper 6 |
|||
* |
|||
*/ |
|||
void gcode_M165() { gcode_get_mix(); } |
|||
@ -0,0 +1,30 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* G27: Park the nozzle |
|||
*/ |
|||
void gcode_G27() { |
|||
// Don't allow nozzle parking without homing first
|
|||
if (axis_unhomed_error()) return; |
|||
Nozzle::park(parser.ushortval('P')); |
|||
} |
|||
@ -0,0 +1,89 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "common.h" |
|||
|
|||
/**
|
|||
* M125: Store current position and move to filament change position. |
|||
* Called on pause (by M25) to prevent material leaking onto the |
|||
* object. On resume (M24) the head will be moved back and the |
|||
* print will resume. |
|||
* |
|||
* If Marlin is compiled without SD Card support, M125 can be |
|||
* used directly to pause the print and move to park position, |
|||
* resuming with a button click or M108. |
|||
* |
|||
* L = override retract length |
|||
* X = override X |
|||
* Y = override Y |
|||
* Z = override Z raise |
|||
*/ |
|||
void gcode_M125() { |
|||
|
|||
// Initial retract before move to filament change position
|
|||
const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0 |
|||
#ifdef PAUSE_PARK_RETRACT_LENGTH |
|||
- (PAUSE_PARK_RETRACT_LENGTH) |
|||
#endif |
|||
; |
|||
|
|||
// Lift Z axis
|
|||
const float z_lift = parser.linearval('Z') |
|||
#ifdef PAUSE_PARK_Z_ADD |
|||
+ PAUSE_PARK_Z_ADD |
|||
#endif |
|||
; |
|||
|
|||
// Move XY axes to filament change position or given position
|
|||
const float x_pos = parser.linearval('X') |
|||
#ifdef PAUSE_PARK_X_POS |
|||
+ PAUSE_PARK_X_POS |
|||
#endif |
|||
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) |
|||
+ (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0) |
|||
#endif |
|||
; |
|||
const float y_pos = parser.linearval('Y') |
|||
#ifdef PAUSE_PARK_Y_POS |
|||
+ PAUSE_PARK_Y_POS |
|||
#endif |
|||
#if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE) |
|||
+ (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0) |
|||
#endif |
|||
; |
|||
|
|||
#if DISABLED(SDSUPPORT) |
|||
const bool job_running = print_job_timer.isRunning(); |
|||
#endif |
|||
|
|||
if (pause_print(retract, z_lift, x_pos, y_pos)) { |
|||
#if DISABLED(SDSUPPORT) |
|||
// Wait for lcd click or M108
|
|||
wait_for_filament_reload(); |
|||
|
|||
// Return to print position and continue
|
|||
resume_print(); |
|||
|
|||
if (job_running) print_job_timer.start(); |
|||
#endif |
|||
} |
|||
} |
|||
@ -0,0 +1,103 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
#include "common.h" |
|||
|
|||
/**
|
|||
* M600: Pause for filament change |
|||
* |
|||
* E[distance] - Retract the filament this far (negative value) |
|||
* Z[distance] - Move the Z axis by this distance |
|||
* X[position] - Move to this X position, with Y |
|||
* Y[position] - Move to this Y position, with X |
|||
* U[distance] - Retract distance for removal (negative value) (manual reload) |
|||
* L[distance] - Extrude distance for insertion (positive value) (manual reload) |
|||
* B[count] - Number of times to beep, -1 for indefinite (if equipped with a buzzer) |
|||
* |
|||
* Default values are used for omitted arguments. |
|||
* |
|||
*/ |
|||
void gcode_M600() { |
|||
|
|||
#if ENABLED(HOME_BEFORE_FILAMENT_CHANGE) |
|||
// Don't allow filament change without homing first
|
|||
if (axis_unhomed_error()) home_all_axes(); |
|||
#endif |
|||
|
|||
// Initial retract before move to filament change position
|
|||
const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0 |
|||
#ifdef PAUSE_PARK_RETRACT_LENGTH |
|||
- (PAUSE_PARK_RETRACT_LENGTH) |
|||
#endif |
|||
; |
|||
|
|||
// Lift Z axis
|
|||
const float z_lift = parser.linearval('Z', 0 |
|||
#ifdef PAUSE_PARK_Z_ADD |
|||
+ PAUSE_PARK_Z_ADD |
|||
#endif |
|||
); |
|||
|
|||
// Move XY axes to filament exchange position
|
|||
const float x_pos = parser.linearval('X', 0 |
|||
#ifdef PAUSE_PARK_X_POS |
|||
+ PAUSE_PARK_X_POS |
|||
#endif |
|||
); |
|||
const float y_pos = parser.linearval('Y', 0 |
|||
#ifdef PAUSE_PARK_Y_POS |
|||
+ PAUSE_PARK_Y_POS |
|||
#endif |
|||
); |
|||
|
|||
// Unload filament
|
|||
const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0 |
|||
#if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0 |
|||
- (FILAMENT_CHANGE_UNLOAD_LENGTH) |
|||
#endif |
|||
; |
|||
|
|||
// Load filament
|
|||
const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0 |
|||
#ifdef FILAMENT_CHANGE_LOAD_LENGTH |
|||
+ FILAMENT_CHANGE_LOAD_LENGTH |
|||
#endif |
|||
; |
|||
|
|||
const int beep_count = parser.intval('B', |
|||
#ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS |
|||
FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS |
|||
#else |
|||
-1 |
|||
#endif |
|||
); |
|||
|
|||
const bool job_running = print_job_timer.isRunning(); |
|||
|
|||
if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) { |
|||
wait_for_filament_reload(beep_count); |
|||
resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count); |
|||
} |
|||
|
|||
// Resume the print job timer if it was running
|
|||
if (job_running) print_job_timer.start(); |
|||
} |
|||
@ -0,0 +1,335 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* feature/pause/common.h - Merge this with its G-codes in the refactor |
|||
*/ |
|||
|
|||
#ifndef PAUSE_COMMON_H |
|||
#define PAUSE_COMMON_H |
|||
|
|||
#if IS_KINEMATIC |
|||
#define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder) |
|||
#else |
|||
#define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S) |
|||
#endif |
|||
|
|||
static float resume_position[XYZE]; |
|||
static bool move_away_flag = false; |
|||
#if ENABLED(SDSUPPORT) |
|||
static bool sd_print_paused = false; |
|||
#endif |
|||
|
|||
static void filament_change_beep(const int8_t max_beep_count, const bool init=false) { |
|||
static millis_t next_buzz = 0; |
|||
static int8_t runout_beep = 0; |
|||
|
|||
if (init) next_buzz = runout_beep = 0; |
|||
|
|||
const millis_t ms = millis(); |
|||
if (ELAPSED(ms, next_buzz)) { |
|||
if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
|
|||
next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400); |
|||
BUZZ(300, 2000); |
|||
runout_beep++; |
|||
} |
|||
} |
|||
} |
|||
|
|||
static void ensure_safe_temperature() { |
|||
bool heaters_heating = true; |
|||
|
|||
wait_for_heatup = true; // M108 will clear this
|
|||
while (wait_for_heatup && heaters_heating) { |
|||
idle(); |
|||
heaters_heating = false; |
|||
HOTEND_LOOP() { |
|||
if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) { |
|||
heaters_heating = true; |
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT); |
|||
#endif |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos, |
|||
const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false |
|||
) { |
|||
if (move_away_flag) return false; // already paused
|
|||
|
|||
if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) { |
|||
#if ENABLED(PREVENT_COLD_EXTRUSION) |
|||
if (!thermalManager.allow_cold_extrude && |
|||
thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600); |
|||
return false; |
|||
} |
|||
#endif |
|||
|
|||
ensure_safe_temperature(); // wait for extruder to heat up before unloading
|
|||
} |
|||
|
|||
// Indicate that the printer is paused
|
|||
move_away_flag = true; |
|||
|
|||
// Pause the print job and timer
|
|||
#if ENABLED(SDSUPPORT) |
|||
if (IS_SD_PRINTING) { |
|||
card.pauseSDPrint(); |
|||
sd_print_paused = true; |
|||
} |
|||
#endif |
|||
print_job_timer.pause(); |
|||
|
|||
// Show initial message and wait for synchronize steppers
|
|||
if (show_lcd) { |
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT); |
|||
#endif |
|||
} |
|||
|
|||
// Save current position
|
|||
stepper.synchronize(); |
|||
COPY(resume_position, current_position); |
|||
|
|||
if (retract) { |
|||
// Initial retract before move to filament change position
|
|||
set_destination_to_current(); |
|||
destination[E_AXIS] += retract; |
|||
RUNPLAN(PAUSE_PARK_RETRACT_FEEDRATE); |
|||
stepper.synchronize(); |
|||
} |
|||
|
|||
// Lift Z axis
|
|||
if (z_lift > 0) |
|||
do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE); |
|||
|
|||
// Move XY axes to filament exchange position
|
|||
do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE); |
|||
|
|||
if (unload_length != 0) { |
|||
if (show_lcd) { |
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD); |
|||
idle(); |
|||
#endif |
|||
} |
|||
|
|||
// Unload filament
|
|||
set_destination_to_current(); |
|||
destination[E_AXIS] += unload_length; |
|||
RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE); |
|||
stepper.synchronize(); |
|||
} |
|||
|
|||
if (show_lcd) { |
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); |
|||
#endif |
|||
} |
|||
|
|||
#if HAS_BUZZER |
|||
filament_change_beep(max_beep_count, true); |
|||
#endif |
|||
|
|||
idle(); |
|||
|
|||
// Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
|
|||
#if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN |
|||
disable_e_steppers(); |
|||
safe_delay(100); |
|||
#endif |
|||
|
|||
// Start the heater idle timers
|
|||
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL; |
|||
|
|||
HOTEND_LOOP() |
|||
thermalManager.start_heater_idle_timer(e, nozzle_timeout); |
|||
|
|||
return true; |
|||
} |
|||
|
|||
static void wait_for_filament_reload(const int8_t max_beep_count = 0) { |
|||
bool nozzle_timed_out = false; |
|||
|
|||
// Wait for filament insert by user and press button
|
|||
KEEPALIVE_STATE(PAUSED_FOR_USER); |
|||
wait_for_user = true; // LCD click or M108 will clear this
|
|||
while (wait_for_user) { |
|||
#if HAS_BUZZER |
|||
filament_change_beep(max_beep_count); |
|||
#endif |
|||
|
|||
// If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
|
|||
// re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
|
|||
if (!nozzle_timed_out) |
|||
HOTEND_LOOP() |
|||
nozzle_timed_out |= thermalManager.is_heater_idle(e); |
|||
|
|||
if (nozzle_timed_out) { |
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE); |
|||
#endif |
|||
|
|||
// Wait for LCD click or M108
|
|||
while (wait_for_user) idle(true); |
|||
|
|||
// Re-enable the heaters if they timed out
|
|||
HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e); |
|||
|
|||
// Wait for the heaters to reach the target temperatures
|
|||
ensure_safe_temperature(); |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); |
|||
#endif |
|||
|
|||
// Start the heater idle timers
|
|||
const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL; |
|||
|
|||
HOTEND_LOOP() |
|||
thermalManager.start_heater_idle_timer(e, nozzle_timeout); |
|||
|
|||
wait_for_user = true; /* Wait for user to load filament */ |
|||
nozzle_timed_out = false; |
|||
|
|||
#if HAS_BUZZER |
|||
filament_change_beep(max_beep_count, true); |
|||
#endif |
|||
} |
|||
|
|||
idle(true); |
|||
} |
|||
KEEPALIVE_STATE(IN_HANDLER); |
|||
} |
|||
|
|||
static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) { |
|||
bool nozzle_timed_out = false; |
|||
|
|||
if (!move_away_flag) return; |
|||
|
|||
// Re-enable the heaters if they timed out
|
|||
HOTEND_LOOP() { |
|||
nozzle_timed_out |= thermalManager.is_heater_idle(e); |
|||
thermalManager.reset_heater_idle_timer(e); |
|||
} |
|||
|
|||
if (nozzle_timed_out) ensure_safe_temperature(); |
|||
|
|||
#if HAS_BUZZER |
|||
filament_change_beep(max_beep_count, true); |
|||
#endif |
|||
|
|||
if (load_length != 0) { |
|||
#if ENABLED(ULTIPANEL) |
|||
// Show "insert filament"
|
|||
if (nozzle_timed_out) |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT); |
|||
#endif |
|||
|
|||
KEEPALIVE_STATE(PAUSED_FOR_USER); |
|||
wait_for_user = true; // LCD click or M108 will clear this
|
|||
while (wait_for_user && nozzle_timed_out) { |
|||
#if HAS_BUZZER |
|||
filament_change_beep(max_beep_count); |
|||
#endif |
|||
idle(true); |
|||
} |
|||
KEEPALIVE_STATE(IN_HANDLER); |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
// Show "load" message
|
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD); |
|||
#endif |
|||
|
|||
// Load filament
|
|||
destination[E_AXIS] += load_length; |
|||
RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE); |
|||
stepper.synchronize(); |
|||
} |
|||
|
|||
#if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0 |
|||
|
|||
float extrude_length = initial_extrude_length; |
|||
|
|||
do { |
|||
if (extrude_length > 0) { |
|||
// "Wait for filament extrude"
|
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE); |
|||
|
|||
// Extrude filament to get into hotend
|
|||
destination[E_AXIS] += extrude_length; |
|||
RUNPLAN(ADVANCED_PAUSE_EXTRUDE_FEEDRATE); |
|||
stepper.synchronize(); |
|||
} |
|||
|
|||
// Show "Extrude More" / "Resume" menu and wait for reply
|
|||
KEEPALIVE_STATE(PAUSED_FOR_USER); |
|||
wait_for_user = false; |
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION); |
|||
while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true); |
|||
KEEPALIVE_STATE(IN_HANDLER); |
|||
|
|||
extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH; |
|||
|
|||
// Keep looping if "Extrude More" was selected
|
|||
} while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE); |
|||
|
|||
#endif |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
// "Wait for print to resume"
|
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME); |
|||
#endif |
|||
|
|||
// Set extruder to saved position
|
|||
destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]; |
|||
planner.set_e_position_mm(current_position[E_AXIS]); |
|||
|
|||
// Move XY to starting position, then Z
|
|||
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE); |
|||
do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE); |
|||
|
|||
#if ENABLED(FILAMENT_RUNOUT_SENSOR) |
|||
filament_ran_out = false; |
|||
#endif |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
// Show status screen
|
|||
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS); |
|||
#endif |
|||
|
|||
#if ENABLED(SDSUPPORT) |
|||
if (sd_print_paused) { |
|||
card.startFileprint(); |
|||
sd_print_paused = false; |
|||
} |
|||
#endif |
|||
|
|||
move_away_flag = false; |
|||
} |
|||
|
|||
#endif // PAUSE_COMMON_H
|
|||
@ -0,0 +1,50 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
inline void select_multiplexed_stepper(const uint8_t e) { |
|||
stepper.synchronize(); |
|||
disable_e_steppers(); |
|||
WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW); |
|||
WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW); |
|||
WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW); |
|||
safe_delay(100); |
|||
} |
|||
|
|||
/**
|
|||
* M702: Unload all extruders |
|||
*/ |
|||
void gcode_M702() { |
|||
for (uint8_t s = 0; s < E_STEPPERS; s++) { |
|||
select_multiplexed_stepper(e); |
|||
// TODO: standard unload filament function
|
|||
// MK2 firmware behavior:
|
|||
// - Make sure temperature is high enough
|
|||
// - Raise Z to at least 15 to make room
|
|||
// - Extrude 1cm of filament in 1 second
|
|||
// - Under 230C quickly purge ~12mm, over 230C purge ~10mm
|
|||
// - Change E max feedrate to 80, eject the filament from the tube. Sync.
|
|||
// - Restore E max feedrate to 50
|
|||
} |
|||
// Go back to the last active extruder
|
|||
select_multiplexed_stepper(active_extruder); |
|||
disable_e_steppers(); |
|||
} |
|||
@ -0,0 +1,65 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
static void tmc2130_get_current(TMC2130Stepper &st, const char name) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" axis driver current: "); |
|||
SERIAL_ECHOLN(st.getCurrent()); |
|||
} |
|||
static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) { |
|||
st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER); |
|||
tmc2130_get_current(st, name); |
|||
} |
|||
|
|||
/**
|
|||
* M906: Set motor current in milliamps using axis codes X, Y, Z, E |
|||
* Report driver currents when no axis specified |
|||
* |
|||
* S1: Enable automatic current control |
|||
* S0: Disable |
|||
*/ |
|||
void gcode_M906() { |
|||
uint16_t values[XYZE]; |
|||
LOOP_XYZE(i) |
|||
values[i] = parser.intval(axis_codes[i]); |
|||
|
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]); |
|||
else tmc2130_get_current(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]); |
|||
else tmc2130_get_current(stepperY, 'Y'); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]); |
|||
else tmc2130_get_current(stepperZ, 'Z'); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]); |
|||
else tmc2130_get_current(stepperE0, 'E'); |
|||
#endif |
|||
|
|||
#if ENABLED(AUTOMATIC_CURRENT_CONTROL) |
|||
if (parser.seen('S')) auto_current_control = parser.value_bool(); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,49 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" axis temperature prewarn triggered: "); |
|||
serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false")); |
|||
SERIAL_EOL(); |
|||
} |
|||
|
|||
/**
|
|||
* M911: Report TMC2130 stepper driver overtemperature pre-warn flag |
|||
* The flag is held by the library and persist until manually cleared by M912 |
|||
*/ |
|||
void gcode_M911() { |
|||
const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'), |
|||
reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE); |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y'); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z'); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E'); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,47 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) { |
|||
st.clear_otpw(); |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOLNPGM(" prewarn flag cleared"); |
|||
} |
|||
|
|||
/**
|
|||
* M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library |
|||
*/ |
|||
void gcode_M912() { |
|||
const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'), |
|||
clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE); |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y'); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z'); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E'); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,57 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" stealthChop max speed set to "); |
|||
SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm)); |
|||
} |
|||
static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) { |
|||
st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm)); |
|||
tmc2130_get_pwmthrs(st, name, spmm); |
|||
} |
|||
|
|||
/**
|
|||
* M913: Set HYBRID_THRESHOLD speed. |
|||
*/ |
|||
void gcode_M913() { |
|||
uint16_t values[XYZE]; |
|||
LOOP_XYZE(i) |
|||
values[i] = parser.intval(axis_codes[i]); |
|||
|
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]); |
|||
#endif |
|||
#if ENABLED(Z_IS_TMC2130) |
|||
if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]); |
|||
#endif |
|||
#if ENABLED(E0_IS_TMC2130) |
|||
if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]); |
|||
else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,45 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) { |
|||
SERIAL_CHAR(name); |
|||
SERIAL_ECHOPGM(" driver homing sensitivity set to "); |
|||
SERIAL_ECHOLN(st.sgt()); |
|||
} |
|||
static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) { |
|||
st.sgt(sgt_val); |
|||
tmc2130_get_sgt(st, name); |
|||
} |
|||
|
|||
/**
|
|||
* M914: Set SENSORLESS_HOMING sensitivity. |
|||
*/ |
|||
void gcode_M914() { |
|||
#if ENABLED(X_IS_TMC2130) |
|||
if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int()); |
|||
else tmc2130_get_sgt(stepperX, 'X'); |
|||
#endif |
|||
#if ENABLED(Y_IS_TMC2130) |
|||
if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int()); |
|||
else tmc2130_get_sgt(stepperY, 'Y'); |
|||
#endif |
|||
} |
|||
@ -0,0 +1,682 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* gcode.h - Temporary container for all gcode handlers |
|||
*/ |
|||
|
|||
/**
|
|||
* ----------------- |
|||
* G-Codes in Marlin |
|||
* ----------------- |
|||
* |
|||
* Helpful G-code references: |
|||
* - http://linuxcnc.org/handbook/gcode/g-code.html
|
|||
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
|
|||
* |
|||
* Help to document Marlin's G-codes online: |
|||
* - http://reprap.org/wiki/G-code
|
|||
* - https://github.com/MarlinFirmware/MarlinDocumentation
|
|||
* |
|||
* ----------------- |
|||
* |
|||
* "G" Codes |
|||
* |
|||
* G0 -> G1 |
|||
* G1 - Coordinated Movement X Y Z E |
|||
* G2 - CW ARC |
|||
* G3 - CCW ARC |
|||
* G4 - Dwell S<seconds> or P<milliseconds> |
|||
* G5 - Cubic B-spline with XYZE destination and IJPQ offsets |
|||
* G10 - Retract filament according to settings of M207 (Requires FWRETRACT) |
|||
* G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT) |
|||
* G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE) |
|||
* G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES) |
|||
* G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES) |
|||
* G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES) |
|||
* G20 - Set input units to inches (Requires INCH_MODE_SUPPORT) |
|||
* G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT) |
|||
* G26 - Mesh Validation Pattern (Requires UBL_G26_MESH_VALIDATION) |
|||
* G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE) |
|||
* G28 - Home one or more axes |
|||
* G29 - Start or continue the bed leveling probe procedure (Requires bed leveling) |
|||
* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location) |
|||
* G31 - Dock sled (Z_PROBE_SLED only) |
|||
* G32 - Undock sled (Z_PROBE_SLED only) |
|||
* G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION) |
|||
* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET) |
|||
* G42 - Coordinated move to a mesh point (Requires AUTO_BED_LEVELING_UBL) |
|||
* G90 - Use Absolute Coordinates |
|||
* G91 - Use Relative Coordinates |
|||
* G92 - Set current position to coordinates given |
|||
* |
|||
* "M" Codes |
|||
* |
|||
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled) |
|||
* M1 -> M0 |
|||
* M3 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to clockwise |
|||
* M4 - Turn laser/spindle on, set spindle/laser speed/power, set rotation to counter-clockwise |
|||
* M5 - Turn laser/spindle off |
|||
* M17 - Enable/Power all stepper motors |
|||
* M18 - Disable all stepper motors; same as M84 |
|||
* M20 - List SD card. (Requires SDSUPPORT) |
|||
* M21 - Init SD card. (Requires SDSUPPORT) |
|||
* M22 - Release SD card. (Requires SDSUPPORT) |
|||
* M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT) |
|||
* M24 - Start/resume SD print. (Requires SDSUPPORT) |
|||
* M25 - Pause SD print. (Requires SDSUPPORT) |
|||
* M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT) |
|||
* M27 - Report SD print status. (Requires SDSUPPORT) |
|||
* M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT) |
|||
* M29 - Stop SD write. (Requires SDSUPPORT) |
|||
* M30 - Delete file from SD: "M30 /path/file.gco" |
|||
* M31 - Report time since last M109 or SD card start to serial. |
|||
* M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT) |
|||
* Use P to run other files as sub-programs: "M32 P !filename#" |
|||
* The '#' is necessary when calling from within sd files, as it stops buffer prereading |
|||
* M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT) |
|||
* M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA) |
|||
* M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted. |
|||
* M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins |
|||
* M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST) |
|||
* M75 - Start the print job timer. |
|||
* M76 - Pause the print job timer. |
|||
* M77 - Stop the print job timer. |
|||
* M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER) |
|||
* M80 - Turn on Power Supply. (Requires POWER_SUPPLY > 0) |
|||
* M81 - Turn off Power Supply. (Requires POWER_SUPPLY > 0) |
|||
* M82 - Set E codes absolute (default). |
|||
* M83 - Set E codes relative while in Absolute (G90) mode. |
|||
* M84 - Disable steppers until next move, or use S<seconds> to specify an idle |
|||
* duration after which steppers should turn off. S0 disables the timeout. |
|||
* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) |
|||
* M92 - Set planner.axis_steps_per_mm for one or more axes. |
|||
* M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER) |
|||
* M104 - Set extruder target temp. |
|||
* M105 - Report current temperatures. |
|||
* M106 - Fan on. |
|||
* M107 - Fan off. |
|||
* M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER) |
|||
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating |
|||
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling |
|||
* If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F |
|||
* M110 - Set the current line number. (Used by host printing) |
|||
* M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h. |
|||
* M112 - Emergency stop. |
|||
* M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE) |
|||
* M114 - Report current position. |
|||
* M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT) |
|||
* M117 - Display a message on the controller screen. (Requires an LCD) |
|||
* M118 - Display a message in the host console. |
|||
* M119 - Report endstops status. |
|||
* M120 - Enable endstops detection. |
|||
* M121 - Disable endstops detection. |
|||
* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE) |
|||
* M126 - Solenoid Air Valve Open. (Requires BARICUDA) |
|||
* M127 - Solenoid Air Valve Closed. (Requires BARICUDA) |
|||
* M128 - EtoP Open. (Requires BARICUDA) |
|||
* M129 - EtoP Closed. (Requires BARICUDA) |
|||
* M140 - Set bed target temp. S<temp> |
|||
* M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS) |
|||
* M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT) |
|||
* M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, or PCA9632) |
|||
* M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES) |
|||
* M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER) |
|||
* M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS) |
|||
* M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER) |
|||
* M190 - Sxxx Wait for bed current temp to reach target temp. ** Waits only when heating! ** |
|||
* Rxxx Wait for bed current temp to reach target temp. ** Waits for heating or cooling. ** |
|||
* M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.) |
|||
* M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>" |
|||
* M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! ** |
|||
* M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec. |
|||
* M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel> |
|||
* M205 - Set advanced settings. Current units apply: |
|||
S<print> T<travel> minimum speeds |
|||
B<minimum segment time> |
|||
X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk> |
|||
* M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) |
|||
* M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT) |
|||
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT) |
|||
* M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT) |
|||
Every normal extrude-only move will be classified as retract depending on the direction. |
|||
* M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS) |
|||
* M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders) |
|||
* M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD) |
|||
* M221 - Set Flow Percentage: "M221 S<percent>" |
|||
* M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>" |
|||
* M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN) |
|||
* M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support) |
|||
* M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS) |
|||
* M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS) |
|||
* M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos) |
|||
* M300 - Play beep sound S<frequency Hz> P<duration ms> |
|||
* M301 - Set PID parameters P I and D. (Requires PIDTEMP) |
|||
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION) |
|||
* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP) |
|||
* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) |
|||
* M350 - Set microstepping mode. (Requires digital microstepping pins.) |
|||
* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) |
|||
* M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN) |
|||
* M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) |
|||
* M381 - Disable all solenoids. (Requires EXT_SOLENOID) |
|||
* M400 - Finish all moves. |
|||
* M401 - Lower Z probe. (Requires a probe) |
|||
* M402 - Raise Z probe. (Requires a probe) |
|||
* M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR) |
|||
* M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR) |
|||
* M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR) |
|||
* M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR) |
|||
* M410 - Quickstop. Abort all planned moves. |
|||
* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL) |
|||
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING or AUTO_BED_LEVELING_UBL) |
|||
* M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA) |
|||
* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS) |
|||
* M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS) |
|||
* M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! ** |
|||
* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output. |
|||
* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) |
|||
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE) |
|||
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA) |
|||
* M666 - Set delta endstop adjustment. (Requires DELTA) |
|||
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE) |
|||
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) |
|||
* M860 - Report the position of position encoder modules. |
|||
* M861 - Report the status of position encoder modules. |
|||
* M862 - Perform an axis continuity test for position encoder modules. |
|||
* M863 - Perform steps-per-mm calibration for position encoder modules. |
|||
* M864 - Change position encoder module I2C address. |
|||
* M865 - Check position encoder module firmware version. |
|||
* M866 - Report or reset position encoder module error count. |
|||
* M867 - Enable/disable or toggle error correction for position encoder modules. |
|||
* M868 - Report or set position encoder module error correction threshold. |
|||
* M869 - Report position encoder module error. |
|||
* M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE) |
|||
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130) |
|||
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) |
|||
* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) |
|||
* M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT) |
|||
* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT) |
|||
* M911 - Report stepper driver overtemperature pre-warn condition. (Requires HAVE_TMC2130) |
|||
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130) |
|||
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) |
|||
* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) |
|||
* |
|||
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) |
|||
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) |
|||
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration) |
|||
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree) |
|||
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) |
|||
* |
|||
* ************ Custom codes - This can change to suit future G-code regulations |
|||
* M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT) |
|||
* M999 - Restart after being stopped by error |
|||
* |
|||
* "T" Codes |
|||
* |
|||
* T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>" |
|||
* |
|||
*/ |
|||
|
|||
#ifndef GCODE_H |
|||
#define GCODE_H |
|||
|
|||
#include "../inc/MarlinConfig.h" |
|||
#include "parser.h" |
|||
|
|||
#if ENABLED(I2C_POSITION_ENCODERS) |
|||
#include "../feature/I2CPositionEncoder.h" |
|||
#endif |
|||
|
|||
class GcodeSuite { |
|||
public: |
|||
|
|||
GcodeSuite() {} |
|||
|
|||
private: |
|||
|
|||
static void G0_G1( |
|||
#if IS_SCARA |
|||
bool fast_move=false |
|||
#endif |
|||
); |
|||
|
|||
#if ENABLED(ARC_SUPPORT) |
|||
static void G2_G3(bool clockwise); |
|||
#endif |
|||
|
|||
static void G4(); |
|||
|
|||
#if ENABLED(BEZIER_CURVE_SUPPORT) |
|||
static void G5(); |
|||
#endif |
|||
|
|||
#if ENABLED(FWRETRACT) |
|||
static void G10(); |
|||
static void G11(); |
|||
#endif |
|||
|
|||
#if ENABLED(NOZZLE_CLEAN_FEATURE) |
|||
static void G12(); |
|||
#endif |
|||
|
|||
#if ENABLED(CNC_WORKSPACE_PLANES) |
|||
static void G17(); |
|||
static void G18(); |
|||
static void G19(); |
|||
#endif |
|||
|
|||
#if ENABLED(INCH_MODE_SUPPORT) |
|||
static void G20(); |
|||
static void G21(); |
|||
#endif |
|||
|
|||
#if ENABLED(UBL_G26_MESH_VALIDATION) |
|||
static void G26(); |
|||
#endif |
|||
|
|||
#if ENABLED(NOZZLE_PARK_FEATURE) |
|||
static void G27(); |
|||
#endif |
|||
|
|||
static void G28(const bool always_home_all); |
|||
|
|||
#if HAS_LEVELING |
|||
static void G29(); |
|||
#endif |
|||
|
|||
#if HAS_BED_PROBE |
|||
static void G30(); |
|||
#if ENABLED(Z_PROBE_SLED) |
|||
static void G31(); |
|||
static void G32(); |
|||
#endif |
|||
#endif |
|||
|
|||
#if PROBE_SELECTED && ENABLED(DELTA_AUTO_CALIBRATION) |
|||
static void G33(); |
|||
#endif |
|||
|
|||
#if ENABLED(G38_PROBE_TARGET) |
|||
static void G38(bool is_38_2); |
|||
#endif |
|||
|
|||
#if HAS_MESH |
|||
static void G42(); |
|||
#endif |
|||
|
|||
static void G92(); |
|||
|
|||
#if HAS_RESUME_CONTINUE |
|||
static void M0_M1(); |
|||
#endif |
|||
|
|||
#if ENABLED(SPINDLE_LASER_ENABLE) |
|||
static void M3_M4(bool is_M3); |
|||
static void M5(); |
|||
#endif |
|||
|
|||
static void M17(); |
|||
|
|||
static void M18_M84(); |
|||
|
|||
#if ENABLED(SDSUPPORT) |
|||
static void M20(); |
|||
static void M21(); |
|||
static void M22(); |
|||
static void M23(); |
|||
static void M24(); |
|||
static void M25(); |
|||
static void M26(); |
|||
static void M27(); |
|||
static void M28(); |
|||
static void M29(); |
|||
static void M30(); |
|||
#endif |
|||
|
|||
static void M31(); |
|||
|
|||
#if ENABLED(SDSUPPORT) |
|||
static void M32(); |
|||
#if ENABLED(LONG_FILENAME_HOST_SUPPORT) |
|||
static void M33(); |
|||
#endif |
|||
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE) |
|||
static void M34(); |
|||
#endif |
|||
#endif |
|||
|
|||
static void M42(); |
|||
|
|||
#if ENABLED(PINS_DEBUGGING) |
|||
static void M43(); |
|||
#endif |
|||
|
|||
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) |
|||
static void M48(); |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) |
|||
static void M49(); |
|||
#endif |
|||
|
|||
static void M75(); |
|||
static void M76(); |
|||
static void M77(); |
|||
|
|||
#if ENABLED(PRINTCOUNTER) |
|||
static void M78(); |
|||
#endif |
|||
|
|||
#if HAS_POWER_SWITCH |
|||
static void M80(); |
|||
#endif |
|||
|
|||
static void M81(); |
|||
static void M82(); |
|||
static void M83(); |
|||
static void M85(); |
|||
static void M92(); |
|||
|
|||
#if ENABLED(M100_FREE_MEMORY_WATCHER) |
|||
static void M100(); |
|||
#endif |
|||
|
|||
static void M104(); |
|||
static void M105(); |
|||
static void M106(); |
|||
static void M107(); |
|||
|
|||
#if DISABLED(EMERGENCY_PARSER) |
|||
static void M108(); |
|||
#endif |
|||
|
|||
static void M109(); |
|||
|
|||
static void M110(); |
|||
static void M111(); |
|||
|
|||
#if DISABLED(EMERGENCY_PARSER) |
|||
static void M112(); |
|||
#endif |
|||
|
|||
#if ENABLED(HOST_KEEPALIVE_FEATURE) |
|||
static void M113(); |
|||
#endif |
|||
|
|||
static void M114(); |
|||
static void M115(); |
|||
static void M117(); |
|||
static void M118(); |
|||
static void M119(); |
|||
static void M120(); |
|||
static void M121(); |
|||
|
|||
#if ENABLED(PARK_HEAD_ON_PAUSE) |
|||
static void M125(); |
|||
#endif |
|||
|
|||
#if ENABLED(BARICUDA) |
|||
#if HAS_HEATER_1 |
|||
static void M126(); |
|||
static void M127(); |
|||
#endif |
|||
#if HAS_HEATER_2 |
|||
static void M128(); |
|||
static void M129(); |
|||
#endif |
|||
#endif |
|||
|
|||
#if HAS_TEMP_BED |
|||
static void M140(); |
|||
#endif |
|||
|
|||
#if ENABLED(ULTIPANEL) |
|||
static void M145(); |
|||
#endif |
|||
|
|||
#if ENABLED(TEMPERATURE_UNITS_SUPPORT) |
|||
static void M149(); |
|||
#endif |
|||
|
|||
#if HAS_COLOR_LEDS |
|||
static void M150(); |
|||
#endif |
|||
|
|||
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED) |
|||
static void M155(); |
|||
#endif |
|||
|
|||
#if ENABLED(MIXING_EXTRUDER) |
|||
static void M163(); |
|||
#if MIXING_VIRTUAL_TOOLS > 1 |
|||
static void M164(); |
|||
#endif |
|||
#if ENABLED(DIRECT_MIXING_IN_G1) |
|||
static void M165(); |
|||
#endif |
|||
#endif |
|||
|
|||
#if HAS_TEMP_BED |
|||
static void M190(); |
|||
#endif |
|||
|
|||
static void M200(); |
|||
static void M201(); |
|||
|
|||
#if 0 |
|||
static void M202(); // Not used for Sprinter/grbl gen6
|
|||
#endif |
|||
|
|||
static void M203(); |
|||
static void M204(); |
|||
static void M205(); |
|||
|
|||
#if HAS_M206_COMMAND |
|||
static void M206(); |
|||
#endif |
|||
|
|||
#if ENABLED(FWRETRACT) |
|||
static void M207(); |
|||
static void M208(); |
|||
static void M209(); |
|||
#endif |
|||
|
|||
static void M211(); |
|||
|
|||
#if HOTENDS > 1 |
|||
static void M218(); |
|||
#endif |
|||
|
|||
static void M220(); |
|||
static void M221(); |
|||
static void M226(); |
|||
|
|||
#if defined(CHDK) || HAS_PHOTOGRAPH |
|||
static void M240(); |
|||
#endif |
|||
|
|||
#if HAS_LCD_CONTRAST |
|||
static void M250(); |
|||
#endif |
|||
|
|||
#if ENABLED(EXPERIMENTAL_I2CBUS) |
|||
static void M260(); |
|||
static void M261(); |
|||
#endif |
|||
|
|||
#if HAS_SERVOS |
|||
static void M280(); |
|||
#endif |
|||
|
|||
#if HAS_BUZZER |
|||
static void M300(); |
|||
#endif |
|||
|
|||
#if ENABLED(PIDTEMP) |
|||
static void M301(); |
|||
#endif |
|||
|
|||
#if ENABLED(PREVENT_COLD_EXTRUSION) |
|||
static void M302(); |
|||
#endif |
|||
|
|||
static void M303(); |
|||
|
|||
#if ENABLED(PIDTEMPBED) |
|||
static void M304(); |
|||
#endif |
|||
|
|||
#if HAS_MICROSTEPS |
|||
static void M350(); |
|||
static void M351(); |
|||
#endif |
|||
|
|||
static void M355(); |
|||
|
|||
#if ENABLED(MORGAN_SCARA) |
|||
static bool M360(); |
|||
static bool M361(); |
|||
static bool M362(); |
|||
static bool M363(); |
|||
static bool M364(); |
|||
#endif |
|||
|
|||
#if ENABLED(EXT_SOLENOID) |
|||
static void M380(); |
|||
static void M381(); |
|||
#endif |
|||
|
|||
static void M400(); |
|||
|
|||
#if HAS_BED_PROBE |
|||
static void M401(); |
|||
static void M402(); |
|||
#endif |
|||
|
|||
#if ENABLED(FILAMENT_WIDTH_SENSOR) |
|||
static void M404(); |
|||
static void M405(); |
|||
static void M406(); |
|||
static void M407(); |
|||
#endif |
|||
|
|||
#if DISABLED(EMERGENCY_PARSER) |
|||
static void M410(); |
|||
#endif |
|||
|
|||
#if HAS_LEVELING |
|||
static void M420(); |
|||
static void M421(); |
|||
#endif |
|||
|
|||
#if HAS_M206_COMMAND |
|||
static void M428(); |
|||
#endif |
|||
|
|||
static void M500(); |
|||
static void M501(); |
|||
static void M502(); |
|||
#if DISABLED(DISABLE_M503) |
|||
static void M503(); |
|||
#endif |
|||
|
|||
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) |
|||
static void M540(); |
|||
#endif |
|||
|
|||
#if ENABLED(ADVANCED_PAUSE_FEATURE) |
|||
static void M600(); |
|||
#endif |
|||
|
|||
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) |
|||
static void M605(); |
|||
#endif |
|||
|
|||
#if IS_KINEMATIC |
|||
static void M665(); |
|||
#endif |
|||
|
|||
#if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS) |
|||
static void M666(); |
|||
#endif |
|||
|
|||
#if ENABLED(MK2_MULTIPLEXER) |
|||
static void M702(); |
|||
#endif |
|||
|
|||
#if HAS_BED_PROBE |
|||
static void M851(); |
|||
#endif |
|||
|
|||
#if ENABLED(I2C_POSITION_ENCODERS) |
|||
FORCE_INLINE static void M860() { I2CPEM.M860(); } |
|||
FORCE_INLINE static void M861() { I2CPEM.M861(); } |
|||
FORCE_INLINE static void M862() { I2CPEM.M862(); } |
|||
FORCE_INLINE static void M863() { I2CPEM.M863(); } |
|||
FORCE_INLINE static void M864() { I2CPEM.M864(); } |
|||
FORCE_INLINE static void M865() { I2CPEM.M865(); } |
|||
FORCE_INLINE static void M866() { I2CPEM.M866(); } |
|||
FORCE_INLINE static void M867() { I2CPEM.M867(); } |
|||
FORCE_INLINE static void M868() { I2CPEM.M868(); } |
|||
FORCE_INLINE static void M869() { I2CPEM.M869(); } |
|||
#endif |
|||
|
|||
#if ENABLED(LIN_ADVANCE) |
|||
static void M900(); |
|||
#endif |
|||
|
|||
#if ENABLED(HAVE_TMC2130) |
|||
static void M906(); |
|||
static void M911(); |
|||
static void M912(); |
|||
#if ENABLED(HYBRID_THRESHOLD) |
|||
static void M913(); |
|||
#endif |
|||
#if ENABLED(SENSORLESS_HOMING) |
|||
static void M914(); |
|||
#endif |
|||
#endif |
|||
|
|||
static void M907(); |
|||
|
|||
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT) |
|||
static void M908(); |
|||
#if ENABLED(DAC_STEPPER_CURRENT) |
|||
static void M909(); |
|||
static void M910(); |
|||
#endif |
|||
#endif |
|||
|
|||
#if ENABLED(SDSUPPORT) |
|||
static void M928(); |
|||
#endif |
|||
|
|||
static void M999(); |
|||
|
|||
static void T(uint8_t tmp_extruder); |
|||
|
|||
}; |
|||
|
|||
extern GcodeSuite gcode; |
|||
|
|||
#endif // GCODE_H
|
|||
@ -0,0 +1,36 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
void report_workspace_plane() { |
|||
SERIAL_ECHO_START(); |
|||
SERIAL_ECHOPGM("Workspace Plane "); |
|||
serialprintPGM(workspace_plane == PLANE_YZ ? PSTR("YZ\n") : workspace_plane == PLANE_ZX ? PSTR("ZX\n") : PSTR("XY\n")); |
|||
} |
|||
|
|||
/**
|
|||
* G17: Select Plane XY |
|||
* G18: Select Plane ZX |
|||
* G19: Select Plane YZ |
|||
*/ |
|||
void gcode_G17() { workspace_plane = PLANE_XY; } |
|||
void gcode_G18() { workspace_plane = PLANE_ZX; } |
|||
void gcode_G19() { workspace_plane = PLANE_YZ; } |
|||
@ -0,0 +1,66 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* G92: Set current position to given X Y Z E |
|||
*/ |
|||
void gcode_G92() { |
|||
bool didXYZ = false, |
|||
didE = parser.seenval('E'); |
|||
|
|||
if (!didE) stepper.synchronize(); |
|||
|
|||
LOOP_XYZE(i) { |
|||
if (parser.seenval(axis_codes[i])) { |
|||
#if IS_SCARA |
|||
current_position[i] = parser.value_axis_units((AxisEnum)i); |
|||
if (i != E_AXIS) didXYZ = true; |
|||
#else |
|||
#if HAS_POSITION_SHIFT |
|||
const float p = current_position[i]; |
|||
#endif |
|||
const float v = parser.value_axis_units((AxisEnum)i); |
|||
|
|||
current_position[i] = v; |
|||
|
|||
if (i != E_AXIS) { |
|||
didXYZ = true; |
|||
#if HAS_POSITION_SHIFT |
|||
position_shift[i] += v - p; // Offset the coordinate space
|
|||
update_software_endstops((AxisEnum)i); |
|||
|
|||
#if ENABLED(I2C_POSITION_ENCODERS) |
|||
I2CPEM.encoders[I2CPEM.idx_from_axis((AxisEnum)i)].set_axis_offset(position_shift[i]); |
|||
#endif |
|||
|
|||
#endif |
|||
} |
|||
#endif |
|||
} |
|||
} |
|||
if (didXYZ) |
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
else if (didE) |
|||
sync_plan_position_e(); |
|||
|
|||
report_current_position(); |
|||
} |
|||
@ -0,0 +1,42 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y |
|||
* |
|||
* *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665. |
|||
* *** M206 for SCARA will remain enabled in 1.1.x for compatibility. |
|||
* *** In the 2.0 release, it will simply be disabled by default. |
|||
*/ |
|||
void gcode_M206() { |
|||
LOOP_XYZ(i) |
|||
if (parser.seen(axis_codes[i])) |
|||
set_home_offset((AxisEnum)i, parser.value_linear_units()); |
|||
|
|||
#if ENABLED(MORGAN_SCARA) |
|||
if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_linear_units()); // Theta
|
|||
if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_linear_units()); // Psi
|
|||
#endif |
|||
|
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
report_current_position(); |
|||
} |
|||
@ -0,0 +1,61 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M428: Set home_offset based on the distance between the |
|||
* current_position and the nearest "reference point." |
|||
* If an axis is past center its endstop position |
|||
* is the reference-point. Otherwise it uses 0. This allows |
|||
* the Z offset to be set near the bed when using a max endstop. |
|||
* |
|||
* M428 can't be used more than 2cm away from 0 or an endstop. |
|||
* |
|||
* Use M206 to set these values directly. |
|||
*/ |
|||
void gcode_M428() { |
|||
bool err = false; |
|||
LOOP_XYZ(i) { |
|||
if (axis_homed[i]) { |
|||
const float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0, |
|||
diff = base - RAW_POSITION(current_position[i], i); |
|||
if (WITHIN(diff, -20, 20)) { |
|||
set_home_offset((AxisEnum)i, diff); |
|||
} |
|||
else { |
|||
SERIAL_ERROR_START(); |
|||
SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR); |
|||
LCD_ALERTMESSAGEPGM("Err: Too far!"); |
|||
BUZZ(200, 40); |
|||
err = true; |
|||
break; |
|||
} |
|||
} |
|||
} |
|||
|
|||
if (!err) { |
|||
SYNC_PLAN_POSITION_KINEMATIC(); |
|||
report_current_position(); |
|||
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); |
|||
BUZZ(100, 659); |
|||
BUZZ(100, 698); |
|||
} |
|||
} |
|||
@ -0,0 +1,28 @@ |
|||
/**
|
|||
* Marlin 3D Printer Firmware |
|||
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|||
* |
|||
* Based on Sprinter and grbl. |
|||
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
|||
* |
|||
* This program is free software: you can redistribute it and/or modify |
|||
* it under the terms of the GNU General Public License as published by |
|||
* the Free Software Foundation, either version 3 of the License, or |
|||
* (at your option) any later version. |
|||
* |
|||
* This program is distributed in the hope that it will be useful, |
|||
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
|||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|||
* GNU General Public License for more details. |
|||
* |
|||
* You should have received a copy of the GNU General Public License |
|||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|||
* |
|||
*/ |
|||
|
|||
/**
|
|||
* M110: Set Current Line Number |
|||
*/ |
|||
void gcode_M110() { |
|||
if (parser.seenval('N')) gcode_LastN = parser.value_long(); |
|||
} |
|||
Some files were not shown because too many files changed in this diff
Loading…
Reference in new issue