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MarlinKimbra
Commit e2038cc4 authored by MagoKimbra's avatar MagoKimbra
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Update marlin_main.cpp

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MarlinKimbra/Marlin.h
View file @ e2038cc4
......@@ -143,8 +143,8 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#endif
#else
#define enable_z() ;
#define disable_z() ;
#define enable_z();
#define disable_z();
#endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
......@@ -179,6 +179,8 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#define disable_e3() /* nothing */
#endif
#define disable_e() {disable_e0(); disable_e1(); disable_e2(); disable_e3();}
enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3};
......
MarlinKimbra/Marlin_main.cpp
View file @ e2038cc4
......@@ -57,134 +57,135 @@
// look here for descriptions of G-codes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
// G28 - Home all Axis
// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
// G30 - Single Z Probe, probes bed at current XY location. - Bed Probe and Delta geometry Autocalibration
// G31 - Dock sled (Z_PROBE_SLED only)
// G32 - Undock sled (Z_PROBE_SLED only)
// G60 - Memory actual position
// G61 - Move X Y Z to position in memory
// 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 - Same as M0
// M03 - Put S<value> in laser beam control
// M04 - Turn on laser beam
// M05 - Turn off laser beam
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M30 - Delete file from SD (M30 filename.g)
// M31 - Output time since last M109 or SD card start to serial
// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
// The '#' is necessary when calling from within sd files, as it stops buffer prereading
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M49 - Z probe repetability test
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// 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
// M111 - Debug mode
// M112 - Emergency stop
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
// 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 when heating and cooling
// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - set additional homing offset
// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
// M240 - Trigger a camera to take a photograph
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beep sound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M401 - Lower z-probe if present
// M402 - Raise z-probe if present
// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
// 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 - Displays measured filament diameter
// 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.
// M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
// M666 - Set z probe offset or Endstop and delta geometry adjustment
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.
// ************ SCARA Specific - This can change to suit future G-code regulations
// M360 - SCARA calibration: Move to calc-position ThetaA (0 deg calibration)
// M361 - SCARA calibration: Move to calc-position ThetaB (90 deg calibration - steps per degree)
// M362 - SCARA calibration: Move to calc-position PsiA (0 deg calibration)
// M363 - SCARA calibration: Move to calc-position PsiB (90 deg calibration - steps per degree)
// M364 - SCARA calibration: Move to calc-position PSIC (90 deg to Theta calibration position)
// M365 - SCARA calibration: Scaling factor, X, Y, Z axis
//************* SCARA End ***************
// M928 - Start SD logging (M928 filename.g) - ended by M29
// M997 - NPR2 Color rotate
// M999 - Restart after being stopped by error
/* Implemented Codes
-------------------
G0 -> G1
G1 - Coordinated Movement X Y Z E
G2 - CW ARC
G3 - CCW ARC
G4 - Dwell S<seconds> or P<milliseconds>
G10 - retract filament according to settings of M207
G11 - retract recover filament according to settings of M208
G28 - Home all Axis
G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
G30 - Single Z Probe, probes bed at current XY location. - Bed Probe and Delta geometry Autocalibration
G31 - Dock sled (Z_PROBE_SLED only)
G32 - Undock sled (Z_PROBE_SLED only)
G60 - Memory actual position
G61 - Move X Y Z to position in memory
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 - Same as M0
M03 - Put S<value> in laser beam control
M04 - Turn on laser beam
M05 - Turn off laser beam
M17 - Enable/Power all stepper motors
M18 - Disable all stepper motors; same as M84
M20 - List SD card
M21 - Init SD card
M22 - Release SD card
M23 - Select SD file (M23 filename.g)
M24 - Start/resume SD print
M25 - Pause SD print
M26 - Set SD position in bytes (M26 S12345)
M27 - Report SD print status
M28 - Start SD write (M28 filename.g)
M29 - Stop SD write
M30 - Delete file from SD (M30 filename.g)
M31 - Output time since last M109 or SD card start to serial
M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
The '#' is necessary when calling from within sd files, as it stops buffer prereading
M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
M49 - Z probe repetability test
M80 - Turn on Power Supply
M81 - Turn off Power Supply
M82 - Set E codes absolute (default)
M83 - Set E codes relative while in Absolute Coordinates (G90) mode
M84 - Disable steppers until next move,
or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
M92 - Set axis_steps_per_unit - same syntax as G92
M104 - Set extruder target temp
M105 - Read current temp
M106 - Fan on
M107 - Fan off
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
M111 - Debug mode
M112 - Emergency stop
M114 - Output current position to serial port
M115 - Capabilities string
M117 - display message
M119 - Output Endstop status to serial port
M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
M140 - Set bed target temp
M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
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 when heating and cooling
M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
M206 - set additional homing offset
M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
M220 S<factor in percent>- set speed factor override percentage
M221 S<factor in percent>- set extrude factor override percentage
M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
M240 - Trigger a camera to take a photograph
M250 - Set LCD contrast C<contrast value> (value 0..63)
M280 - set servo position absolute. P: servo index, S: angle or microseconds
M300 - Play beep sound S<frequency Hz> P<duration ms>
M301 - Set PID parameters P I and D
M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
M304 - Set bed PID parameters P I and D
M400 - Finish all moves
M401 - Lower z-probe if present
M402 - Raise z-probe if present
M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
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 - Displays measured filament diameter
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.
M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
M666 - Set z probe offset or Endstop and delta geometry adjustment
M907 - Set digital trimpot motor current using axis codes.
M908 - Control digital trimpot directly.
M350 - Set microstepping mode.
M351 - Toggle MS1 MS2 pins directly.
************ SCARA Specific - This can change to suit future G-code regulations
M360 - SCARA calibration: Move to calc-position ThetaA (0 deg calibration)
M361 - SCARA calibration: Move to calc-position ThetaB (90 deg calibration - steps per degree)
M362 - SCARA calibration: Move to calc-position PsiA (0 deg calibration)
M363 - SCARA calibration: Move to calc-position PsiB (90 deg calibration - steps per degree)
M364 - SCARA calibration: Move to calc-position PSIC (90 deg to Theta calibration position)
M365 - SCARA calibration: Scaling factor, X, Y, Z axis
************* SCARA End ***************
M928 - Start SD logging (M928 filename.g) - ended by M29
M997 - NPR2 Color rotate
M999 - Restart after being stopped by error
*/
#ifdef SDSUPPORT
CardReader card;
......@@ -234,6 +235,8 @@ float volumetric_multiplier[EXTRUDERS] = {1.0
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homing[3]={ 0, 0, 0 };
int fanSpeed = 0;
bool cancel_heatup = false;
#ifdef NPR2
int old_color = 99;
......@@ -296,18 +299,17 @@ float lastpos[4];
uint8_t active_extruder = 0;
uint8_t active_driver = 0;
uint8_t debugLevel = 0;
int fanSpeed = 0;
#ifdef SERVO_ENDSTOPS && (NUM_SERVOS > 0)
int servo_endstops[] = SERVO_ENDSTOPS;
int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#endif //SERVO_ENDSTOPS && (NUM_SERVOS > 0)
#ifdef BARICUDA
int ValvePressure = 0;
int EtoPPressure = 0;
#endif
#endif //BARICUDA
#ifdef FWRETRACT
bool autoretract_enabled = false;
......@@ -340,7 +342,7 @@ int fanSpeed = 0;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
#endif // FWRETRACT
#endif //FWRETRACT
#ifdef ULTIPANEL
#ifdef PS_DEFAULT_OFF
......@@ -354,8 +356,6 @@ int fanSpeed = 0;
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif //SCARA
bool cancel_heatup = false;
#ifdef FILAMENT_SENSOR
//Variables for Filament Sensor input
float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
......@@ -965,39 +965,39 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
#endif
#define DXC_FULL_CONTROL_MODE 0
#define DXC_AUTO_PARK_MODE 1
#define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
#define DXC_FULL_CONTROL_MODE 0
#define DXC_AUTO_PARK_MODE 1
#define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos(int extruder)
{
if (extruder == 0)
static float x_home_pos(int extruder)
{
return base_home_pos(X_AXIS) + add_homing[X_AXIS];
if (extruder == 0)
{
return base_home_pos(X_AXIS) + add_homing[X_AXIS];
}
else
{
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
}
else
static int x_home_dir(int extruder)
{
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
}
static int x_home_dir(int extruder)
{
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static unsigned long delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static unsigned long delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE
#if defined(CARTESIAN) || defined(COREXY) || defined(SCARA)
......@@ -1781,6 +1781,59 @@ bool extruder_duplication_enabled = false; // used in mode 2
}
}
void calculate_delta(float cartesian[3])
{
delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower1_x-cartesian[X_AXIS])
- sq(delta_tower1_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower2_x-cartesian[X_AXIS])
- sq(delta_tower2_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower3_x-cartesian[X_AXIS])
- sq(delta_tower3_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
}
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3])
{
float grid_x = max(-2.999, min(2.999, cartesian[X_AXIS] / AUTOLEVEL_GRID));
float grid_y = max(-2.999, min(2.999, cartesian[Y_AXIS] / AUTOLEVEL_GRID));
int floor_x = floor(grid_x);
int floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x;
float ratio_y = grid_y - floor_y;
float z1 = bed_level[floor_x+3][floor_y+3];
float z2 = bed_level[floor_x+3][floor_y+4];
float z3 = bed_level[floor_x+4][floor_y+3];
float z4 = bed_level[floor_x+4][floor_y+4];
float left = (1-ratio_y)*z1 + ratio_y*z2;
float right = (1-ratio_y)*z3 + ratio_y*z4;
float offset = (1-ratio_x)*left + ratio_x*right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
/*
SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
*/
}
#endif //DELTA
void refresh_cmd_timeout(void)
......@@ -3433,6 +3486,158 @@ void gcode_G92()
}
#endif //defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
#ifdef FILAMENTCHANGEENABLE
//M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
void gcode_M600()
{
float target[NUM_AXIS];
for (int i=0; i<NUM_AXIS; i++) target[i] = lastpos[i] = current_position[i];
//retract by E
if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//lift Z
if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
target[Z_AXIS]+= FILAMENTCHANGE_ZADD;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//move xy
if(code_seen('X'))
{
target[X_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
target[X_AXIS]= FILAMENTCHANGE_XPOS;
#endif
}
if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
target[Y_AXIS]= FILAMENTCHANGE_YPOS;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt=0;
while(!lcd_clicked())
{
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if(cnt==0)
{
#if BEEPER > 0
SET_OUTPUT(BEEPER);
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6,100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
}
//return to normal
if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
#endif
}
#if defined(PAUSE_PIN) && PAUSE_PIN > -1
paused = false;
#endif
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder, active_driver); //final unretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder, active_driver); //final unretract
#endif
}
#endif //FILAMENTCHANGEENABLE
#ifdef ENABLE_AUTO_BED_LEVELING
void gcode_M666()
{
......@@ -3785,7 +3990,7 @@ void process_commands()
//card,saving = false;
}
break;
case 30: //M30 <filename> Delete File
case 30: //M30 <filename> - Delete File
{
if (card.cardOK)
{
......@@ -3860,7 +4065,7 @@ void process_commands()
autotempShutdown();
}
break;
case 42: //M42 -Change pin status via gcode
case 42: //M42 - Change pin status via gcode
{
if (code_seen('S'))
{
......@@ -3896,6 +4101,120 @@ void process_commands()
break;
#endif //defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
#if defined(POWER_SUPPLY) && POWER_SUPPLY > 0 && defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: //M80 - Turn on Power Supply
{
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// 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 defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif // SUICIDE_PIN
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif // ULTIPANEL
}
break;
case 81: //M81 - Turn off Power Supply
{
disable_heater();
st_synchronize();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait a little before to switch off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(POWER_SUPPLY) && POWER_SUPPLY > 0 && defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
lcd_update();
#endif
}
break;
#endif //POWER_SUPPLY
case 82: //M82
{
axis_relative_modes[3] = false;
}
break;
case 83: //M83
{
axis_relative_modes[3] = true;
}
break;
case 84: //M84
{
if(code_seen('S'))
{
stepper_inactive_time = code_value() * 1000;
}
else
{
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if(all_axis)
{
st_synchronize();
finishAndDisableSteppers();
}
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_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(code_seen('E'))
{
disable_e();
}
#endif
}
}
}
break;
case 85: //M85
{
if(code_seen('S'))
{
max_inactive_time = code_value() * 1000;
}
}
break;
case 92: //M92
{
for(int8_t i=0; i < NUM_AXIS; i++)
{
int e = 0;
if(code_seen(axis_codes[i]))
{
if (i == 3)
{
e = (int)code_value();
if(code_seen('S'))
{
if (e < EXTRUDERS) axis_steps_per_unit[e+3] = code_value();
}
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
}
break;
case 104: //M104
{
if(setTargetedHotend(104)) break;
......@@ -4106,58 +4425,106 @@ void process_commands()
}
}
break;
case 112: //M112 -Emergency Stop
case 112: //M112 - Emergency Stop
{
kill();
}
break;
case 140: //M140 set bed temp
case 114: //M114 - Output current position to serial port
{
if(debugDryrun()) break;
if (code_seen('S')) setTargetBed(code_value());
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
}
break;
case 190: //M190 - Wait for bed heater to reach target.
case 115: //M115 - Capabilities string
{
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
if(debugDryrun()) break;
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S'))
{
setTargetBed(code_value());
CooldownNoWait = true;
}
else if (code_seen('R'))
{
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ((target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)))
{
if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
refresh_cmd_timeout();
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
}
break;
case 117: //M117 - display message
{
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos!=NULL)
*(starpos)='\0';
lcd_setstatus(strchr_pointer + 5);
}
break;
case 119: //M119 - Output Endstop status to serial port
{
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(E_MIN_PIN) && E_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_E_MIN);
SERIAL_PROTOCOLLN(((READ(E_MIN_PIN)^E_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
}
break;
case 120: //M120 - Disable Endstop
{
enable_endstops(false) ;
}
break;
case 121: //M121 - Enable Endstop
{
enable_endstops(true) ;
}
break;
......@@ -4204,222 +4571,15 @@ void process_commands()
#endif //HEATER_2_PIN
#endif //BARICUDA
#if defined(POWER_SUPPLY) && POWER_SUPPLY > 0 && defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: //M80 - Turn on Power Supply
{
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// 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 defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif // SUICIDE_PIN
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif // ULTIPANEL
}
break;
case 81: //M81 - Turn off Power Supply
{
disable_heater();
st_synchronize();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait a little before to switch off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(POWER_SUPPLY) && POWER_SUPPLY > 0 && defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
lcd_update();
#endif
}
break;
#endif //POWER_SUPPLY
case 82: //M82
{
axis_relative_modes[3] = false;
}
break;
case 83: //M83
{
axis_relative_modes[3] = true;
}
break;
case 84: //M84
{
if(code_seen('S'))
{
stepper_inactive_time = code_value() * 1000;
}
else
{
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if(all_axis)
{
st_synchronize();
finishAndDisableSteppers();
}
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_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(code_seen('E'))
{
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
#endif
}
}
}
break;
case 85: //M85
{
if(code_seen('S'))
{
max_inactive_time = code_value() * 1000;
}
}
break;
case 92: //M92
{
for(int8_t i=0; i < NUM_AXIS; i++)
{
int e = 0;
if(code_seen(axis_codes[i]))
{
if (i == 3)
{
e = (int)code_value();
if(code_seen('S'))
{
if (e < EXTRUDERS) axis_steps_per_unit[e+3] = code_value();
}
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
}
break;
case 115: //M115
{
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
}
break;
case 117: //M117 display message
{
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos!=NULL)
*(starpos)='\0';
lcd_setstatus(strchr_pointer + 5);
}
break;
case 114: //M114
{
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
}
break;
case 120: //M120
{
enable_endstops(false) ;
}
break;
case 121: //M121
{
enable_endstops(true) ;
}
break;
case 119: //M119
case 140: //M140 set bed temp
{
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(E_MIN_PIN) && E_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_E_MIN);
SERIAL_PROTOCOLLN(((READ(E_MIN_PIN)^E_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
if(debugDryrun()) break;
if (code_seen('S')) setTargetBed(code_value());
}
break;
#ifdef BLINKM
case 150: //M150
case 150: //M150 - Send color to RGB led
{
byte red;
byte grn;
......@@ -4434,6 +4594,49 @@ void process_commands()
break;
#endif //BLINKM
case 190: //M190 - Wait for bed heater to reach target.
{
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
if(debugDryrun()) break;
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S'))
{
setTargetBed(code_value());
CooldownNoWait = true;
}
else if (code_seen('R'))
{
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ((target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)))
{
if ((millis() - codenum) > 1000) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
refresh_cmd_timeout();
#endif
}
break;
case 200: //M200 D<millimetres> set filament diameter and set E axis units to cubic millimetres (use S0 to set back to millimetres).
{
tmp_extruder = active_extruder;
......@@ -4483,7 +4686,7 @@ void process_commands()
calculate_volumetric_multipliers();
}
break;
case 201: //M201
case 201: //M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
{
for(int8_t i=0; i < NUM_AXIS; i++)
{
......@@ -5135,6 +5338,7 @@ void process_commands()
Config_PrintSettings();
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
......@@ -5182,163 +5386,7 @@ void process_commands()
#ifdef FILAMENTCHANGEENABLE
case 600: //M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
float target[4];
target[X_AXIS]=current_position[X_AXIS];
target[Y_AXIS]=current_position[Y_AXIS];
target[Z_AXIS]=current_position[Z_AXIS];
target[E_AXIS]=current_position[E_AXIS];
lastpos[X_AXIS]=current_position[X_AXIS];
lastpos[Y_AXIS]=current_position[Y_AXIS];
lastpos[Z_AXIS]=current_position[Z_AXIS];
lastpos[E_AXIS]=current_position[E_AXIS];
//retract by E
if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//lift Z
if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
target[Z_AXIS]+= FILAMENTCHANGE_ZADD;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//move xy
if(code_seen('X'))
{
target[X_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
target[X_AXIS]= FILAMENTCHANGE_XPOS;
#endif
}
if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
target[Y_AXIS]= FILAMENTCHANGE_YPOS;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver);
#endif
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
disable_e3();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt=0;
while(!lcd_clicked())
{
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if(cnt==0)
{
#if BEEPER > 0
SET_OUTPUT(BEEPER);
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6,100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
}
//return to normal
if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
#endif
}
#if defined(PAUSE_PIN) && PAUSE_PIN > -1
paused = false;
#endif
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
#ifdef DELTA
calculate_delta(target);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //should do nothing
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder, active_driver); //final unretract
#else
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //should do nothing
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move xy back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder, active_driver); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder, active_driver); //final unretract
#endif
gcode_M600();
}
break;
#endif //FILAMENTCHANGEENABLE
......@@ -5552,70 +5600,80 @@ void process_commands()
#if defined(MKR4) && (EXTRUDERS > 1)
#if (EXTRUDERS == 4) && (E0E2_CHOICE_PIN >1) && (E1E3_CHOICE_PIN > 1)
st_synchronize(); // Finish all movement
disable_e0();
disable_e1();
disable_e();
switch(tmp_extruder)
{
case 0:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=0;
case 0:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e0();
break;
case 1:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=1;
case 1:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=1;
delay(500); // 500 microseconds delay for relay
enable_e1();
break;
case 2:
WRITE(E0E2_CHOICE_PIN,HIGH);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=0;
case 2:
WRITE(E0E2_CHOICE_PIN,HIGH);
WRITE(E1E3_CHOICE_PIN,LOW);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e2();
break;
case 3:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,HIGH);
active_driver=1;
case 3:
WRITE(E0E2_CHOICE_PIN,LOW);
WRITE(E1E3_CHOICE_PIN,HIGH);
active_driver=1;
delay(500); // 500 microseconds delay for relay
enable_e3();
break;
}
delay(DELAY_R); // ritardo per commutazione rele
enable_e0();
enable_e1();
#elif (EXTRUDERS == 3) && (E0E2_CHOICE_PIN >1)
st_synchronize(); // Finish all movement
disable_e0();
disable_e();
switch(tmp_extruder)
{
case 0:
WRITE(E0E2_CHOICE_PIN,LOW);
active_driver=0;
case 0:
WRITE(E0E2_CHOICE_PIN,LOW);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e0();
break;
case 1:
WRITE(E0E2_CHOICE_PIN,LOW);
active_driver=1;
case 1:
WRITE(E0E2_CHOICE_PIN,LOW);
active_driver=1;
delay(500); // 500 microseconds delay for relay
enable_e1();
break;
case 2:
WRITE(E0E2_CHOICE_PIN,HIGH);
active_driver=0;
case 2:
WRITE(E0E2_CHOICE_PIN,HIGH);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e2();
break;
}
delay(DELAY_R); // ritardo per commutazione rele
enable_e0();
#elif (EXTRUDERS == 2) && (E0E1_CHOICE_PIN >1)
st_synchronize(); // Finish all movement
disable_e0();
disable_e();
switch(tmp_extruder)
{
case 0:
WRITE(E0E1_CHOICE_PIN,LOW);
active_driver=0;
case 0:
WRITE(E0E1_CHOICE_PIN,LOW);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e0();
break;
case 1:
WRITE(E0E1_CHOICE_PIN,HIGH);
active_driver=0;
case 1:
WRITE(E0E1_CHOICE_PIN,HIGH);
active_driver=0;
delay(500); // 500 microseconds delay for relay
enable_e1();
break;
}
delay(DELAY_R); // ritardo per commutazione rele
enable_e0();
#endif // E0E1_CHOICE_PIN E0E2_CHOICE_PIN E1E3_CHOICE_PIN
active_extruder = tmp_extruder;
SERIAL_ECHO_START;
......@@ -5765,81 +5823,6 @@ void clamp_to_software_endstops(float target[3])
}
}
#ifdef DELTA
void calculate_delta(float cartesian[3])
{
delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower1_x-cartesian[X_AXIS])
- sq(delta_tower1_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower2_x-cartesian[X_AXIS])
- sq(delta_tower2_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD_2
- sq(delta_tower3_x-cartesian[X_AXIS])
- sq(delta_tower3_y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
/*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
*/
/*
if ((delta_tmp[X_AXIS] > 0) and (delta_tmp[Y_AXIS] > 0) and (delta_tmp[Z_AXIS] > 0))
{
delta[X_AXIS] = delta_tmp[X_AXIS];
delta[Y_AXIS] = delta_tmp[Y_AXIS];
delta[Z_AXIS] = delta_tmp[Z_AXIS];
} else SERIAL_ECHOLN("ERROR: Invalid delta coordinates!");
*/
}
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3])
{
float grid_x = max(-2.999, min(2.999, cartesian[X_AXIS] / AUTOLEVEL_GRID));
float grid_y = max(-2.999, min(2.999, cartesian[Y_AXIS] / AUTOLEVEL_GRID));
int floor_x = floor(grid_x);
int floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x;
float ratio_y = grid_y - floor_y;
float z1 = bed_level[floor_x+3][floor_y+3];
float z2 = bed_level[floor_x+3][floor_y+4];
float z3 = bed_level[floor_x+4][floor_y+3];
float z4 = bed_level[floor_x+4][floor_y+4];
float left = (1-ratio_y)*z1 + ratio_y*z2;
float right = (1-ratio_y)*z3 + ratio_y*z4;
float offset = (1-ratio_x)*left + ratio_x*right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
/*
SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
*/
}
#endif // DELTA
void prepare_move()
{
clamp_to_software_endstops(destination);
......@@ -6184,10 +6167,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
disable_e();
}
}
}
......@@ -6289,10 +6269,7 @@ void kill()
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
disable_e();
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode(PS_ON_PIN,INPUT);
......
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