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@ -294,6 +294,7 @@ static char command_queue[BUFSIZE][MAX_CMD_SIZE]; |
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#endif |
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const float homing_feedrate[] = HOMING_FEEDRATE; |
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES; |
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int feedrate_multiplier = 100; //100->1 200->2
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int saved_feedrate_multiplier; |
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@ -490,6 +491,10 @@ static uint8_t target_extruder; |
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static bool filament_ran_out = false; |
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#endif |
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#if ENABLED(FILAMENT_CHANGE_FEATURE) |
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FilamentChangeMenuResponse filament_change_menu_response; |
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#endif |
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static bool send_ok[BUFSIZE]; |
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#if HAS_SERVOS |
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@ -1564,9 +1569,8 @@ inline void line_to_z(float zPosition) { |
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inline void line_to_destination(float mm_m) { |
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planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder); |
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} |
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inline void line_to_destination() { |
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line_to_destination(feedrate); |
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} |
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inline void line_to_destination() { line_to_destination(feedrate); } |
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/**
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* sync_plan_position |
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* Set planner / stepper positions to the cartesian current_position. |
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@ -3123,7 +3127,7 @@ inline void gcode_G28() { |
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enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet, MeshSetZOffset, MeshReset }; |
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inline void _mbl_goto_xy(float x, float y) { |
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saved_feedrate = feedrate; |
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float old_feedrate = feedrate; |
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feedrate = homing_feedrate[X_AXIS]; |
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z |
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@ -3144,7 +3148,7 @@ inline void gcode_G28() { |
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line_to_current_position(); |
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#endif |
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feedrate = saved_feedrate; |
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feedrate = old_feedrate; |
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stepper.synchronize(); |
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} |
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@ -6131,7 +6135,7 @@ inline void gcode_M503() { |
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#endif // HAS_BED_PROBE
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#if ENABLED(FILAMENTCHANGEENABLE) |
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#if ENABLED(FILAMENT_CHANGE_FEATURE) |
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/**
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* M600: Pause for filament change |
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@ -6153,129 +6157,160 @@ inline void gcode_M503() { |
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return; |
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} |
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// Show initial message and wait for synchronize steppers
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT); |
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stepper.synchronize(); |
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float lastpos[NUM_AXIS]; |
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#if ENABLED(DELTA) |
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float fr60 = feedrate / 60; |
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#endif |
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for (int i = 0; i < NUM_AXIS; i++) |
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// Save current position of all axes
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for (uint8_t i = 0; i < NUM_AXIS; i++) |
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lastpos[i] = destination[i] = current_position[i]; |
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// Define runplan for move axes
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#if ENABLED(DELTA) |
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#define RUNPLAN calculate_delta(destination); \ |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder); |
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#define RUNPLAN(RATE) calculate_delta(destination); \ |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE, active_extruder); |
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#else |
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#define RUNPLAN line_to_destination(); |
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#define RUNPLAN(RATE) line_to_destination(RATE * 60); |
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#endif |
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//retract by E
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KEEPALIVE_STATE(IN_HANDLER); |
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// Initial retract before move to filament change position
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if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS); |
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#ifdef FILAMENTCHANGE_FIRSTRETRACT |
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else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT; |
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#if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0 |
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else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH; |
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#endif |
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RUNPLAN; |
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RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE); |
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//lift Z
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if (code_seen('Z')) destination[Z_AXIS] += code_value_axis_units(Z_AXIS); |
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#ifdef FILAMENTCHANGE_ZADD |
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else destination[Z_AXIS] += FILAMENTCHANGE_ZADD; |
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// Lift Z axis
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float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) : |
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#if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0 |
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FILAMENT_CHANGE_Z_ADD |
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#else |
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0 |
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#endif |
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; |
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RUNPLAN; |
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if (z_lift > 0) { |
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destination[Z_AXIS] += z_lift; |
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NOMORE(destination[Z_AXIS], Z_MAX_POS); |
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RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE); |
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} |
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//move xy
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// Move XY axes to filament exchange position
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if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS); |
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#ifdef FILAMENTCHANGE_XPOS |
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else destination[X_AXIS] = FILAMENTCHANGE_XPOS; |
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#ifdef FILAMENT_CHANGE_X_POS |
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else destination[X_AXIS] = FILAMENT_CHANGE_X_POS; |
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#endif |
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if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS); |
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#ifdef FILAMENTCHANGE_YPOS |
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else destination[Y_AXIS] = FILAMENTCHANGE_YPOS; |
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#ifdef FILAMENT_CHANGE_Y_POS |
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else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS; |
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#endif |
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RUNPLAN; |
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RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE); |
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stepper.synchronize(); |
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD); |
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// Unload filament
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if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS); |
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#ifdef FILAMENTCHANGE_FINALRETRACT |
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else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT; |
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#if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0 |
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else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH; |
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#endif |
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RUNPLAN; |
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RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE); |
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//finish moves
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// Synchronize steppers and then disable extruders steppers for manual filament changing
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stepper.synchronize(); |
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//disable extruder steppers so filament can be removed
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disable_e0(); |
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disable_e1(); |
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disable_e2(); |
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disable_e3(); |
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delay(100); |
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LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE); |
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#if DISABLED(AUTO_FILAMENT_CHANGE) |
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millis_t next_tick = 0; |
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#endif |
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KEEPALIVE_STATE(PAUSED_FOR_USER); |
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// Wait for filament insert by user and press button
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT); |
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while (!lcd_clicked()) { |
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#if DISABLED(AUTO_FILAMENT_CHANGE) |
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#if HAS_BUZZER |
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millis_t ms = millis(); |
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if (ELAPSED(ms, next_tick)) { |
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lcd_quick_feedback(); |
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next_tick = ms + 2500UL; // feedback every 2.5s while waiting
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if (ms >= next_tick) { |
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buzzer.tone(300, 2000); |
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next_tick = ms + 2500; // Beep every 2.5s while waiting
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} |
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#endif |
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idle(true); |
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#else |
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current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH; |
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destination[E_AXIS] = current_position[E_AXIS]; |
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line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE); |
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stepper.synchronize(); |
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} |
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delay(100); |
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while (lcd_clicked()) idle(true); |
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delay(100); |
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// Show load message
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD); |
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// Load filament
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if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS); |
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#if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0 |
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else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH; |
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#endif |
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} // while(!lcd_clicked)
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KEEPALIVE_STATE(IN_HANDLER); |
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lcd_quick_feedback(); // click sound feedback
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#if ENABLED(AUTO_FILAMENT_CHANGE) |
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current_position[E_AXIS] = 0; |
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RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE); |
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stepper.synchronize(); |
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#endif |
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//return to normal
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if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS); |
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#ifdef FILAMENTCHANGE_FINALRETRACT |
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else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT; |
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#if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0 |
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do { |
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// Extrude filament to get into hotend
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE); |
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destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH; |
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RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE); |
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stepper.synchronize(); |
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// Ask user if more filament should be extruded
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KEEPALIVE_STATE(PAUSED_FOR_USER); |
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION); |
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while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true); |
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KEEPALIVE_STATE(IN_HANDLER); |
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} while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT); |
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#endif |
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current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
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sync_plan_position_e(); |
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME); |
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RUNPLAN; //should do nothing
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KEEPALIVE_STATE(IN_HANDLER); |
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lcd_reset_alert_level(); |
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// Set extruder to saved position
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current_position[E_AXIS] = lastpos[E_AXIS]; |
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destination[E_AXIS] = lastpos[E_AXIS]; |
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planner.set_e_position_mm(current_position[E_AXIS]); |
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#if ENABLED(DELTA) |
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// Move XYZ to starting position, then E
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calculate_delta(lastpos); |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder); |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder); |
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planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder); |
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#else |
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// Move XY to starting position, then Z, then E
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destination[X_AXIS] = lastpos[X_AXIS]; |
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destination[Y_AXIS] = lastpos[Y_AXIS]; |
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line_to_destination(); |
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RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE); |
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destination[Z_AXIS] = lastpos[Z_AXIS]; |
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line_to_destination(); |
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destination[E_AXIS] = lastpos[E_AXIS]; |
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line_to_destination(); |
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RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE); |
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#endif |
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stepper.synchronize(); |
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#if ENABLED(FILAMENT_RUNOUT_SENSOR) |
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filament_ran_out = false; |
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#endif |
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// Show status screen
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lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS); |
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} |
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#endif // FILAMENTCHANGEENABLE
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#endif // FILAMENT_CHANGE_FEATURE
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#if ENABLED(DUAL_X_CARRIAGE) |
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@ -6464,11 +6499,11 @@ inline void gcode_T(uint8_t tmp_extruder) { |
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#if HOTENDS > 1 |
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float stored_feedrate = feedrate; |
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float old_feedrate = feedrate; |
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if (code_seen('F')) { |
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float next_feedrate = code_value_axis_units(X_AXIS); |
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if (next_feedrate > 0.0) stored_feedrate = feedrate = next_feedrate; |
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if (next_feedrate > 0.0) old_feedrate = feedrate = next_feedrate; |
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} |
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else |
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feedrate = XY_PROBE_FEEDRATE; |
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@ -6624,7 +6659,7 @@ inline void gcode_T(uint8_t tmp_extruder) { |
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enable_solenoid_on_active_extruder(); |
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#endif // EXT_SOLENOID
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feedrate = stored_feedrate; |
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feedrate = old_feedrate; |
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#else // !HOTENDS > 1
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@ -7232,11 +7267,11 @@ void process_next_command() { |
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break; |
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#endif // HAS_BED_PROBE
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#if ENABLED(FILAMENTCHANGEENABLE) |
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#if ENABLED(FILAMENT_CHANGE_FEATURE) |
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case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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gcode_M600(); |
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break; |
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#endif // FILAMENTCHANGEENABLE
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#endif // FILAMENT_CHANGE_FEATURE
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#if ENABLED(DUAL_X_CARRIAGE) |
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case 605: |
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@ -7993,14 +8028,14 @@ void disable_all_steppers() { |
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* Standard idle routine keeps the machine alive |
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*/ |
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void idle( |
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#if ENABLED(FILAMENTCHANGEENABLE) |
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#if ENABLED(FILAMENT_CHANGE_FEATURE) |
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bool no_stepper_sleep/*=false*/ |
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#endif |
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) { |
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lcd_update(); |
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host_keepalive(); |
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manage_inactivity( |
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#if ENABLED(FILAMENTCHANGEENABLE) |
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#if ENABLED(FILAMENT_CHANGE_FEATURE) |
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no_stepper_sleep |
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#endif |
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); |
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Petr Zahradnik
9 years ago
Scott Lahteine