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MarlinKimbra
Commit 31404ab0 authored by MagoKimbra's avatar MagoKimbra
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Update Marlin_main.cpp

parent 3f900f66
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MarlinKimbra/Marlin_main.cpp
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......@@ -185,6 +185,7 @@
* M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
* M406 - Turn off Filament Sensor extrusion control
* M407 - Display measured filament diameter
* M410 - Quickstop. Abort all the planned moves
* M500 - Store parameters in EEPROM
* M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
......@@ -1114,9 +1115,10 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
#endif
#ifdef SCARA
float homeposition[3];
if (axis < 2) {
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
// ECHO_SMV(DB, "homeposition[x]= ", homeposition[0]);
......@@ -1146,21 +1148,14 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
// inverse kinematic transform.
min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else {
current_position[axis] = base_home_pos(axis) + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis];
max_pos[axis] = base_max_pos(axis) + home_offset[axis];
}
#else
else
#endif
{
current_position[axis] = base_home_pos(axis) + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis];
max_pos[axis] = base_max_pos(axis) + home_offset[axis];
#endif
#if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset;
#endif
}
}
static void do_blocking_move_to(float x, float y, float z) {
......@@ -1375,13 +1370,11 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {
int axis_home_dir;
int axis_home_dir =
#ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS) axis_home_dir = x_home_dir(active_extruder);
#else
axis_home_dir = home_dir(axis);
(axis == X_AXIS) ? x_home_dir(active_extruder) :
#endif
home_dir(axis);
// Set the axis position as setup for the move
current_position[axis] = 0;
......@@ -2775,12 +2768,16 @@ inline void gcode_G28(boolean home_x = false, boolean home_y = false) {
if (home_all_axis || homeY) HOMEAXIS(Y);
// Set the X position, if included
if (code_seen(axis_codes[X_AXIS]) && code_has_value())
current_position[X_AXIS] = code_value();
if (code_seen(axis_codes[X_AXIS]) && code_has_value()) {
if (code_value_long() != 0) // filter 0
current_position[X_AXIS] = code_value();
}
// Set the Y position, if included
if (code_seen(axis_codes[Y_AXIS]) && code_has_value())
current_position[Y_AXIS] = code_value();
if (code_seen(axis_codes[Y_AXIS]) && code_has_value()) {
if (code_value_long() != 0) // filter 0
current_position[Y_AXIS] = code_value();
}
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
......@@ -2888,68 +2885,104 @@ inline void gcode_G28(boolean home_x = false, boolean home_y = false) {
enqueuecommands_P(PSTR("G28 X0 Y0\nG4 P0\nG4 P0\nG4 P0"));
#endif // ULTIPANEL
}
else if(home_all_axis || homeZ) HOMEAXIS(Z);
else if (home_all_axis || homeZ) HOMEAXIS(Z);
#elif defined(Z_SAFE_HOMING) && defined(ENABLE_AUTO_BED_LEVELING)// Z Safe mode activated.
if (home_all_axis) {
current_position[Z_AXIS] = 0;
sync_plan_position();
//
// Set the probe (or just the nozzle) destination to the safe homing point
//
// NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
// then this may not work as expected.
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
feedrate = xy_travel_speed;
current_position[Z_AXIS] = 0;
sync_plan_position();
// This could potentially move X, Y, Z all together
line_to_destination();
st_synchronize();
// Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
HOMEAXIS(Z);
}
// Let's see if X and Y are homed and probe is inside bed area.
if (homeZ) {
else if (homeZ) { // Don't need to Home Z twice
// Let's see if X and Y are homed
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
// Make sure the probe is within the physical limits
// NOTE: This doesn't necessarily ensure the probe is also within the bed!
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
// Set the plan current position to X, Y, 0
current_position[Z_AXIS] = 0;
plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
// Set Z destination away from bed and raise the axis
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination();
st_synchronize();
// Home the Z axis
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
ECHO_LM(DB, MSG_ZPROBE_OUT);
ECHO_LM(ER, MSG_ZPROBE_OUT);
}
}
else {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
ECHO_LM(DB, MSG_POSITION_UNKNOWN);
ECHO_LM(ER, MSG_POSITION_UNKNOWN);
}
}
#elif defined(Z_SAFE_HOMING)
if(home_all_axis || homeZ) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT);
feedrate = xy_travel_speed;
destination[Z_AXIS] = current_position[Z_AXIS] = 0;
sync_plan_position();
line_to_destination();
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
if (home_all_axis || homeZ) {
HOMEAXIS(Z);
// Let's see if X and Y are homed
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
current_position[Z_AXIS] = 0;
sync_plan_position();
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT);
destination[Z_AXIS] = current_position[Z_AXIS] = 0;
feedrate = xy_travel_speed;
// This could potentially move X, Y, Z all together
line_to_destination();
st_synchronize();
// Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
ECHO_LM(ER, MSG_POSITION_UNKNOWN);
}
}
#endif //Z_SAFE_HOMING
#endif //Z_HOME_DIR < 0
// Set the Z position, if included
if (code_seen(axis_codes[Z_AXIS]) && code_has_value())
current_position[Z_AXIS] = code_value();
if (code_seen(axis_codes[Z_AXIS]) && code_has_value()) {
if (code_value_long() != 0) // filter 0
current_position[Z_AXIS] = code_value();
}
#if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
if (home_all_axis || homeZ) current_position[Z_AXIS] += zprobe_zoffset; // Add Z_Probe offset (the distance is negative)
#endif
sync_plan_position();
......@@ -3202,8 +3235,8 @@ inline void gcode_G28(boolean home_x = false, boolean home_y = false) {
ECHO_LM(DB, "|...Front...|");
ECHO_LM(DB, "+-----------+");
ECHO_LM(DB, " ");
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
ECHO_S(DB);
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
int ind = yy * auto_bed_leveling_grid_points + xx;
float diff = eqnBVector[ind] - mean;
......@@ -3211,10 +3244,8 @@ inline void gcode_G28(boolean home_x = false, boolean home_y = false) {
else ECHO_M(" ");
ECHO_V(diff, 5);
} // xx
ECHO_LM(DB, " ");
ECHO_E;
} // yy
ECHO_E;
} //do_topography_map
if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
......@@ -4745,24 +4776,13 @@ inline void gcode_M226() {
inline void gcode_M300() {
uint16_t beepS = code_seen('S') ? code_value_short() : 110;
uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
if (beepS > 0) {
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz(beepP, beepS);
#endif
}
else {
delay(beepP);
}
if (beepP > 5000) beepP = 5000; // limit to 5 seconds
lcd_buzz(beepP, beepS);
}
#endif // BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER
#ifdef PIDTEMP
/**
* M301: Set PID parameters P I D
......@@ -5048,6 +5068,14 @@ inline void gcode_M400() { st_synchronize(); }
#endif // FILAMENT_SENSOR
/**
* 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.
*/
inline void gcode_M410() { quickStop(); }
/**
* M500: Store settings in EEPROM
*/
......@@ -5655,10 +5683,10 @@ inline void gcode_T() {
if (csteps > 0) colorstep(csteps,true);
old_color = active_extruder = target_extruder;
active_driver = 0;
ECHO_LM(DB, MSG_ACTIVE_COLOR, active_extruder);
ECHO_LMV(DB, MSG_ACTIVE_COLOR, active_extruder);
#else
active_driver = active_extruder = target_extruder;
ECHO_S(DB, MSG_ACTIVE_EXTRUDER, active_extruder);
ECHO_LMV(DB, MSG_ACTIVE_EXTRUDER, active_extruder);
#endif // end MKR4 || NPR2
#endif // end no DUAL_X_CARRIAGE
......@@ -6015,7 +6043,10 @@ void process_commands() {
gcode_M406(); break;
case 407: //M407 Display measured filament diameter
gcode_M407(); break;
#endif // FILAMENT_SENSOR
#endif // FILAMENT_SENSOR
case 410: // M410 quickstop - Abort all the planned moves.
gcode_M410(); break;
case 500: // M500 Store settings in EEPROM
gcode_M500(); break;
......
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