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107 lines
3.4 KiB
107 lines
3.4 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_M206_COMMAND
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../lcd/marlinui.h"
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#include "../../libs/buzzer.h"
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#include "../../MarlinCore.h"
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/**
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*
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* *** @thinkyhead: I recommend deprecating M206 for SCARA in favor of M665.
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* *** M206 for SCARA will remain enabled in 1.1.x for compatibility.
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* *** In the 2.0 release, it will simply be disabled by default.
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*/
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void GcodeSuite::M206() {
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if (!parser.seen_any()) return M206_report();
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LOOP_LINEAR_AXES(i)
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if (parser.seen(AXIS_CHAR(i)))
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set_home_offset((AxisEnum)i, parser.value_linear_units());
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#if ENABLED(MORGAN_SCARA)
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if (parser.seen('T')) set_home_offset(A_AXIS, parser.value_float()); // Theta
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if (parser.seen('P')) set_home_offset(B_AXIS, parser.value_float()); // Psi
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#endif
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report_current_position();
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}
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void GcodeSuite::M206_report(const bool forReplay/*=true*/) {
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report_heading_etc(forReplay, PSTR(STR_HOME_OFFSET));
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SERIAL_ECHOLNPGM_P(
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#if IS_CARTESIAN
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LIST_N(DOUBLE(LINEAR_AXES),
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PSTR(" M206 X"), LINEAR_UNIT(home_offset.x),
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SP_Y_STR, LINEAR_UNIT(home_offset.y),
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SP_Z_STR, LINEAR_UNIT(home_offset.z),
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SP_I_STR, LINEAR_UNIT(home_offset.i),
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SP_J_STR, LINEAR_UNIT(home_offset.j),
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SP_K_STR, LINEAR_UNIT(home_offset.k)
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)
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#else
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PSTR(" M206 Z"), LINEAR_UNIT(home_offset.z)
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#endif
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);
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}
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/**
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* M428: Set home_offset based on the distance between the
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* current_position and the nearest "reference point."
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* If an axis is past center its endstop position
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* is the reference-point. Otherwise it uses 0. This allows
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* the Z offset to be set near the bed when using a max endstop.
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*
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* M428 can't be used more than 2cm away from 0 or an endstop.
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*
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* Use M206 to set these values directly.
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*/
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void GcodeSuite::M428() {
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if (homing_needed_error()) return;
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xyz_float_t diff;
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LOOP_LINEAR_AXES(i) {
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diff[i] = base_home_pos((AxisEnum)i) - current_position[i];
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if (!WITHIN(diff[i], -20, 20) && home_dir((AxisEnum)i) > 0)
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diff[i] = -current_position[i];
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if (!WITHIN(diff[i], -20, 20)) {
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SERIAL_ERROR_MSG(STR_ERR_M428_TOO_FAR);
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LCD_ALERTMESSAGE_F("Err: Too far!");
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BUZZ(200, 40);
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return;
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}
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}
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LOOP_LINEAR_AXES(i) set_home_offset((AxisEnum)i, diff[i]);
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report_current_position();
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LCD_MESSAGE(MSG_HOME_OFFSETS_APPLIED);
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BUZZ(100, 659);
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BUZZ(100, 698);
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}
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#endif // HAS_M206_COMMAND
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