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The-Legend-of-Delta/Repetier Firmware/Repetier/Commands.cpp

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2019-08-07 14:27:54 +02:00
/*
This file is part of Repetier-Firmware.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/
#include "Repetier.h"
uint8_t mpu_threshold = 50;
//float probes[9];
#include <Wire.h>
#define ACCELEROMETER_I2C_ADDR 0x19
void accelerometer_send(uint8_t val)
{
#if FEATURE_Z_PROBE == 1
Wire.beginTransmission(ACCELEROMETER_I2C_ADDR);
Wire.write(val);
if(Wire.endTransmission(false))
//Myserial.println(F("send i2c error."));
Com::printFLN(PSTR("accelerometer send i2c failed."));
#endif
}
void accelerometer_write(uint8_t reg, uint8_t val)
{
#if FEATURE_Z_PROBE == 1
Wire.beginTransmission(ACCELEROMETER_I2C_ADDR);
Wire.write(reg);
Wire.write(val);
if(Wire.endTransmission())
//Myserial.println(F("write i2c error."));
Com::printFLN(PSTR("accelerometer write i2c failed."));
#endif
}
bool accelerometer_recv(uint8_t reg)
{
#if FEATURE_Z_PROBE == 1
uint8_t receiveByte;
accelerometer_send(reg); //Send an 8bit register to be read
Wire.requestFrom(ACCELEROMETER_I2C_ADDR,1); //Request one 8bit response
if(Wire.available())
{
receiveByte = Wire.read();
// Com::printF(PSTR("read reg "),reg);
// Com::printFLN(PSTR(" value: "),receiveByte);
return true;
}
else
{
Com::printFLN(PSTR("accelerometer i2c recv failed."));
return false;
//Serial.println(F("i2c recv error."));
}
#else
return false;
#endif
}
void accelerometer_init()
{
#if FEATURE_Z_PROBE == 1
Com::printFLN(PSTR("iis2dh accelerometer initializing..."));
Wire.begin(); // join i2c bus
accelerometer_recv(0x0F); //WHO AM I = 0x6A
accelerometer_recv(0x31); //INT1_SRC (31h)
//CTRL_REG1 (20h)
accelerometer_recv(0x20);
accelerometer_write(0x20,0b10011100); // ODR 5.376kHz in LPMode [7-4]. Low power enable [3]. Z enable [2].
accelerometer_recv(0x20);
//CTRL_REG3 (22h)
accelerometer_recv(0x22);
accelerometer_write(0x22,0b01000000); // CLICK interrupt on INT1 pin [7]. AOI (And Or Interrupt) on INT1 en [6]. AOI on INT2 en [5].
accelerometer_recv(0x22);
//CTRL_REG6 (25h)
accelerometer_recv(0x25);
accelerometer_write(0x25,0b000000); //Click interrupt on INT2 pin [7]. Interrupt 1 function enable on INT2 pin [6]. Interrupt 2 on INT2 pin enable [5]. 0=INT Active High [1].
accelerometer_recv(0x25);
//CTRL_REG4 (23h)
accelerometer_recv(0x23);
accelerometer_write(0x23,0b00110000); // Full-scale selection 16G [5-4]. High resolution mode [3].
accelerometer_recv(0x23);
//CTRL_REG5 (24h)
accelerometer_recv(0x24);
accelerometer_write(0x24,0b01001010); // FIFO enable [6]. Latch INT1 [3]. Latch INT2 until cleared by read [1].
accelerometer_recv(0x24);
//INT1_CFG (30h)
accelerometer_recv(0x30);
accelerometer_write(0x30,0b100000); // ZHI events enabled [5]. ZLO events enabled [4].
accelerometer_recv(0x30);
//INT1_SRC (31h)
accelerometer_recv(0x31);
//INT1_THS (32h) this is the i2c probe
accelerometer_recv(0x32);
accelerometer_write(0x32,Z_PROBE_SENSITIVITY); // 7bits
accelerometer_recv(0x32);
//INT1_DURATION (33h)
accelerometer_recv(0x33);
accelerometer_write(0x33,0);
accelerometer_recv(0x33);
//INT2_CFG (34h)
accelerometer_recv(0x34);
accelerometer_write(0x34,0b000000); // ZHI events not enabled on INT2 [5].
accelerometer_recv(0x34);
//INT2_SRC (35h)
//INT2_THS (36h)
accelerometer_recv(0x36);
accelerometer_write(0x36,50); // 7bits
accelerometer_recv(0x36);
//INT2_DURATION (37h)
accelerometer_recv(0x37);
accelerometer_write(0x37,0);
accelerometer_recv(0x37);
//CLICK_CFG (38h)
accelerometer_recv(0x38);
accelerometer_write(0x38,0b10000); //Single Click Z axis
accelerometer_recv(0x38);
//CLICK_SRC (39h)
accelerometer_recv(0x39);
//CLICK_THS (3Ah)
accelerometer_recv(0x3A);
accelerometer_write(0x3A,50);
accelerometer_recv(0x3A);
#endif
}
bool accelerometer_status()
{
#if FEATURE_Z_PROBE == 1
bool retValue = true;
if(!accelerometer_recv(0x31)) { retValue = false; } //INT1_SRC (31h)
if(!accelerometer_recv(0x35)) { retValue = false; } //INT1_SRC (31h)
if(!accelerometer_recv(0x39)) { retValue = false; } //INT1_SRC (31h)
if(!accelerometer_recv(0x2D)) { retValue = false; } //INT1_SRC (31h)
return(retValue);
#else
return(false);
#endif
}
const int sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
int Commands::lowestRAMValue = MAX_RAM;
int Commands::lowestRAMValueSend = MAX_RAM;
void Commands::commandLoop()
{
while(true)
{
#ifdef DEBUG_PRINT
debugWaitLoop = 1;
#endif
if(!Printer::isBlockingReceive())
{
GCode::readFromSerial();
GCode *code = GCode::peekCurrentCommand();
//UI_SLOW; // do longer timed user interface action
UI_MEDIUM; // do check encoder
if(code)
{
#if SDSUPPORT
if(sd.savetosd)
{
if(!(code->hasM() && code->M == 29)) // still writing to file
sd.writeCommand(code);
else
sd.finishWrite();
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
}
else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
}
else
{
UI_MEDIUM;
}
Printer::defaultLoopActions();
}
}
void Commands::checkForPeriodicalActions(bool allowNewMoves)
{
if(!executePeriodical) return;
executePeriodical = 0;
Extruder::manageTemperatures();
if(--counter250ms == 0)
{
if(manageMonitor <= 1 + NUM_EXTRUDER)
writeMonitor();
counter250ms = 5;
}
// If called from queueDelta etc. it is an error to start a new move since it
// would invalidate old computation resulting in unpredicted behaviour.
// lcd controller can start new moves, so we disallow it if called from within
// a move command.
UI_SLOW(allowNewMoves);
}
/** \brief Waits until movement cache is empty.
Some commands expect no movement, before they can execute. This function
waits, until the steppers are stopped. In the meanwhile it buffers incoming
commands and manages temperatures.
*/
void Commands::waitUntilEndOfAllMoves()
{
#ifdef DEBUG_PRINT
debugWaitLoop = 8;
#endif
while(PrintLine::hasLines())
{
GCode::readFromSerial();
checkForPeriodicalActions(false);
UI_MEDIUM;
}
}
void Commands::waitUntilEndOfAllBuffers()
{
GCode *code = NULL;
#ifdef DEBUG_PRINT
debugWaitLoop = 9;
#endif
while(PrintLine::hasLines() || (code != NULL))
{
GCode::readFromSerial();
code = GCode::peekCurrentCommand();
UI_MEDIUM; // do check encoder
if(code)
{
#if SDSUPPORT
if(sd.savetosd)
{
if(!(code->hasM() && code->M == 29)) // still writing to file
sd.writeCommand(code);
else
sd.finishWrite();
#if ECHO_ON_EXECUTE
code->echoCommand();
#endif
}
else
#endif
Commands::executeGCode(code);
code->popCurrentCommand();
}
Commands::checkForPeriodicalActions(false); // only called from memory
UI_MEDIUM;
}
}
void Commands::printCurrentPosition(FSTRINGPARAM(s))
{
float x, y, z;
Printer::realPosition(x, y, z);
if (isnan(x) || isinf(x) || isnan(y) || isinf(y) || isnan(z) || isinf(z))
{
Com::printErrorFLN(s); // flag where the error condition came from
}
x += Printer::coordinateOffset[X_AXIS];
y += Printer::coordinateOffset[Y_AXIS];
z += Printer::coordinateOffset[Z_AXIS];
Com::printF(Com::tXColon, x * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceYColon, y * (Printer::unitIsInches ? 0.03937 : 1), 2);
Com::printF(Com::tSpaceZColon, z * (Printer::unitIsInches ? 0.03937 : 1), 3);
Com::printFLN(Com::tSpaceEColon, Printer::currentPositionSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] * (Printer::unitIsInches ? 0.03937 : 1), 4);
//Com::printF(PSTR("OffX:"),Printer::offsetX); // to debug offset handling
//Com::printFLN(PSTR(" OffY:"),Printer::offsetY);
}
void Commands::printTemperatures(bool showRaw)
{
float temp = Extruder::current->tempControl.currentTemperatureC;
#if HEATED_BED_SENSOR_TYPE == 0
Com::printF(Com::tTColon,temp);
Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#else
Com::printF(Com::tTColon,temp);
Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#if HAVE_HEATED_BED
Com::printF(Com::tSpaceBColon,Extruder::getHeatedBedTemperature());
Com::printF(Com::tSpaceSlash,heatedBedController.targetTemperatureC,0);
if(showRaw)
{
Com::printF(Com::tSpaceRaw,(int)NUM_EXTRUDER);
Com::printF(Com::tColon,(1023 << (2 - ANALOG_REDUCE_BITS)) - heatedBedController.currentTemperature);
}
Com::printF(Com::tSpaceBAtColon,(pwm_pos[heatedBedController.pwmIndex])); // Show output of autotune when tuning!
#endif
#endif
#if TEMP_PID
Com::printF(Com::tSpaceAtColon,(autotuneIndex==255?pwm_pos[Extruder::current->id]:pwm_pos[autotuneIndex])); // Show output of autotune when tuning!
#endif
#if NUM_EXTRUDER>1 && MIXING_EXTRUDER == 0
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
{
Com::printF(Com::tSpaceT,(int)i);
Com::printF(Com::tColon,extruder[i].tempControl.currentTemperatureC);
Com::printF(Com::tSpaceSlash,extruder[i].tempControl.targetTemperatureC,0);
#if TEMP_PID
Com::printF(Com::tSpaceAt,(int)i);
Com::printF(Com::tColon,(pwm_pos[extruder[i].tempControl.pwmIndex])); // Show output of autotune when tuning!
#endif
if(showRaw)
{
Com::printF(Com::tSpaceRaw,(int)i);
Com::printF(Com::tColon,(1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[i].tempControl.currentTemperature);
}
}
#endif
Com::println();
}
void Commands::changeFeedrateMultiply(int factor)
{
if(factor < 25) factor = 25;
if(factor > 500) factor = 500;
Printer::feedrate *= (float)factor / (float)Printer::feedrateMultiply;
Printer::feedrateMultiply = factor;
Com::printFLN(Com::tSpeedMultiply, factor);
}
void Commands::changeHorizontalRadius(float hradius)
{
if (hradius < 60) hradius = 60;
if (hradius > 150) hradius = 150;
Printer::radius0 = hradius;
Com::printFLN(Com::tHorizontalRadius, hradius);
// EEPROM::storeDataIntoEEPROM(false);
}
void Commands::changeFlowrateMultiply(int factor)
{
if(factor < 25) factor = 25;
if(factor > 200) factor = 200;
Printer::extrudeMultiply = factor;
if(Extruder::current->diameter <= 0)
Printer::extrusionFactor = 0.01f * static_cast<float>(factor);
else
Printer::extrusionFactor = 0.01f * static_cast<float>(factor) * 4.0f / (Extruder::current->diameter * Extruder::current->diameter * 3.141592654f);
Com::printFLN(Com::tFlowMultiply, factor);
}
void Commands::setFanSpeed(int speed,bool wait)
{
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
speed = constrain(speed,0,255);
Printer::setMenuMode(MENU_MODE_FAN_RUNNING,speed != 0);
if(wait)
Commands::waitUntilEndOfAllMoves(); // use only if neededthis to change the speed exactly at that point, but it may cause blobs if you do!
if(speed != pwm_pos[NUM_EXTRUDER + 2])
Com::printFLN(Com::tFanspeed,speed); // send only new values to break update loops!
pwm_pos[NUM_EXTRUDER + 2] = speed;
#endif
}
void Commands::reportPrinterUsage()
{
#if EEPROM_MODE!=0
float dist = Printer::filamentPrinted * 0.001 + HAL::eprGetFloat(EPR_PRINTING_DISTANCE);
Com::printF(Com::tPrintedFilament,dist,2);
Com::printF(Com::tSpacem);
bool alloff = true;
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
if(tempController[i]->targetTemperatureC>15) alloff = false;
int32_t seconds = (alloff ? 0 : (HAL::timeInMilliseconds() - Printer::msecondsPrinting) / 1000) + HAL::eprGetInt32(EPR_PRINTING_TIME);
int32_t tmp = seconds / 86400;
seconds -= tmp * 86400;
Com::printF(Com::tPrintingTime,tmp);
tmp=seconds / 3600;
Com::printF(Com::tSpaceDaysSpace,tmp);
seconds-=tmp * 3600;
tmp = seconds / 60;
Com::printF(Com::tSpaceHoursSpace,tmp);
Com::printFLN(Com::tSpaceMin);
#endif
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_DIGIPOT
// Digipot methods for controling current and microstepping
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
int digitalPotWrite(int address, unsigned int value) // From Arduino DigitalPotControl example
{
WRITE(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
HAL::spiSend(address); // send in the address and value via SPI:
HAL::spiSend(value);
WRITE(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
//delay(10);
}
void setMotorCurrent(uint8_t driver, unsigned int current)
{
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
}
#endif
void motorCurrentControlInit() //Initialize Digipot Motor Current
{
#if DIGIPOTSS_PIN && DIGIPOTSS_PIN > -1
const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
HAL::spiInit(0); //SPI.begin();
SET_OUTPUT(DIGIPOTSS_PIN);
for(int i = 0; i <= 4; i++)
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
setMotorCurrent(i,digipot_motor_current[i]);
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL==CURRENT_CONTROL_PWM
// Controlling motor current directly using PWM
//unsigned int motor_current_setting[3] = MOTOR_CURRENT_PWM; //unsigned int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
void setMotorCurrent(uint8_t driver, unsigned int current)
{
if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, current); //if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 50);
if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, current); //if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 50);
if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, current); //if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, 50);
/* OLD for setting current on eris and/or droplit. Use motor currents in configuration.h now
#if PRINTER == 4
if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 50);
if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 50);
if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, 50);
#else
if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, motor_current_setting[0]); //if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 50);
if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, motor_current_setting[1]); //if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 50);
if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, motor_current_setting[2]); //if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, 50);
#endif
*/
}
void motorCurrentControlInit() //Initialize Digipot Motor Current
{
#if defined MOTOR_CURRENT_PWM_XY_PIN //copied from Marlin
const uint8_t pwm_motor_current[] = MOTOR_CURRENT_PWM;
SET_OUTPUT(MOTOR_CURRENT_PWM_XY_PIN);
SET_OUTPUT(MOTOR_CURRENT_PWM_Z_PIN);
SET_OUTPUT(MOTOR_CURRENT_PWM_E_PIN);
setMotorCurrent(0, pwm_motor_current[0]);
setMotorCurrent(1, pwm_motor_current[1]);
setMotorCurrent(2, pwm_motor_current[2]);
//Set timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise)
TCCR5B = (TCCR5B & ~(_BV(CS50) | _BV(CS51) | _BV(CS52))) | _BV(CS50);
#endif
}
#endif
#if STEPPER_CURRENT_CONTROL==CURRENT_CONTROL_LTC2600
void setMotorCurrent( uint8_t channel, unsigned short level )
{
const uint8_t ltc_channels[] = LTC2600_CHANNELS;
if(channel > LTC2600_NUM_CHANNELS) return;
uint8_t address = ltc_channels[channel];
char i;
// NOTE: Do not increase the current endlessly. In case the engine reaches its current saturation, the engine and the driver can heat up and loss power.
// When the saturation is reached, more current causes more heating and more power loss.
// In case of engines with lower quality, the saturation current may be reached before the nominal current.
// configure the pins
WRITE( LTC2600_CS_PIN, HIGH );
SET_OUTPUT( LTC2600_CS_PIN );
WRITE( LTC2600_SCK_PIN, LOW );
SET_OUTPUT( LTC2600_SCK_PIN );
WRITE( LTC2600_SDI_PIN, LOW );
SET_OUTPUT( LTC2600_SDI_PIN );
// enable the command interface of the LTC2600
WRITE( LTC2600_CS_PIN, LOW );
// transfer command and address
for( i = 7; i >= 0; i-- )
{
WRITE( LTC2600_SDI_PIN, address & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// transfer the data word
for( i = 15; i >= 0; i-- )
{
WRITE( LTC2600_SDI_PIN, level & (0x01 << i));
WRITE( LTC2600_SCK_PIN, 1 );
WRITE( LTC2600_SCK_PIN, 0 );
}
// disable the ommand interface of the LTC2600 -
// this carries out the specified command
WRITE( LTC2600_CS_PIN, HIGH );
} // setLTC2600
void motorCurrentControlInit() //Initialize LTC2600 Motor Current
{
const unsigned int ltc_current[] = MOTOR_CURRENT;
uint8_t i;
for(i=0; i<LTC2600_NUM_CHANNELS; i++)
{
setMotorCurrent(i, ltc_current[i] );
}
}
#endif
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2)
{
if(ms1 > -1) switch(driver)
{
case 0:
WRITE( X_MS1_PIN,ms1);
break;
case 1:
WRITE( Y_MS1_PIN,ms1);
break;
case 2:
WRITE( Z_MS1_PIN,ms1);
break;
case 3:
WRITE(E0_MS1_PIN,ms1);
break;
case 4:
WRITE(E1_MS1_PIN,ms1);
break;
}
if(ms2 > -1) switch(driver)
{
case 0:
WRITE( X_MS2_PIN,ms2);
break;
case 1:
WRITE( Y_MS2_PIN,ms2);
break;
case 2:
WRITE( Z_MS2_PIN,ms2);
break;
case 3:
WRITE(E0_MS2_PIN,ms2);
break;
case 4:
WRITE(E1_MS2_PIN,ms2);
break;
}
}
void microstepMode(uint8_t driver, uint8_t stepping_mode)
{
switch(stepping_mode)
{
case 1:
microstepMS(driver,MICROSTEP1);
break;
case 2:
microstepMS(driver,MICROSTEP2);
break;
case 4:
microstepMS(driver,MICROSTEP4);
break;
case 8:
microstepMS(driver,MICROSTEP8);
break;
case 16:
microstepMS(driver,MICROSTEP16);
break;
}
}
void microstepReadings()
{
Com::printFLN(Com::tMS1MS2Pins);
Com::printF(Com::tXColon,READ(X_MS1_PIN));
Com::printFLN(Com::tComma,READ(X_MS2_PIN));
Com::printF(Com::tYColon,READ(Y_MS1_PIN));
Com::printFLN(Com::tComma,READ(Y_MS2_PIN));
Com::printF(Com::tZColon,READ(Z_MS1_PIN));
Com::printFLN(Com::tComma,READ(Z_MS2_PIN));
Com::printF(Com::tE0Colon,READ(E0_MS1_PIN));
Com::printFLN(Com::tComma,READ(E0_MS2_PIN));
Com::printF(Com::tE1Colon,READ(E1_MS1_PIN));
Com::printFLN(Com::tComma,READ(E1_MS2_PIN));
}
#endif
void microstepInit()
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
const uint8_t microstep_modes[] = MICROSTEP_MODES;
SET_OUTPUT(X_MS2_PIN);
SET_OUTPUT(Y_MS2_PIN);
SET_OUTPUT(Z_MS2_PIN);
SET_OUTPUT(E0_MS2_PIN);
SET_OUTPUT(E1_MS2_PIN);
for(int i=0; i<=4; i++) microstepMode(i,microstep_modes[i]);
#endif
}
/**
\brief Execute the Arc command stored in com.
*/
#if ARC_SUPPORT
void Commands::processArc(GCode *com)
{
float position[Z_AXIS_ARRAY];
Printer::realPosition(position[X_AXIS],position[Y_AXIS],position[Z_AXIS]);
if(!Printer::setDestinationStepsFromGCode(com)) return; // For X Y Z E F
float offset[2] = {Printer::convertToMM(com->hasI() ? com->I : 0),Printer::convertToMM(com->hasJ() ? com->J : 0)};
float target[E_AXIS_ARRAY] = {Printer::realXPosition(),Printer::realYPosition(),Printer::realZPosition(),Printer::destinationSteps[E_AXIS]*Printer::invAxisStepsPerMM[E_AXIS]};
float r;
if (com->hasR())
{
/*
We need to calculate the center of the circle that has the designated radius and passes
through both the current position and the target position. This method calculates the following
set of equations where [x,y] is the vector from current to target position, d == magnitude of
that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
[i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.
d^2 == x^2 + y^2
h^2 == r^2 - (d/2)^2
i == x/2 - y/d*h
j == y/2 + x/d*h
O <- [i,j]
- |
r - |
- |
- | h
- |
[0,0] -> C -----------------+--------------- T <- [x,y]
| <------ d/2 ---->|
C - Current position
T - Target position
O - center of circle that pass through both C and T
d - distance from C to T
r - designated radius
h - distance from center of CT to O
Expanding the equations:
d -> sqrt(x^2 + y^2)
h -> sqrt(4 * r^2 - x^2 - y^2)/2
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
Which can be written:
i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
Which we for size and speed reasons optimize to:
h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
i = (x - (y * h_x2_div_d))/2
j = (y + (x * h_x2_div_d))/2
*/
r = Printer::convertToMM(com->R);
// Calculate the change in position along each selected axis
double x = target[X_AXIS]-position[X_AXIS];
double y = target[Y_AXIS]-position[Y_AXIS];
double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
// If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
// real CNC, and thus - for practical reasons - we will terminate promptly:
if(isnan(h_x2_div_d))
{
Com::printErrorFLN(Com::tInvalidArc);
return;
}
// Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
if (com->G==3)
{
h_x2_div_d = -h_x2_div_d;
}
/* The counter clockwise circle lies to the left of the target direction. When offset is positive,
the left hand circle will be generated - when it is negative the right hand circle is generated.
T <-- Target position
^
Clockwise circles with this center | Clockwise circles with this center will have
will have > 180 deg of angular travel | < 180 deg of angular travel, which is a good thing!
\ | /
center of arc when h_x2_div_d is positive -> x <----- | -----> x <- center of arc when h_x2_div_d is negative
|
|
C <-- Current position */
// Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
// even though it is advised against ever generating such circles in a single line of g-code. By
// inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
// travel and thus we get the unadvisably long arcs as prescribed.
if (r < 0)
{
h_x2_div_d = -h_x2_div_d;
r = -r; // Finished with r. Set to positive for mc_arc
}
// Complete the operation by calculating the actual center of the arc
offset[0] = 0.5*(x-(y*h_x2_div_d));
offset[1] = 0.5*(y+(x*h_x2_div_d));
}
else // Offset mode specific computations
{
r = hypot(offset[0], offset[1]); // Compute arc radius for arc
}
// Set clockwise/counter-clockwise sign for arc computations
uint8_t isclockwise = com->G == 2;
// Trace the arc
PrintLine::arc(position, target, offset, r, isclockwise);
}
#endif
/**
\brief Execute the G command stored in com.
*/
void Commands::processGCode(GCode *com)
{
uint32_t codenum; //throw away variable
switch(com->G)
{
case 0: // G0 -> G1
case 1: // G1
if(com->hasS()) Printer::setNoDestinationCheck(com->S != 0);
if(Printer::setDestinationStepsFromGCode(com)) // For X Y Z E F
#if NONLINEAR_SYSTEM
if (!PrintLine::queueDeltaMove(ALWAYS_CHECK_ENDSTOPS, true, true))
{
Com::printWarningFLN(PSTR("executeGCode / queueDeltaMove returns error"));
}
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
#if UI_HAS_KEYS
// ui can only execute motion commands if we are not waiting inside a move for an
// old move to finish. For normal response times, we always leave one free after
// sending a line. Drawback: 1 buffer line less for limited time. Since input cache
// gets filled while waiting, the lost is neglectible.
PrintLine::waitForXFreeLines(1, true);
#endif // UI_HAS_KEYS
break;
#if ARC_SUPPORT
case 2: // CW Arc
case 3: // CCW Arc MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
processArc(com);
break;
#endif
case 4: // G4 dwell
Commands::waitUntilEndOfAllMoves();
codenum = 0;
if(com->hasP()) codenum = com->P; // milliseconds to wait
if(com->hasS()) codenum = com->S * 1000; // seconds to wait
codenum += HAL::timeInMilliseconds(); // keep track of when we started waiting
while((uint32_t)(codenum-HAL::timeInMilliseconds()) < 2000000000 )
{
GCode::readFromSerial();
Commands::checkForPeriodicalActions(true);
}
break;
#if FEATURE_RETRACTION && NUM_EXTRUDER > 0
case 10: // G10 S<1 = long retract, 0 = short retract = default> retracts filament accoridng to stored setting
#if NUM_EXTRUDER > 1
Extruder::current->retract(true, com->hasS() && com->S > 0);
#else
Extruder::current->retract(true, false);
#endif
break;
case 11: // G11 S<1 = long retract, 0 = short retract = default> = Undo retraction according to stored setting
#if NUM_EXTRUDER > 1
Extruder::current->retract(false, com->hasS() && com->S > 0);
#else
Extruder::current->retract(false, false);
#endif
break;
#endif // FEATURE_RETRACTION
case 20: // G20 Units to inches
Printer::unitIsInches = 1;
break;
case 21: // G21 Units to mm
Printer::unitIsInches = 0;
break;
case 28: //G28 Home all Axis one at a time
{
uint8_t homeAllAxis = (com->hasNoXYZ() && !com->hasE());
if(com->hasE())
Printer::currentPositionSteps[E_AXIS] = 0;
if(homeAllAxis || !com->hasNoXYZ())
Printer::homeAxis(homeAllAxis || com->hasX(),homeAllAxis || com->hasY(),homeAllAxis || com->hasZ());
Printer::updateCurrentPosition();
if(Printer::isXMaxEndstopHit() || Printer::isYMaxEndstopHit() || Printer::isZMaxEndstopHit()){
GCode::executeFString(PSTR("M117 ENDSTOP ERROR"));
Com::printF(PSTR("Error: "));
if(Printer::isXMaxEndstopHit()) Com::printF(PSTR("X "));
if(Printer::isYMaxEndstopHit()) Com::printF(PSTR("Y "));
if(Printer::isZMaxEndstopHit()) Com::printF(PSTR("Z "));
Com::printFLN(PSTR("Endstop(s) not working properly"));
}
}
break;
#if FEATURE_Z_PROBE
case 29: // G29 Probe for Endstop Offsets, Horizontal Radius, and Z Height
{
if(!accelerometer_status()){
delay(250);
if(!accelerometer_status()) {
Com::printFLN(PSTR("I2C Error - Calibration Aborted"));
GCode::executeFString(PSTR("M117 I2C Error. Aborting"));
break;
}
}
GCode::executeFString(PSTR("M104 S0\nM140 S0\nM107"));
float xProbe = 0, yProbe = 0, zProbe = 0, verify = 0, oldFeedrate = Printer::feedrate;
int32_t probeSensitivity = Z_PROBE_SENSITIVITY;
bool failedProbe = false;
EEPROM::setDeltaTowerXOffsetSteps(0); // set X offset to 0
EEPROM::setDeltaTowerYOffsetSteps(0); // set Y offset to 0
EEPROM::setDeltaTowerZOffsetSteps(0); // set Z offset to 0
EEPROM::storeDataIntoEEPROM(); // store offsets to 0 before doing anything
EEPROM::readDataFromEEPROM();
//Crank up the max Z accel for the Eris
#if PRINTER == 3
Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = 1850;
Printer::updateDerivedParameter();
#endif
do{
Printer::homeAxis(true,true,true);
if(Printer::isXMaxEndstopHit() || Printer::isYMaxEndstopHit() || Printer::isZMaxEndstopHit()){
GCode::executeFString(PSTR("M117 ENDSTOP ERROR"));
Com::printF(PSTR("Error: "));
if(Printer::isXMaxEndstopHit()) Com::printF(PSTR("X "));
if(Printer::isYMaxEndstopHit()) Com::printF(PSTR("Y "));
if(Printer::isZMaxEndstopHit()) Com::printF(PSTR("Z "));
Com::printFLN(PSTR("Endstop(s) not working properly"));
failedProbe = true;
break;
}
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
xProbe = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //First tap
verify = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //Second tap
if ((xProbe - verify) > Z_PROBE_TOLERANCE || (xProbe - verify) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe (X Tower) failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}else{
Com::printFLN(PSTR("Calibration Failed"));
GCode::executeFString(PSTR("M117 CALIBRATION FAILED"));
Com::printErrorFLN(Com::tZProbeFailed);
break;
}
xProbe = -1; failedProbe = true;
continue;
}else{
xProbe = (xProbe + verify) / 2;
}
int32_t offsetX = ((xProbe * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsX = EEPROM::deltaTowerXOffsetSteps();
if(com->hasS() && com->S == 2){
Printer::homeAxis(true,true,true);
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
}
Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
yProbe = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //First tap
verify = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //Second tap
if ((yProbe - verify) > Z_PROBE_TOLERANCE || (yProbe - verify) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe (Y Tower) failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}else{
Com::printFLN(PSTR("Calibration Failed"));
GCode::executeFString(PSTR("M117 CALIBRATION FAILED"));
Com::printErrorFLN(Com::tZProbeFailed);
break;
}
yProbe = -1; failedProbe = true;
continue;
}else{
yProbe = (yProbe + verify) / 2;
}
int32_t offsetY = ((yProbe * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsY = EEPROM::deltaTowerYOffsetSteps();
if(com->hasS() && com->S == 2){
Printer::homeAxis(true,true,true);
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
}
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
zProbe = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //First tap
verify = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //Second tap
if ((zProbe - verify) > Z_PROBE_TOLERANCE || (zProbe - verify) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe (Z Tower) failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}else{
Com::printFLN(PSTR("Calibration Failed"));
GCode::executeFString(PSTR("M117 CALIBRATION FAILED"));
Com::printErrorFLN(Com::tZProbeFailed);
break;
}
zProbe = -1; failedProbe = true;
continue;
}else{
zProbe = (zProbe + verify) / 2;
}
int32_t offsetZ = ((zProbe * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsZ = EEPROM::deltaTowerZOffsetSteps();
Printer::updateCurrentPosition();
Printer::updateDerivedParameter();
Com::printInfoFLN(Com::tZProbeZReset);
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
Printer::feedrate = oldFeedrate;
if(offsetX < offsetY && offsetX < offsetZ)
{
offsetY = offsetStepsY + (offsetY - offsetX);
offsetZ = offsetStepsZ + (offsetZ - offsetX);
offsetX = 0;
}
else if(offsetY < offsetX && offsetY < offsetZ)
{
offsetX = offsetStepsX + (offsetX - offsetY);
offsetZ = offsetStepsZ + (offsetZ - offsetY);
offsetY = 0;
}
else if(offsetZ < offsetX && offsetZ < offsetY)
{
offsetX = offsetStepsX + (offsetX - offsetZ);
offsetY = offsetStepsY + (offsetY - offsetZ);
offsetZ = 0;
}
if(offsetX > 400 || offsetY > 400 || offsetZ > 400){
xProbe = -1; yProbe = -1; zProbe = -1;
Com::printFLN(PSTR("OFFSETS OFF BY TOO MUCH. Aborting. Sensitivity: "), probeSensitivity);
GCode::executeFString(PSTR("M117 Endstop Offset Error"));
Com::printFLN(PSTR("X: "), offsetX);
Com::printFLN(PSTR("Y: "), offsetY);
Com::printFLN(PSTR("Z: "), offsetZ);
failedProbe = true;
break;
}else{
EEPROM::setDeltaTowerXOffsetSteps(offsetX);
EEPROM::setDeltaTowerYOffsetSteps(offsetY);
EEPROM::setDeltaTowerZOffsetSteps(offsetZ);
EEPROM::storeDataIntoEEPROM();
failedProbe = false;
}
}while(failedProbe);
if(failedProbe) break;
Printer::updateCurrentPosition(true);
Printer::feedrate = oldFeedrate;
printCurrentPosition(PSTR("G69 "));
GCode::executeFString(Com::tZProbeEndScript);
//Horizontal Radius Calc and Z Height
float cProbe, hradius;
#if PRINTER == 5
float defaultRadius = 144.0;
#else
float defaultRadius = PRINTER_RADIUS-END_EFFECTOR_HORIZONTAL_OFFSET-CARRIAGE_HORIZONTAL_OFFSET;
#endif
float oldRadius;
int radiusLoop;
radiusLoop = 0;
do{
radiusLoop++;
oldRadius = Printer::radius0;
failedProbe = false;
EEPROM::storeDataIntoEEPROM(); //save firmware horizontal radius before calibration
EEPROM::readDataFromEEPROM();
Printer::setAutolevelActive(true);
Printer::homeAxis(true,true,true);
Printer::setAutolevelActive(false);
GCode::executeFString(Com::tZProbeStartScript);
Printer::moveTo(0,0,IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
cProbe = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
verify = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if ((cProbe - verify) > Z_PROBE_TOLERANCE || (cProbe - verify) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe (HR - Center Point) failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
radiusLoop--;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}else{
Com::printFLN(PSTR("Calibration Failed"));
GCode::executeFString(PSTR("M117 CALIBRATION FAILED"));
Com::printErrorFLN(Com::tZProbeFailed);
break;
}
cProbe = -1; failedProbe = true;
continue;
}else{
cProbe = (cProbe + verify) / 2;
Com::printFLN(PSTR("Old Z Height:"), Printer::zLength );
Printer::zLength += cProbe - Printer::currentPosition[Z_AXIS];
Printer::updateDerivedParameter();
Com::printFLN(PSTR("New Z Height:"), Printer::zLength );
}
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
zProbe = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
verify = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if ((zProbe - verify) > Z_PROBE_TOLERANCE || (zProbe - verify) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe (HR - Z tower) failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}else{
Com::printFLN(PSTR("Calibration Failed"));
GCode::executeFString(PSTR("M117 CALIBRATION FAILED"));
Com::printErrorFLN(Com::tZProbeFailed);
break;
}
zProbe = -1; failedProbe = true;
continue;
}else{
zProbe = (zProbe + verify) / 2;
}
hradius = (cProbe - zProbe)*AXIS_STEPS_PER_MM;
if(hradius<0)
{
hradius=-hradius;
hradius = (hradius / Printer::radius0)*2;
Com::printFLN(Com::tZProbeAverage,hradius);
Printer::radius0 = Printer::radius0 - hradius;
}else{
hradius = (hradius / Printer::radius0)*2;
Printer::radius0 = Printer::radius0 + hradius;
}
if(Printer::radius0 / defaultRadius > 1.1 || Printer::radius0 / defaultRadius < 0.9){
Com::printFLN(PSTR("Calculated Radius is bad: "), Printer::radius0 );
Printer::radius0 = defaultRadius;
}
Com::printFLN(PSTR("Old Horizontal Radius: "), oldRadius );
Com::printFLN(PSTR("New Horizontal Radius: "), Printer::radius0 );
}while(radiusLoop < 4 && (failedProbe || ((Printer::radius0 - oldRadius) > Z_PROBE_TOLERANCE) || ((Printer::radius0 - oldRadius) < -Z_PROBE_TOLERANCE) ));
//Reset the max Z accel for the Eris
#if PRINTER == 3
Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = 400;
Printer::updateDerivedParameter();
#endif
Printer::setAutolevelActive(true);
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("hehe"));
GCode::executeFString(Com::tZProbeEndScript);
Printer::feedrate = oldFeedrate;
Printer::homeAxis(true,true,true);
EEPROM::storeDataIntoEEPROM();
#if SDSUPPORT == 1
if(sd.selectFile("g29cal.gcode", true)){
sd.stopPrint();
sd.deleteFile("g29cal.gcode");
sd.initsd();
}
#endif
GCode::executeFString(PSTR("M117 CALIBRATION COMPLETE"));
}
break;
case 30: // G30 single probe set Z0
{
if(com->hasS() && com->S == 2){
float sum = 0, sum1 = 0,last,oldFeedrate = Printer::feedrate;
do{
if(com->hasS() && com->S == 2){ // only reset eeprom if saving new value
Printer::zLength = Z_MAX_LENGTH; // set Z height to firmware default
EEPROM::storeDataIntoEEPROM(); // store default before calibration
EEPROM::readDataFromEEPROM(); // would not take effect unless read!
}
Printer::homeAxis(true,true,true);
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
Printer::moveTo(0,0,IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); // First tap
sum = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); // Second tap
if ((sum1 - sum) > Z_PROBE_TOLERANCE || (sum1 - sum) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printErrorFLN(Com::tZProbeFailed);
sum = -1;
}else{
sum = (sum + sum1) / 2;
}
}while(sum < 1);
if(com->hasS() && com->S)
{
Printer::zLength += sum - Printer::currentPosition[Z_AXIS];
Printer::updateDerivedParameter();
}
Printer::feedrate = oldFeedrate;
Printer::setAutolevelActive(true);
if(com->hasS() && com->S == 2)
EEPROM::storeDataIntoEEPROM();
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("G30 "));
GCode::executeFString(Com::tZProbeEndScript);
Printer::feedrate = oldFeedrate;
Printer::homeAxis(true,true,true);
}else{
/*
if(com->hasP() && com->P >= 10){
for(int i=0;i<10;i++){
Com::printF(PSTR("Point "), i);
Com::printFLN(PSTR(" - PROBE OFFSET:"), probes[i] );
}
}else{
*/
#if PRINTER == 3
Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = 1850;
Printer::updateDerivedParameter();
#endif
float pProbe, verify;
int32_t probeSensitivity = Z_PROBE_SENSITIVITY;
if(com->hasX() && com->hasY()){
if(com->hasF()){ Printer::moveTo(com->X,com->Y,IGNORE_COORDINATE,IGNORE_COORDINATE,com->F); }
else{ Printer::moveTo(com->X,com->Y,IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed()); }
}
pProbe = Printer::runZProbe(true,false,1,false);
pProbe -= Printer::currentPosition[Z_AXIS];
verify = Printer::runZProbe(false,true,1,false);
verify -= Printer::currentPosition[Z_AXIS];
if ((pProbe - verify) > Z_PROBE_TOLERANCE || (pProbe - verify) < - Z_PROBE_TOLERANCE){
Com::printFLN(PSTR("Probes do not match. Off by "), (pProbe - verify) );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
GCode::executeFString(PSTR("G30"));
}
}else{
pProbe = (pProbe + verify) / 2;
//if(com->hasP()){
// if(com->P < 10){ probes[com->P] = pProbe; }
//}else{
Com::printFLN(PSTR("PROBE-ZOFFSET:"), pProbe );
//}
}
#if PRINTER == 3
Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = 400;
Printer::updateDerivedParameter();
#endif
//}
}
}
break;
case 31: // G31 display hall sensor output
Com::printF(Com::tZProbeState);
Com::print(Printer::isZProbeHit() ? 'H' : 'L');
Com::println();
break;
#if FEATURE_AUTOLEVEL
case 32: // G32 Auto-Bed leveling
{
GCode::executeFString(Com::tZProbeStartScript);
//bool iterate = com->hasP() && com->P>0;
Printer::coordinateOffset[X_AXIS] = Printer::coordinateOffset[Y_AXIS] = Printer::coordinateOffset[Z_AXIS] = 0;
Printer::setAutolevelActive(false); // iterate
float h1,h2,h3,hc,oldFeedrate = Printer::feedrate;
Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if(h1 < 0) break;
Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h2 = Printer::runZProbe(false,false);
if(h2 < 0) break;
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
h3 = Printer::runZProbe(false,true);
if(h3 < 0) break;
Printer::buildTransformationMatrix(h1,h2,h3);
//-(Rxx*Ryz*y-Rxz*Ryx*y+(Rxz*Ryy-Rxy*Ryz)*x)/(Rxy*Ryx-Rxx*Ryy)
// z = z-deviation from origin due to bed transformation
float z = -((Printer::autolevelTransformation[0] * Printer::autolevelTransformation[5] -
Printer::autolevelTransformation[2] * Printer::autolevelTransformation[3]) *
(float)Printer::currentPositionSteps[Y_AXIS] * Printer::invAxisStepsPerMM[Y_AXIS] +
(Printer::autolevelTransformation[2] * Printer::autolevelTransformation[4] -
Printer::autolevelTransformation[1] * Printer::autolevelTransformation[5]) *
(float)Printer::currentPositionSteps[X_AXIS] * Printer::invAxisStepsPerMM[X_AXIS]) /
(Printer::autolevelTransformation[1] * Printer::autolevelTransformation[3] - Printer::autolevelTransformation[0] * Printer::autolevelTransformation[4]);
Printer::zMin = 0;
if(com->hasS() && com->S < 3 && com->S > 0)
{
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM == DELTA
Printer::zLength += (h3 + z) - Printer::currentPosition[Z_AXIS];
#else
int32_t zBottom = Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
Printer::zLength = Printer::runZMaxProbe() + zBottom * Printer::invAxisStepsPerMM[Z_AXIS] - ENDSTOP_Z_BACK_ON_HOME;
#endif
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#else // max hardware endstop
#if DRIVE_SYSTEM != DELTA
Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
#endif
Printer::setAutolevelActive(true);
if(com->S == 2)
EEPROM::storeDataIntoEEPROM();
}
else
{
#if DRIVE_SYSTEM != DELTA
Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
if(com->hasS() && com->S == 3)
EEPROM::storeDataIntoEEPROM();
}
Printer::setAutolevelActive(true);
Printer::updateDerivedParameter();
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("G32 "));
#if DRIVE_SYSTEM == DELTA
Printer::homeAxis(true, true, true);
#endif
Printer::feedrate = oldFeedrate;
}
break;
#endif
case 68: // probes center X0 Y0 then probes x/y 3rd position, commonly the z tower on deltas
{
#if DISTORTION_CORRECTION
float oldFeedrate = Printer::feedrate;
Printer::measureDistortion();
Printer::feedrate = oldFeedrate;
#else
//bool oldAutolevel = Printer::isAutolevelActive();
float sum = 0, sum1 = 0, last, hradius,oldFeedrate = Printer::feedrate;
int32_t probeSensitivity = Z_PROBE_SENSITIVITY;
float defaultRadius = PRINTER_RADIUS-END_EFFECTOR_HORIZONTAL_OFFSET-CARRIAGE_HORIZONTAL_OFFSET;
float oldRadius;
do{
//Printer::radius0 = PRINTER_RADIUS-END_EFFECTOR_HORIZONTAL_OFFSET-CARRIAGE_HORIZONTAL_OFFSET; // set horizontal radius to firmware default
oldRadius = Printer::radius0;
EEPROM::storeDataIntoEEPROM(); //save firmware horizontal radius before calibration
EEPROM::readDataFromEEPROM();
Printer::homeAxis(true,true,true);
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
Printer::moveTo(0,0,IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
sum = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
if ((sum1 - sum) > Z_PROBE_TOLERANCE || (sum1 - sum) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}
sum = -1;
continue;
}else{
sum = (sum + sum1) / 2;
}
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(false,true); // First tap
last = Printer::runZProbe(false,true); // Second tap
if ((sum1 - last) > Z_PROBE_TOLERANCE || (sum1 - last) < - Z_PROBE_TOLERANCE){
Com::printFLN(PSTR("Z probe failed on sensitivity: "), probeSensitivity );
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
sum = -1;
continue;
}else{
last = (last + sum1) / 2;
}
} while (sum < 0);
sum = (sum - last)*AXIS_STEPS_PER_MM;
if(sum<0)
{
sum=-sum;
Com::printFLN(Com::tZProbeAverage,sum);
hradius = (sum / Printer::radius0)*2;
Com::printFLN(Com::tZProbeAverage,hradius);
Printer::radius0 = Printer::radius0 - hradius;
}
else
{
hradius = (sum / Printer::radius0)*2;
Printer::radius0 = Printer::radius0 + hradius;
}
if(Printer::radius0 / defaultRadius > 1.1 || Printer::radius0 / defaultRadius < 0.9){
Printer::radius0 = defaultRadius;
Com::printFLN(PSTR("Calculated Radius is bad :"), Printer::radius0 );
}else{
Com::printFLN(PSTR("Old Radius: "), oldRadius );
Com::printFLN(PSTR("New Radius: "), Printer::radius0 );
}
Printer::feedrate = oldFeedrate;
//Printer::setAutolevelActive(oldAutolevel);
Printer::setAutolevelActive(true);
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("hehe"));
GCode::executeFString(Com::tZProbeEndScript);
Printer::feedrate = oldFeedrate;
Printer::homeAxis(true,true,true);
EEPROM::storeDataIntoEEPROM();
#endif // DISTORTION_CORRECTION
}
break;
case 69: // G69 3 points, probe endstop offsets
{
#if DISTORTION_CORRECTION
float oldFeedrate = Printer::feedrate;
Printer::measureDistortion();
Printer::feedrate = oldFeedrate;
#else
//bool oldAutolevel = Printer::isAutolevelActive();
float sum1 = 0, sum = 0, last,oldFeedrate = Printer::feedrate;
int32_t probeSensitivity = Z_PROBE_SENSITIVITY;
do{
if(com->hasS() && com->S == 2){ // only wipe values if saving the new values
EEPROM::setDeltaTowerXOffsetSteps(0); // set X offset to 0
EEPROM::setDeltaTowerYOffsetSteps(0); // set Y offset to 0
EEPROM::setDeltaTowerZOffsetSteps(0); // set Z offset to 0
EEPROM::storeDataIntoEEPROM(); // store offsets to 0 before doing anything
EEPROM::readDataFromEEPROM();
}
Printer::homeAxis(true,true,true);
GCode::executeFString(Com::tZProbeStartScript);
Printer::setAutolevelActive(false);
Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //First tap
sum = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false); //Second tap
if ((sum1 - sum) > Z_PROBE_TOLERANCE || (sum1 - sum) < - Z_PROBE_TOLERANCE){ //tap reports distance, if more or less than .1mm, it will re-run
Com::printFLN(PSTR("Z probe failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
if ( com->hasS() )
{
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}
}
sum = -1;
continue;
}else{
sum = (sum + sum1) / 2;
}
int32_t offsetX = ((sum * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsX = EEPROM::deltaTowerXOffsetSteps();
Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(false,false); //First tap Y tower
last = Printer::runZProbe(false,false); //Second tap Y tower
if ((sum1 - last) > Z_PROBE_TOLERANCE || (sum1 - last) < - Z_PROBE_TOLERANCE){
Com::printFLN(PSTR("Z probe failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}
last = -1; // fail flag to stop probe
continue;
}else{
last = (last + sum1) / 2;
}
int32_t offsetY = ((last * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsY = EEPROM::deltaTowerYOffsetSteps();
Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
sum1 = Printer::runZProbe(false,true); //First tap Z tower
last = Printer::runZProbe(false,true); //Second tap Z tower
if((sum1 - last) > Z_PROBE_TOLERANCE || (sum1 - last) < - Z_PROBE_TOLERANCE){
Com::printFLN(PSTR("Z probe failed on sensitivity: "), probeSensitivity );
if(probeSensitivity < Z_PROBE_MAX_SENSITIVITY){
accelerometer_recv(0x32);
probeSensitivity+=2;
Com::printFLN(PSTR("Setting Probe Sensitivity To:"), probeSensitivity );
accelerometer_write(0x32,uint8_t(probeSensitivity)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(probeSensitivity)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}
last = -1; // fail flag to stop probe
continue;
}else{
last = (last + sum1) / 2;
}
int32_t offsetZ = ((last * AXIS_STEPS_PER_MM) - (Z_PROBE_BED_DISTANCE * AXIS_STEPS_PER_MM)), offsetStepsZ = EEPROM::deltaTowerZOffsetSteps();
if(com->hasS() && com->S)
{
Printer::updateCurrentPosition();
Printer::updateDerivedParameter();
//Printer::homeAxis(true,true,true); added to end of main g69
Com::printInfoFLN(Com::tZProbeZReset);
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
}
Printer::feedrate = oldFeedrate;
//Printer::setAutolevelActive(oldAutolevel);
Printer::setAutolevelActive(true);
if(com->hasS() && com->S == 2)
{
if(offsetX < offsetY && offsetX < offsetZ)
{
offsetY = offsetStepsY + (offsetY - offsetX);
offsetZ = offsetStepsZ + (offsetZ - offsetX);
offsetX = 0;
EEPROM::setDeltaTowerYOffsetSteps(offsetY);
EEPROM::setDeltaTowerZOffsetSteps(offsetZ);
}
else if(offsetY < offsetX && offsetY < offsetZ)
{
offsetX = offsetStepsX + (offsetX - offsetY);
offsetZ = offsetStepsZ + (offsetZ - offsetY);
EEPROM::setDeltaTowerXOffsetSteps(offsetX);
EEPROM::setDeltaTowerZOffsetSteps(offsetZ);
offsetY = 0;
}
else if(offsetZ < offsetX && offsetZ < offsetY)
{
offsetX = offsetStepsX + (offsetX - offsetZ);
offsetY = offsetStepsY + (offsetY - offsetZ);
EEPROM::setDeltaTowerXOffsetSteps(offsetX);
EEPROM::setDeltaTowerYOffsetSteps(offsetY);
offsetZ = 0;
}
if(offsetX > 400 || offsetY > 400 || offsetZ > 400){
sum = -1;
Com::printFLN(PSTR("OFFSETS OFF BY TOO MUCH _ TRYING AGAIN: "), probeSensitivity);
Com::printFLN(PSTR("X: "), offsetX);
Com::printFLN(PSTR("Y: "), offsetY);
Com::printFLN(PSTR("Z: "), offsetZ);
}else{
EEPROM::storeDataIntoEEPROM();
}
}
}while(sum < 0 || last < 0);
Printer::updateCurrentPosition(true);
printCurrentPosition(PSTR("G69 "));
GCode::executeFString(Com::tZProbeEndScript);
Printer::feedrate = oldFeedrate;
Printer::homeAxis(true,true,true);
#endif // DISTORTION_CORRECTION
}
break;
#endif
case 90: // G90
Printer::relativeCoordinateMode = false;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Absolute positioning"));
break;
case 91: // G91
Printer::relativeCoordinateMode = true;
if(com->internalCommand)
Com::printInfoFLN(PSTR("Relative positioning"));
break;
case 92: // G92
{
float xOff = Printer::coordinateOffset[X_AXIS];
float yOff = Printer::coordinateOffset[Y_AXIS];
float zOff = Printer::coordinateOffset[Z_AXIS];
if(com->hasX()) xOff = Printer::convertToMM(com->X) - Printer::currentPosition[X_AXIS];
if(com->hasY()) yOff = Printer::convertToMM(com->Y) - Printer::currentPosition[Y_AXIS];
if(com->hasZ()) zOff = Printer::convertToMM(com->Z) - Printer::currentPosition[Z_AXIS];
Printer::setOrigin(xOff, yOff, zOff);
if(com->hasE())
{
Printer::currentPositionSteps[E_AXIS] = Printer::convertToMM(com->E) * Printer::axisStepsPerMM[E_AXIS];
}
}
break;
#if DRIVE_SYSTEM == DELTA
case 100: // G100 Calibrate floor or rod radius
{
// Using manual control, adjust hot end to contact floor.
// G100 <no arguments> No action. Avoid accidental floor reset.
// G100 [X] [Y] [Z] set floor for argument passed in. Number ignored and may be absent.
// G100 R with X Y or Z flag error, sets only floor or radius, not both.
// G100 R[n] Add n to radius. Adjust to be above floor if necessary
// G100 R[0] set radius based on current z measurement. Moves to (0,0,0)
float currentZmm = Printer::currentPosition[Z_AXIS];
if (currentZmm/Printer::zLength > 0.1)
{
Com::printErrorFLN(PSTR("Calibration code is limited to bottom 10% of Z height"));
break;
}
if (com->hasR())
{
if (com->hasX() || com->hasY() || com->hasZ())
Com::printErrorFLN(PSTR("Cannot set radius and floor at same time."));
else if (com->R != 0)
{
//add r to radius
if (abs(com->R) <= 10) EEPROM::incrementRodRadius(com->R);
else Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
}
else
{
// auto set radius. Head must be at 0,0 and touching
// Z offset will be corrected for.
if (Printer::currentPosition[X_AXIS] == 0
&& Printer::currentPosition[Y_AXIS] == 0)
{
if(Printer::isLargeMachine())
{
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they acnhor x cartesian axis and always have
// Radius distance to center in simplest set up.
float h = Printer::deltaDiagonalStepsSquaredB.f;
unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr((float)bSteps);
h = sqrt(h);
EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
}
else
{
// calculate radius assuming we are at surface
// If Z is greater than 0 it will get calculated out for correct radius
// Use either A or B tower as they acnhor x cartesian axis and always have
// Radius distance to center in simplest set up.
unsigned long h = Printer::deltaDiagonalStepsSquaredB.l;
unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
// The correct Rod Radius would put us here at z==0 and B height is
// square root (rod length squared minus rod radius squared)
// Reverse that to get calculated Rod Radius given B height
h -= RMath::sqr(bSteps);
h = SQRT(h);
EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
}
}
else
Com::printErrorFLN(PSTR("First move to touch at x,y=0,0 to auto-set radius."));
}
}
else
{
bool tooBig = false;
if (com->hasX())
{
if (abs(com->X) <= 10)
EEPROM::setTowerXFloor(com->X + currentZmm + Printer::xMin);
else tooBig = true;
}
if (com->hasY())
{
if (abs(com->Y) <= 10)
EEPROM::setTowerYFloor(com->Y + currentZmm + Printer::yMin);
else tooBig = true;
}
if (com->hasZ())
{
if (abs(com->Z) <= 10)
EEPROM::setTowerZFloor(com->Z + currentZmm + Printer::zMin);
else tooBig = true;
}
if (tooBig)
Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
}
// after adjusting zero, physical position is out of sync with memory position
// this could cause jerky movement or push head into print surface.
// moving gets back into safe zero'ed position with respect to newle set floor or Radius.
Printer::moveTo(IGNORE_COORDINATE,IGNORE_COORDINATE,12.0,IGNORE_COORDINATE,IGNORE_COORDINATE);
break;
}
case 131: // G131 Remove offset
{
float cx,cy,cz;
Printer::realPosition(cx,cy,cz);
float oldfeedrate = Printer::feedrate;
Printer::offsetX = 0;
Printer::offsetY = 0;
Printer::moveToReal(cx,cy,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
Printer::feedrate = oldfeedrate;
Printer::updateCurrentPosition();
}
break;
case 132: // G132 Calibrate endstop offsets
{
// This has the probably unintended side effect of turning off leveling.
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
// I think this is coded incorrectly, as it depends on the biginning position of the
// of the hot end, and so should first move to x,y,z= 0,0,0, but as that may not
// be possible if the printer is not in the homes/zeroed state, the printer
// cannot safely move to 0 z coordinate without crashong into the print surface.
// so other than commenting, I'm not meddling.
// but you will always get different counts from different positions.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t m = RMath::max(Printer::stepsRemainingAtXHit,RMath::max(Printer::stepsRemainingAtYHit,Printer::stepsRemainingAtZHit));
int32_t offx = m-Printer::stepsRemainingAtXHit;
int32_t offy = m-Printer::stepsRemainingAtYHit;
int32_t offz = m-Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1,offx);
Com::printFLN(Com::tTower2,offy);
Com::printFLN(Com::tTower3,offz);
#if EEPROM_MODE != 0
if(com->hasS() && com->S > 0)
{
EEPROM::setDeltaTowerXOffsetSteps(offx);
EEPROM::setDeltaTowerYOffsetSteps(offy);
EEPROM::setDeltaTowerZOffsetSteps(offz);
}
#endif
Printer::homeAxis(true,true,true);
}
break;
case 133: // G133 Measure steps to top
{
bool oldAuto = Printer::isAutolevelActive();
Printer::setAutolevelActive(false); // don't let transformations change result!
Printer::currentPositionSteps[X_AXIS] = 0;
Printer::currentPositionSteps[Y_AXIS] = 0;
Printer::currentPositionSteps[Z_AXIS] = 0;
Printer::coordinateOffset[X_AXIS] = 0;
Printer::coordinateOffset[Y_AXIS] = 0;
Printer::coordinateOffset[Z_AXIS] = 0;
Printer::currentDeltaPositionSteps[A_TOWER] = 0;
Printer::currentDeltaPositionSteps[B_TOWER] = 0;
Printer::currentDeltaPositionSteps[C_TOWER] = 0;
// similar to comment above, this will get a different answer from any different starting point
// so it is unclear how this is helpful. It must start at a well defined point.
Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
int32_t offx = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtXHit;
int32_t offy = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtYHit;
int32_t offz = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtZHit;
Com::printFLN(Com::tTower1,offx);
Com::printFLN(Com::tTower2,offy);
Com::printFLN(Com::tTower3,offz);
Printer::setAutolevelActive(oldAuto);
Printer::homeAxis(true,true,true);
}
break;
case 134: // G134
Com::printF(PSTR("CompDelta:"),Printer::currentDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
#ifdef DEBUG_REAL_POSITION
Com::printF(PSTR("RealDelta:"),Printer::realDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma,Printer::realDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma,Printer::realDeltaPositionSteps[C_TOWER]);
#endif
Printer::updateCurrentPosition();
Com::printF(PSTR("PosFromSteps:"));
printCurrentPosition(PSTR("G134 "));
break;
#endif // DRIVE_SYSTEM
default:
if(Printer::debugErrors())
{
Com::printF(Com::tUnknownCommand);
com->printCommand();
}
}
previousMillisCmd = HAL::timeInMilliseconds();
}
/**
\brief Execute the G command stored in com.
*/
void Commands::processMCode(GCode *com)
{
uint32_t codenum; //throw away variable
switch( com->M )
{
case 17: //M17 Enable all Steppers
Printer::enableXStepper();
Printer::enableYStepper();
Printer::enableZStepper();
break;
case 18: //M18 Disable all Steppers
Printer::disableXStepper();
Printer::disableYStepper();
Printer::disableZStepper();
break;
#if SDSUPPORT
case 20: // M20 - list SD card
sd.ls();
break;
case 21: // M21 - init SD card
sd.mount();
break;
case 22: //M22 - release SD card
sd.unmount();
break;
case 23: //M23 - Select file
if(com->hasString())
{
sd.fat.chdir();
sd.selectFile(com->text);
}
break;
case 24: //M24 - Start SD print
sd.startPrint();
break;
case 25: //M25 - Pause SD print
sd.pausePrint();
break;
case 26: //M26 - Set SD index
if(com->hasS())
sd.setIndex(com->S);
break;
case 27: //M27 - Get SD status
sd.printStatus();
break;
case 28: //M28 - Start SD write
if(com->hasString())
sd.startWrite(com->text);
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
case 30: // M30 filename - Delete file
if(com->hasString())
{
sd.fat.chdir();
sd.deleteFile(com->text);
}
break;
case 32: // M32 directoryname
if(com->hasString())
{
sd.fat.chdir();
sd.makeDirectory(com->text);
}
break;
#endif
case 42: //M42 -Change pin status via gcode
if (com->hasP())
{
int pin_number = com->P;
for(uint8_t i = 0; i < (uint8_t)sizeof(sensitive_pins); i++)
{
if (pgm_read_byte(&sensitive_pins[i]) == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
if(com->hasS())
{
if(com->S >= 0 && com->S <= 255)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, com->S);
analogWrite(pin_number, com->S);
Com::printF(Com::tSetOutputSpace, pin_number);
Com::printFLN(Com::tSpaceToSpace,(int)com->S);
}
else
Com::printErrorFLN(PSTR("Illegal S value for M42"));
}
else
{
pinMode(pin_number, INPUT_PULLUP);
Com::printF(Com::tSpaceToSpace, pin_number);
Com::printFLN(Com::tSpaceIsSpace, digitalRead(pin_number));
}
}
else
{
Com::printErrorFLN(PSTR("Pin can not be set by M42, may in invalid or in use. "));
}
}
break;
case 80: // M80 - ATX Power On
#if PS_ON_PIN>-1
Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds();
SET_OUTPUT(PS_ON_PIN); //GND
Printer::setPowerOn(true);
WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif
break;
case 81: // M81 - ATX Power Off
#if PS_ON_PIN>-1
Commands::waitUntilEndOfAllMoves();
SET_OUTPUT(PS_ON_PIN); //GND
Printer::setPowerOn(false);
WRITE(PS_ON_PIN,(POWER_INVERTING ? LOW : HIGH));
#endif
break;
case 82: // M82
Printer::relativeExtruderCoordinateMode = false;
break;
case 83: // M83
Printer::relativeExtruderCoordinateMode = true;
break;
case 84: // M84
if(com->hasS())
{
stepperInactiveTime = com->S * 1000;
}
else
{
if(com->hasP()){
switch(com->P){
case 0:
Printer::disableXStepper();
break;
case 1:
Printer::disableYStepper();
break;
case 2:
Printer::disableZStepper();
break;
case 3:
Extruder::disableCurrentExtruderMotor();
break;
case 4:
Extruder::disableAllExtruderMotors();
break;
}
}else{
Commands::waitUntilEndOfAllMoves();
Printer::kill(true);
}
}
break;
case 85: // M85
if(com->hasS())
maxInactiveTime = (int32_t)com->S * 1000;
else
maxInactiveTime = 0;
break;
case 92: // M92
if(com->hasX()) Printer::axisStepsPerMM[X_AXIS] = com->X;
if(com->hasY()) Printer::axisStepsPerMM[Y_AXIS] = com->Y;
if(com->hasZ()) Printer::axisStepsPerMM[Z_AXIS] = com->Z;
Printer::updateDerivedParameter();
if(com->hasE())
{
Extruder::current->stepsPerMM = com->E;
Extruder::selectExtruderById(Extruder::current->id);
}
break;
case 99: // M99 S<time>
{
millis_t wait = 10000;
if(com->hasS())
wait = 1000*com->S;
if(com->hasX())
Printer::disableXStepper();
if(com->hasY())
Printer::disableYStepper();
if(com->hasZ())
Printer::disableZStepper();
wait += HAL::timeInMilliseconds();
#ifdef DEBUG_PRINT
debugWaitLoop = 2;
#endif
while(wait-HAL::timeInMilliseconds() < 100000)
{
Printer::defaultLoopActions();
}
if(com->hasX())
Printer::enableXStepper();
if(com->hasY())
Printer::enableYStepper();
if(com->hasZ())
Printer::enableZStepper();
}
break;
case 104: // M104 temperature
#if NUM_EXTRUDER > 0
if(reportTempsensorError()) break;
previousMillisCmd = HAL::timeInMilliseconds();
if(Printer::debugDryrun()) break;
#ifdef EXACT_TEMPERATURE_TIMING
Commands::waitUntilEndOfAllMoves();
#else
if(com->hasP() || (com->hasS() && com->S == 0))
Commands::waitUntilEndOfAllMoves();
#endif
if (com->hasS())
{
#if NUM_EXTRUDER > 1
if(com->hasT()){
if(com->T == Extruder::current->id){
for(uint8_t i = 0; i < NUM_EXTRUDER; i++){
Extruder::setTemperatureForExtruder(com->S,i,com->hasF() && com->F>0);
}
}
else break;
}
else
for(uint8_t i = 0; i < NUM_EXTRUDER; i++){
Extruder::setTemperatureForExtruder(com->S,i,com->hasF() && com->F>0);
}
#else
if(com->hasT())
Extruder::setTemperatureForExtruder(com->S,com->T,com->hasF() && com->F>0);
else
Extruder::setTemperatureForExtruder(com->S,Extruder::current->id,com->hasF() && com->F>0);
#endif
}
#endif
break;
case 140: // M140 set bed temp
if(reportTempsensorError()) break;
previousMillisCmd = HAL::timeInMilliseconds();
if(Printer::debugDryrun()) break;
if (com->hasS()) Extruder::setHeatedBedTemperature(com->S,com->hasF() && com->F>0);
break;
case 105: // M105 get temperature. Always returns the current temperature, doesn't wait until move stopped
printTemperatures(com->hasX());
break;
case 109: // M109 - Wait for extruder heater to reach target.
#if NUM_EXTRUDER>0
{
if(reportTempsensorError()) break;
previousMillisCmd = HAL::timeInMilliseconds();
if(Printer::debugDryrun()) break;
UI_STATUS_UPD(UI_TEXT_HEATING_EXTRUDER);
Commands::waitUntilEndOfAllMoves();
Extruder *actExtruder = Extruder::current;
#if NUM_EXTRUDER > 1
if(com->hasT()){
if(com->T == Extruder::current->id){
for(uint8_t i = 0; i < NUM_EXTRUDER; i++){
Extruder::setTemperatureForExtruder(com->S,i,com->hasF() && com->F>0);
}
}
else break;
}
else
for(uint8_t i = 0; i < NUM_EXTRUDER; i++){
Extruder::setTemperatureForExtruder(com->S,i,com->hasF() && com->F>0);
}
#else
if(com->hasT() && com->T<NUM_EXTRUDER) actExtruder = &extruder[com->T];
if (com->hasS()) Extruder::setTemperatureForExtruder(com->S,actExtruder->id,com->hasF() && com->F>0);
#endif
#if defined(SKIP_M109_IF_WITHIN) && SKIP_M109_IF_WITHIN > 0
if(abs(actExtruder->tempControl.currentTemperatureC - actExtruder->tempControl.targetTemperatureC)<(SKIP_M109_IF_WITHIN)) break; // Already in range
#endif
bool dirRising = actExtruder->tempControl.targetTemperature > actExtruder->tempControl.currentTemperature;
millis_t printedTime = HAL::timeInMilliseconds();
millis_t waituntil = 0;
#if RETRACT_DURING_HEATUP
uint8_t retracted = 0;
#endif
millis_t currentTime;
do
{
previousMillisCmd = currentTime = HAL::timeInMilliseconds();
if( (currentTime - printedTime) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
printTemperatures();
printedTime = currentTime;
}
Commands::checkForPeriodicalActions(true);
//gcode_read_serial();
#if RETRACT_DURING_HEATUP
if (actExtruder == Extruder::current && actExtruder->waitRetractUnits > 0 && !retracted && dirRising && actExtruder->tempControl.currentTemperatureC > actExtruder->waitRetractTemperature)
{
PrintLine::moveRelativeDistanceInSteps(0,0,0,-actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS],actExtruder->maxFeedrate,false,false);
retracted = 1;
}
#endif
if((waituntil == 0 &&
(dirRising ? actExtruder->tempControl.currentTemperatureC >= actExtruder->tempControl.targetTemperatureC - 1
: actExtruder->tempControl.currentTemperatureC <= actExtruder->tempControl.targetTemperatureC+1))
#if defined(TEMP_HYSTERESIS) && TEMP_HYSTERESIS>=1
|| (waituntil!=0 && (abs(actExtruder->tempControl.currentTemperatureC - actExtruder->tempControl.targetTemperatureC))>TEMP_HYSTERESIS)
#endif
)
{
waituntil = currentTime+1000UL*(millis_t)actExtruder->watchPeriod; // now wait for temp. to stabalize
}
}
while(waituntil==0 || (waituntil!=0 && (millis_t)(waituntil-currentTime)<2000000000UL));
#if RETRACT_DURING_HEATUP
if (retracted && actExtruder==Extruder::current)
{
PrintLine::moveRelativeDistanceInSteps(0,0,0,actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS],actExtruder->maxFeedrate,false,false);
}
#endif
}
UI_CLEAR_STATUS;
#endif
previousMillisCmd = HAL::timeInMilliseconds();
break;
case 190: // M190 - Wait bed for heater to reach target.
#if HAVE_HEATED_BED
if(Printer::debugDryrun()) break;
UI_STATUS_UPD(UI_TEXT_HEATING_BED);
Commands::waitUntilEndOfAllMoves();
#if HAVE_HEATED_BED
if (com->hasS()) Extruder::setHeatedBedTemperature(com->S,com->hasF() && com->F>0);
#if defined(SKIP_M190_IF_WITHIN) && SKIP_M190_IF_WITHIN>0
if(abs(heatedBedController.currentTemperatureC-heatedBedController.targetTemperatureC)<SKIP_M190_IF_WITHIN) break;
#endif
codenum = HAL::timeInMilliseconds();
while(heatedBedController.currentTemperatureC + 0.5 < heatedBedController.targetTemperatureC)
{
if( (HAL::timeInMilliseconds()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
printTemperatures();
codenum = previousMillisCmd = HAL::timeInMilliseconds();
}
Commands::checkForPeriodicalActions(true);
}
#endif
#endif
UI_CLEAR_STATUS;
previousMillisCmd = HAL::timeInMilliseconds();
break;
case 116: // Wait for temperatures to reach target temperature
if(Printer::debugDryrun()) break;
{
bool allReached = false;
codenum = HAL::timeInMilliseconds();
while(!allReached)
{
allReached = true;
if( (HAL::timeInMilliseconds()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
printTemperatures();
codenum = HAL::timeInMilliseconds();
}
Commands::checkForPeriodicalActions(true);
for(uint8_t h = 0; h < NUM_TEMPERATURE_LOOPS; h++)
{
TemperatureController *act = tempController[h];
if(act->targetTemperatureC > 30 && fabs(act->targetTemperatureC-act->currentTemperatureC) > 1)
allReached = false;
}
}
}
break;
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
case 106: // M106 Fan On
setFanSpeed(com->hasS()?com->S:255,com->hasP());
break;
case 107: // M107 Fan Off
setFanSpeed(0,com->hasP());
break;
#endif
case 111: // M111 enable/disable run time debug flags
if(com->hasS()) Printer::debugLevel = com->S;
if(com->hasP())
{
if (com->P > 0) Printer::debugLevel |= com->P;
else Printer::debugLevel &= ~(-com->P);
}
if(Printer::debugDryrun()) // simulate movements without printing
{
Extruder::setTemperatureForExtruder(0,0);
#if NUM_EXTRUDER>1
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(0,i);
#else
Extruder::setTemperatureForExtruder(0,0);
#endif
#if HEATED_BED_TYPE!=0
target_bed_raw = 0;
#endif
}
break;
case 115: // M115
Com::printFLN(Com::tFirmware);
reportPrinterUsage();
break;
case 114: // M114
printCurrentPosition(PSTR("M114 "));
break;
case 117: // M117 message to lcd
if(com->hasString())
{
UI_STATUS_UPD_RAM(com->text);
}
break;
case 119: // M119
Commands::waitUntilEndOfAllMoves();
#if (X_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_X
Com::printF(Com::tXMinColon);
Com::printF(Printer::isXMinEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
#if (X_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_X
Com::printF(Com::tXMaxColon);
Com::printF(Printer::isXMaxEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
#if (Y_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Y
Com::printF(Com::tYMinColon);
Com::printF(Printer::isYMinEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
#if (Y_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Y
Com::printF(Com::tYMaxColon);
Com::printF(Printer::isYMaxEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
#if (Z_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Z
Com::printF(Com::tZMinColon);
Com::printF(Printer::isZMinEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
#if (Z_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Z
Com::printF(Com::tZMaxColon);
Com::printF(Printer::isZMaxEndstopHit()?Com::tHSpace:Com::tLSpace);
#endif
Com::println();
break;
#if BEEPER_TYPE>0
case 120: // M120 Test beeper function
if(com->hasS() && com->hasP())
beep(com->S,com->P); // Beep test
break;
#endif
#if MIXING_EXTRUDER > 0
case 163: // M163 S<extruderNum> P<weight> - Set weight for this mixing extruder drive
if(com->hasS() && com->hasP() && com->S < NUM_EXTRUDER && com->S >= 0)
Extruder::setMixingWeight(com->S,com->P);
break;
case 164: /// M164 S<virtNum> P<0 = dont store eeprom,1 = store to eeprom> - Store weights as virtual extruder S
if(!com->hasS() || com->S < 0 || com->S >= VIRTUAL_EXTRUDER) break; // ignore illigal values
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
{
extruder[i].virtualWeights[com->S] = extruder[i].mixingW;
}
#if EEPROM_MODE != 0
if(com->hasP() && com->P != 0) // store permanently to eeprom
EEPROM::storeMixingRatios();
#endif
break;
#endif // MIXING_EXTRUDER
case 200: // M200 T<extruder> D<diameter>
{
uint8_t extruderId = Extruder::current->id;
if(com->hasT() && com->T < NUM_EXTRUDER)
extruderId = com->T;
float d = 0;
if(com->hasR())
d = com->R;
if(com->hasD())
d = com->D;
extruder[extruderId].diameter = d;
if(extruderId == Extruder::current->id)
changeFlowrateMultiply(Printer::extrudeMultiply);
if(d == 0)
{
Com::printFLN(PSTR("Disabled volumetric extrusion for extruder "),static_cast<int>(extruderId));
}
else
{
Com::printF(PSTR("Set volumetric extrusion for extruder "),static_cast<int>(extruderId));
Com::printFLN(PSTR(" to "),d);
}
}
break;
#if RAMP_ACCELERATION
case 201: // M201
if(com->hasX()) Printer::maxAccelerationMMPerSquareSecond[X_AXIS] = com->X;
if(com->hasY()) Printer::maxAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
if(com->hasZ()) Printer::maxAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
if(com->hasE()) Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = com->E;
Printer::updateDerivedParameter();
break;
case 202: // M202
if(com->hasX()) Printer::maxTravelAccelerationMMPerSquareSecond[X_AXIS] = com->X;
if(com->hasY()) Printer::maxTravelAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
if(com->hasZ()) Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
if(com->hasE()) Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = com->E;
Printer::updateDerivedParameter();
break;
#endif
case 203: // M203 Temperature monitor
if(com->hasS())
{
if(com->S<NUM_EXTRUDER) manageMonitor = com->S;
#if HAVE_HEATED_BED
else manageMonitor=NUM_EXTRUDER; // Set 100 to heated bed
#endif
}
break;
case 204: // M204
{
TemperatureController *temp = &Extruder::current->tempControl;
if(com->hasS())
{
if(com->S<0) break;
if(com->S<NUM_EXTRUDER) temp = &extruder[com->S].tempControl;
#if HAVE_HEATED_BED
else temp = &heatedBedController;
#else
else break;
#endif
}
if(com->hasX()) temp->pidPGain = com->X;
if(com->hasY()) temp->pidIGain = com->Y;
if(com->hasZ()) temp->pidDGain = com->Z;
temp->updateTempControlVars();
}
break;
case 205: // M205 Show EEPROM settings
EEPROM::writeSettings();
break;
case 206: // M206 T[type] P[pos] [Sint(long] [Xfloat] Set eeprom value
EEPROM::update(com);
break;
case 207: // M207 X<XY jerk> Z<Z Jerk>
if(com->hasX())
Printer::maxJerk = com->X;
if(com->hasE())
{
Extruder::current->maxStartFeedrate = com->E;
Extruder::selectExtruderById(Extruder::current->id);
}
#if DRIVE_SYSTEM != DELTA
if(com->hasZ())
Printer::maxZJerk = com->Z;
Com::printF(Com::tJerkColon,Printer::maxJerk);
Com::printFLN(Com::tZJerkColon,Printer::maxZJerk);
#else
Com::printFLN(Com::tJerkColon,Printer::maxJerk);
#endif
break;
case 209: // M209 S<0/1> Enable/disable autoretraction
if(com->hasS())
Printer::setAutoretract(com->S != 0);
break;
case 220: // M220 S<Feedrate multiplier in percent>
changeFeedrateMultiply(com->getS(100));
break;
case 221: // M221 S<Extrusion flow multiplier in percent>
changeFlowrateMultiply(com->getS(100));
break;
#if USE_ADVANCE
case 223: // M223 Extruder interrupt test
if(com->hasS())
{
InterruptProtectedBlock noInts;
Printer::extruderStepsNeeded += com->S;
}
break;
case 232: // M232
Com::printF(Com::tLinearStepsColon,maxadv2);
#if ENABLE_QUADRATIC_ADVANCE
Com::printF(Com::tQuadraticStepsColon,maxadv);
#endif
Com::printFLN(Com::tCommaSpeedEqual,maxadvspeed);
#if ENABLE_QUADRATIC_ADVANCE
maxadv=0;
#endif
maxadv2=0;
maxadvspeed=0;
break;
#endif
#if USE_ADVANCE
case 233: // M233
if(com->hasY())
Extruder::current->advanceL = com->Y;
Com::printF(Com::tLinearLColon,Extruder::current->advanceL);
#if ENABLE_QUADRATIC_ADVANCE
if(com->hasX())
Extruder::current->advanceK = com->X;
Com::printF(Com::tQuadraticKColon,Extruder::current->advanceK);
#endif
Com::println();
Printer::updateAdvanceFlags();
break;
#endif
#if Z_HOME_DIR>0 && MAX_HARDWARE_ENDSTOP_Z
case 251: // M251
Printer::zLength -= Printer::currentPosition[Z_AXIS];
Printer::currentPositionSteps[Z_AXIS] = 0;
Printer::updateDerivedParameter();
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentDeltaPositionSteps);
#endif
Printer::updateCurrentPosition();
Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#if EEPROM_MODE != 0
EEPROM::storeDataIntoEEPROM(false);
Com::printFLN(Com::tEEPROMUpdated);
#endif
Commands::printCurrentPosition(PSTR("M251 "));
break;
#endif
case 260: // M260
accelerometer_init();
break;
case 261: // M261
Com::printFLN( PSTR("INT PIN: "), digitalRead(Z_PROBE_PIN) );
accelerometer_status();
break;
case 262: // M262
accelerometer_recv(0x32);
if ( com->hasS() )
{
Com::printFLN(PSTR("Setting Threshold To:"), com->S );
accelerometer_write(0x32,uint8_t(com->S)); //INT1 THRESHOLD
accelerometer_write(0x3A,uint8_t(com->S)); //CLICK THRESHOLD
accelerometer_recv(0x32);
}
break;
#if FEATURE_DITTO_PRINTING
case 280: // M280
if(com->hasS()) // Set ditto mode S: 0 = off, 1 = 1 extra extruder, 2 = 2 extra extruder, 3 = 3 extra extruders
{
Extruder::dittoMode = com->S;
}
break;
#endif
case 281: // Trigger watchdog
#if FEATURE_WATCHDOG
{
Com::printInfoFLN(PSTR("Triggering watchdog. If activated, the printer will reset."));
Printer::kill(false);
HAL::delayMilliseconds(200); // write output, make sure heaters are off for safety
InterruptProtectedBlock noInts;
while(1) {} // Endless loop
}
#else
Com::printInfoFLN(PSTR("Watchdog feature was not compiled into this version!"));
#endif
break;
#if defined(BEEPER_PIN) && BEEPER_PIN>=0
case 300: // M300
{
int beepS = 1;
int beepP = 1000;
if(com->hasS()) beepS = com->S;
if(com->hasP()) beepP = com->P;
HAL::tone(BEEPER_PIN, beepS);
HAL::delayMilliseconds(beepP);
HAL::noTone(BEEPER_PIN);
}
break;
#endif
case 302: // M302 S<0 or 1> - allow cold extrusion. Without S parameter it will allow. S1 will disallow.
Printer::setColdExtrusionAllowed(!com->hasS() || (com->hasS() && com->S != 0));
break;
case 303: // M303
{
#if defined(TEMP_PID) && NUM_TEMPERATURE_LOOPS>0
int temp = 150;
int cont = 0;
if(com->hasS()) temp = com->S;
if(com->hasP()) cont = com->P;
if(cont>=NUM_TEMPERATURE_LOOPS) cont = NUM_TEMPERATURE_LOOPS;
tempController[cont]->autotunePID(temp,cont,com->hasX());
#endif
}
break;
#if FEATURE_AUTOLEVEL
case 320: // M320 Activate autolevel
Printer::setAutolevelActive(true);
if(com->hasS() && com->S)
{
EEPROM::storeDataIntoEEPROM();
}
break;
case 321: // M321 Deactivate autoleveling
Printer::setAutolevelActive(false);
if(com->hasS() && com->S)
{
if(com->S == 3)
Printer::resetTransformationMatrix(false);
EEPROM::storeDataIntoEEPROM();
}
break;
case 322: // M322 Reset autoeveling matrix
Printer::resetTransformationMatrix(false);
if(com->hasS() && com->S)
{
EEPROM::storeDataIntoEEPROM();
}
break;
#endif // FEATURE_AUTOLEVEL
#if DISTORTION_CORRECTION
case 323: // M323 S0/S1 enable disable distortion correction P0 = not permanent, P1 = permanent = default
if(com->hasS())
{
if(com->S > 0)
Printer::distortion.enable(!com->hasP() || com->P == 1);
else
Printer::distortion.disable(!com->hasP() || com->P == 1);
}
else
{
Printer::distortion.reportStatus();
}
break;
#endif // DISTORTION_CORRECTION
#if FEATURE_SERVO
case 340: // M340
if(com->hasP() && com->P<4 && com->P>=0)
{
int s = 0;
if(com->hasS())
s = com->S;
HAL::servoMicroseconds(com->P,s);
}
break;
#endif // FEATURE_SERVO
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
OUT_P_LN("Set Microstepping");
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(com->hasS()) for(int i = 0; i <= 4; i++) microstepMode(i, com->S);
if(com->hasX()) microstepMode(0, (uint8_t)com->X);
if(com->hasY()) microstepMode(1, (uint8_t)com->Y);
if(com->hasZ()) microstepMode(2, (uint8_t)com->Z);
if(com->hasE()) microstepMode(3, (uint8_t)com->E);
if(com->hasP()) microstepMode(4, com->P); // Original B but is not supported here
microstepReadings();
#endif
}
break;
case 355: // M355 S<0/1> - Turn case light on/off, no S = report status
if(com->hasS()) {
Printer::setCaseLight(com->S);
} else
Printer::reportCaseLightStatus();
break;
case 360: // M360 - show configuration
Printer::showConfiguration();
break;
case 400: // M400 Finish all moves
Commands::waitUntilEndOfAllMoves();
break;
case 401: // M401 Memory position
Printer::MemoryPosition();
break;
case 402: // M402 Go to stored position
Printer::GoToMemoryPosition(com->hasX(),com->hasY(),com->hasZ(),com->hasE(),(com->hasF() ? com->F : Printer::feedrate));
break;
case 500: // M500
{
#if EEPROM_MODE != 0
EEPROM::storeDataIntoEEPROM(false);
Com::printInfoFLN(Com::tConfigStoredEEPROM);
#else
Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
}
break;
case 501: // M501
{
#if EEPROM_MODE != 0
EEPROM::readDataFromEEPROM();
Extruder::selectExtruderById(Extruder::current->id);
Com::printInfoFLN(Com::tConfigLoadedEEPROM);
#else
Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
}
break;
case 502: // M502
EEPROM::restoreEEPROMSettingsFromConfiguration();
break;
#ifdef DEBUG_QUEUE_MOVE
case 533: // M533 Write move data
Com::printF(PSTR("Buf:"),(int)PrintLine::linesCount);
Com::printF(PSTR(",LP:"),(int)PrintLine::linesPos);
Com::printFLN(PSTR(",WP:"),(int)PrintLine::linesWritePos);
if(PrintLine::cur == NULL)
{
Com::printFLN(PSTR("No move"));
if(PrintLine::linesCount>0)
{
PrintLine &cur = PrintLine::lines[PrintLine::linesPos];
Com::printF(PSTR("JFlags:"),(int)cur.joinFlags);
Com::printFLN(PSTR("Flags:"),(int)cur.flags);
if(cur.isWarmUp())
{
Com::printFLN(PSTR("warmup:"),(int)cur.getWaitForXLinesFilled());
}
}
}
else
{
Com::printF(PSTR("Rem:"),PrintLine::cur->stepsRemaining);
Com::printFLN(PSTR("Int:"),Printer::interval);
}
break;
#endif // DEBUG_QUEUE_MOVE
#ifdef DEBUG_SEGMENT_LENGTH
case 534: // M534
Com::printFLN(PSTR("Max. segment size:"),Printer::maxRealSegmentLength);
if(com->hasS())
Printer::maxRealSegmentLength = 0;
break;
#endif
#ifdef DEBUG_REAL_JERK
Com::printFLN(PSTR("Max. jerk measured:"),Printer::maxRealJerk);
if(com->hasS())
Printer::maxRealJerk = 0;
break;
#endif
/* case 535: // M535
Com::printF(PSTR("Last commanded position:"),Printer::lastCmdPos[X_AXIS]);
Com::printF(Com::tComma,Printer::lastCmdPos[Y_AXIS]);
Com::printFLN(Com::tComma,Printer::lastCmdPos[Z_AXIS]);
Com::printF(PSTR("Current position:"),Printer::currentPosition[X_AXIS]);
Com::printF(Com::tComma,Printer::currentPosition[Y_AXIS]);
Com::printFLN(Com::tComma,Printer::currentPosition[Z_AXIS]);
Com::printF(PSTR("Position steps:"),Printer::currentPositionSteps[X_AXIS]);
Com::printF(Com::tComma,Printer::currentPositionSteps[Y_AXIS]);
Com::printFLN(Com::tComma,Printer::currentPositionSteps[Z_AXIS]);
#if NONLINEAR_SYSTEM
Com::printF(PSTR("Nonlin. position steps:"),Printer::currentDeltaPositionSteps[A_TOWER]);
Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
#endif // NONLINEAR_SYSTEM
break;*/
/* case 700: // M700 test new square root function
if(com->hasS())
Com::printFLN(Com::tInfo,(int32_t)HAL::integerSqrt(com->S));
break;*/
#if FEATURE_CONTROLLER != NO_CONTROLLER && FEATURE_RETRACTION
case 600:
uid.executeAction(UI_ACTION_WIZARD_FILAMENTCHANGE, true);
break;
#endif
case 908: // M908 Control digital trimpot directly.
{
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
Com::printFLN(PSTR("Setting motor current..."));
uint8_t channel,current;
if(com->hasP() && com->hasS())
setMotorCurrent((uint8_t)com->P, (unsigned int)com->S);
#endif
}
break;
default:
if(Printer::debugErrors())
{
Com::printF(Com::tUnknownCommand);
com->printCommand();
}
}
}
/**
\brief Execute the command stored in com.
*/
void Commands::executeGCode(GCode *com)
{
if (INCLUDE_DEBUG_COMMUNICATION)
{
if(Printer::debugCommunication())
{
if(com->hasG() || (com->hasM() && com->M != 111))
{
previousMillisCmd = HAL::timeInMilliseconds();
return;
}
}
}
if(com->hasG()) processGCode(com);
else if(com->hasM()) processMCode(com);
else if(com->hasT()) // Process T code
{
Commands::waitUntilEndOfAllMoves();
Extruder::selectExtruderById(com->T);
}
else
{
if(Printer::debugErrors())
{
Com::printF(Com::tUnknownCommand);
com->printCommand();
}
}
}
void Commands::emergencyStop()
{
#if defined(KILL_METHOD) && KILL_METHOD == 1
HAL::resetHardware();
#else
//HAL::forbidInterrupts(); // Don't allow interrupts to do their work
Printer::kill(false);
Extruder::manageTemperatures();
for(uint8_t i = 0; i < NUM_EXTRUDER + 3; i++)
pwm_pos[i] = 0;
#if EXT0_HEATER_PIN>-1
WRITE(EXT0_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
/*
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
WRITE(EXT1_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
*/
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1 && NUM_EXTRUDER>2
WRITE(EXT2_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN>-1 && NUM_EXTRUDER>3
WRITE(EXT3_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN>-1 && NUM_EXTRUDER>4
WRITE(EXT4_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN>-1 && NUM_EXTRUDER>5
WRITE(EXT5_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
WRITE(FAN_PIN,0);
#endif
#if HEATED_BED_HEATER_PIN>-1
WRITE(HEATED_BED_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
HAL::delayMilliseconds(200);
InterruptProtectedBlock noInts;
while(1) {}
#endif
}
void Commands::checkFreeMemory()
{
int newfree = HAL::getFreeRam();
if(newfree < lowestRAMValue)
lowestRAMValue = newfree;
}
void Commands::writeLowestFreeRAM()
{
if(lowestRAMValueSend>lowestRAMValue)
{
lowestRAMValueSend = lowestRAMValue;
Com::printFLN(Com::tFreeRAM, lowestRAMValue);
}
}
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