forked from RF1000/Repetier-Firmware
-
Notifications
You must be signed in to change notification settings - Fork 12
/
Printer.cpp
1991 lines (1700 loc) · 74.1 KB
/
Printer.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
This file is part of the Repetier-Firmware for RF devices from Conrad Electronic SE.
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/>.
*/
#include "Repetier.h"
#include <Wire.h>
#if USE_ADVANCE
uint8_t Printer::maxExtruderSpeed; // Timer delay for end extruder speed
volatile int Printer::extruderStepsNeeded; // This many extruder steps are still needed, <0 = reverse steps needed.
volatile int Printer::advanceStepsSet;
#endif // USE_ADVANCE
uint8_t Printer::unitIsInches = 0; // 0 = Units are mm, 1 = units are inches.
//Stepper Movement Variables
float Printer::axisStepsPerMM[4] = { XAXIS_STEPS_PER_MM,YAXIS_STEPS_PER_MM,ZAXIS_STEPS_PER_MM,1 }; ///< Number of steps per mm needed.
float Printer::axisMMPerSteps[4] = { 1.0f / XAXIS_STEPS_PER_MM,1.0f / YAXIS_STEPS_PER_MM,1.0f / ZAXIS_STEPS_PER_MM,1 }; ///< Inverse of axisStepsPerMM for faster conversion
float Printer::maxFeedrate[4] = { MAX_FEEDRATE_X, MAX_FEEDRATE_Y, MAX_FEEDRATE_Z, STANDARD_POSITION_FEEDRATE_E }; ///< Maximum allowed feedrate. //STANDARD_POSITION_FEEDRATE_E added by nibbels, wird aber überschrieben.
float Printer::homingFeedrate[3] = { HOMING_FEEDRATE_X_PRINT,HOMING_FEEDRATE_Y_PRINT,HOMING_FEEDRATE_Z_PRINT }; ///< dass zumindest etwas sinnvolles drin steht, wird überschrieben.
float Printer::maxAccelerationMMPerSquareSecond[4] = { MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z }; ///< X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
float Printer::maxTravelAccelerationMMPerSquareSecond[4] = { MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z }; ///< X, Y, Z max acceleration in mm/s^2 for travel moves
#if FEATURE_MILLING_MODE
short Printer::max_milling_all_axis_acceleration = MILLER_ACCELERATION; //miller min speed is limited to too high speed because of acceleration-formula. We use this value in milling mode and make it adjustable within small numbers like 5 to 100 or something like that.
#endif // FEATURE_MILLING_MODE
/** Acceleration in steps/s^2 in printing mode.*/
uint32_t Printer::maxPrintAccelerationStepsPerSquareSecond[4];
/** Acceleration in steps/s^2 in movement mode.*/
uint32_t Printer::maxTravelAccelerationStepsPerSquareSecond[4];
uint8_t Printer::relativeCoordinateMode = false; // Determines absolute (false) or relative Coordinates (true).
uint8_t Printer::relativeExtruderCoordinateMode = false; // Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
volatile float Printer::destinationMM[4] = { 0,0,0,0 }; // planned precise mm.
float Printer::destinationMMLast[4] = { 0,0,0,0 }; // rounded-queued mm.
float Printer::originOffsetMM[3] = { 0,0,0 };
uint8_t Printer::flag0 = 0;
uint8_t Printer::flag1 = 0;
uint8_t Printer::flag2 = 0;
uint8_t Printer::flag3 = 0;
#if ALLOW_EXTENDED_COMMUNICATION < 2
uint8_t Printer::debugLevel = 0; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
#else
uint8_t Printer::debugLevel = 6; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
#endif // ALLOW_EXTENDED_COMMUNICATION < 2
uint8_t Printer::stepsPerTimerCall = 1;
uint16_t Printer::stepsPackingMinInterval = STEP_PACKING_MIN_INTERVAL;
uint8_t Printer::menuMode = 0;
volatile unsigned long Printer::interval = 10000; // Last step duration in ticks.
volatile float Printer::v = 0; // Last planned printer speed.
unsigned long Printer::timer[2] = { 0 }; // Used for acceleration/deceleration timing
unsigned long Printer::stepNumber[2] = { 0 }; // Step number in current move.
#if FEATURE_DIGIT_FLOW_COMPENSATION
unsigned short Printer::interval_mod = 0; // additional step duration in ticks to slow the printer down live
#endif // FEATURE_DIGIT_FLOW_COMPENSATION
int8_t Printer::lastDirectionSovereignty = 0;
long Printer::maxSoftEndstopSteps[3] = { 0 }; // For software endstops, limit of move in positive direction. (=Homing-Offset + Achsenlänge)
float Printer::axisLengthMM[3] = { 0 }; // Länge des überfahrbaren Bereichs im positiven Homing. (=Schienen-Fahrweg - Homing-Offset - 2x ExtruderOffset)
float Printer::feedrate = 10; // Last requested feedrate.
int Printer::feedrateMultiply = 100; // Multiplier for feedrate in percent (factor 100 = 100%)
float Printer::dynamicFeedrateFactor = 1.0; // Feedrate multiplier factor for digit compensation (1.0 = 100%)
float Printer::menuExtrusionFactor = 1.0; // Flow multiplier factor (1.0 = 100%)
float Printer::dynamicExtrusionFactor = 1.0; // Flow multiplier factor for digit compensation (1.0 = 100%)
float Printer::extrudeMultiplyErrorSteps = 0;
float Printer::maxXYJerk; // Maximum allowed jerk in mm/s
float Printer::maxZJerk; // Maximum allowed jerk in z direction in mm/s
unsigned int Printer::vMaxReached[2]; // Maximum reached speed [FOR_DIRECT, FOR_QUEUE]
unsigned long Printer::msecondsPrinting = 0; // Milliseconds of printing time (means time with heated extruder)
unsigned long Printer::msecondsMilling = 0; // Milliseconds of milling time
float Printer::filamentPrinted = 0.0f; // mm of filament printed since counting started
long Printer::ZOffset = 0; // Z Offset in um
char Printer::ZMode = DEFAULT_Z_SCALE_MODE; // Z Scale 1 = show the z-distance to z-min (print) or to the z-origin (mill), 2 = show the z-distance to the surface of the heat bed (print) or work part (mill)
char Printer::moveMode[3]; // move mode which is applied within the Position X/Y/Z menus
bool Printer::moveKosys = KOSYS_GCODE; // true = GCode, false = DirectMove / OffsetMove
bool Printer::movePositionFeedrateChoice = FEEDRATE_DIRECTCONFIG; // select the feedrate for menu positioning: feedrate from last gcode or standard speed
// This is some buffer but only for a limited amount of overdrive.
volatile int16_t Printer::outOfPrintVolume[2] = { 0 };
volatile int32_t Printer::outOfPrintVolumeZ = 0;
#if FEATURE_MEMORY_POSITION
float Printer::memoryX;
float Printer::memoryY;
float Printer::memoryZ;
float Printer::memoryE;
float Printer::memoryF;
#endif // FEATURE_MEMORY_POSITION
#if FEATURE_HEAT_BED_Z_COMPENSATION
volatile char Printer::doHeatBedZCompensation = false;
#endif // FEATURE_HEAT_BED_Z_COMPENSATION
#if FEATURE_WORK_PART_Z_COMPENSATION
volatile char Printer::doWorkPartZCompensation = false;
volatile long Printer::staticCompensationZ = 0;
#endif // FEATURE_WORK_PART_Z_COMPENSATION
volatile long Printer::currentSteps[3] = { 0, 0, 0 };
volatile char Printer::blockAll = 0;
volatile long Printer::currentXSteps = 0; //das ist der X-Zähler der GCodes zum Zählen des tiefsten Schalterdruckpunkts /Schaltercrash.
volatile long Printer::currentYSteps = 0; //das ist der Y-Zähler der GCodes zum Zählen des tiefsten Schalterdruckpunkts /Schaltercrash.
volatile long Printer::currentZSteps = 0; //das ist der Z-Zähler der GCodes zum Zählen des tiefsten Schalterdruckpunkts /Schaltercrash.
uint16_t Printer::maxZOverrideSteps = uint16_t(ZAXIS_STEPS_PER_MM * Z_ENDSTOP_DRIVE_OVER); //das ist der Z-Zähler der GCodes zum Zählen des tiefsten Schalterdruckpunkts /Schaltercrash.
#if FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
volatile long Printer::compensatedPositionTargetStepsZ = 0;
volatile long Printer::compensatedPositionCurrentStepsZ = 0;
volatile float Printer::compensatedPositionOverPercE = 0.0f;
volatile float Printer::compensatedPositionCollectTinyE = 0.0f;
long Printer::queuePositionZLayerGuessNew = 0;
volatile long Printer::queuePositionZLayerCurrent = 0;
volatile long Printer::queuePositionZLayerLast = 0;
#endif // FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
volatile long Printer::directDestinationSteps[4] = { 0, 0, 0, 0 };
volatile long Printer::directCurrentSteps[4] = { 0, 0, 0, 0 };
#if FEATURE_MILLING_MODE
char Printer::operatingMode;
float Printer::drillFeedrate;
float Printer::drillZDepth;
#endif // FEATURE_MILLING_MODE
#if FEATURE_CONFIGURABLE_Z_ENDSTOPS
char Printer::ZEndstopType;
char Printer::ZEndstopUnknown;
char Printer::lastZDirection;
char Printer::endstopZMinHit;
char Printer::endstopZMaxHit;
#endif // FEATURE_CONFIGURABLE_Z_ENDSTOPS
#if FEATURE_CONFIGURABLE_MILLER_TYPE
char Printer::MillerType;
#endif // FEATURE_CONFIGURABLE_MILLER_TYPE
#if STEPPER_ON_DELAY
char Printer::enabledStepper[3] = { 0, 0, 0 };
#endif // STEPPER_ON_DELAY
#if FEATURE_BEEPER
char Printer::enableBeeper;
#endif // FEATURE_BEEPER
#if FEATURE_CASE_LIGHT
char Printer::enableCaseLight = CASE_LIGHTS_DEFAULT_ON;
#endif // FEATURE_CASE_LIGHT
#if FEATURE_RGB_LIGHT_EFFECTS
char Printer::RGBLightMode;
char Printer::RGBLightStatus;
unsigned long Printer::RGBLightIdleStart;
char Printer::RGBButtonBackPressed;
char Printer::RGBLightModeForceWhite;
#endif // FEATURE_RGB_LIGHT_EFFECTS
#if FEATURE_230V_OUTPUT
char Printer::enable230VOutput;
#endif // FEATURE_230V_OUTPUT
#if FEATURE_24V_FET_OUTPUTS
char Printer::enableFET1 = FET1_DEFAULT_ON;
char Printer::enableFET2 = FET2_DEFAULT_ON;
char Printer::enableFET3 = FET3_DEFAULT_ON;
#endif // FEATURE_24V_FET_OUTPUTS
#if FEATURE_CASE_FAN
bool Printer::ignoreFanOn = false;
millis_t Printer::prepareFanOff = 0;
unsigned long Printer::fanOffDelay = 0;
#endif // FEATURE_CASE_FAN
#if FEATURE_TYPE_EEPROM
unsigned char Printer::wrongType;
#endif // FEATURE_TYPE_EEPROM
#if FEATURE_UNLOCK_MOVEMENT
//When the printer resets, we should not do movement, because it would not be homed. At least some interaction with buttons or temperature-commands are needed to allow movement.
unsigned char Printer::g_unlock_movement = 0;
#endif //FEATURE_UNLOCK_MOVEMENT
#if FEATURE_SENSIBLE_PRESSURE
bool Printer::g_senseoffset_autostart = false;
#endif //FEATURE_SENSIBLE_PRESSURE
uint8_t Printer::motorCurrent[DRV8711_NUM_CHANNELS] = { 0 };
#if FEATURE_ZERO_DIGITS
bool Printer::g_pressure_offset_active = true;
short Printer::g_pressure_offset = 0;
#endif // FEATURE_ZERO_DIGITS
#if FEATURE_ADJUSTABLE_MICROSTEPS
//RF_MICRO_STEPS_ have values 0=FULL 1=2MS, 2=4MS, 3=8MS, 4=16MS, 5=32MS, 6=64MS, 7=128MS, 8=256MS
uint8_t Printer::motorMicroStepsModeValue[DRV8711_NUM_CHANNELS] = { 0 }; //init later because of recalculation of value
#endif // FEATURE_ADJUSTABLE_MICROSTEPS
#if FEATURE_Kurt67_WOBBLE_FIX
int8_t Printer::wobblePhaseXY = 0; //+100 = +PI | -100 = -PI
int16_t Printer::wobbleAmplitudes[3] = { 0 }; //X, Y(X_0), Y(X_max), /*Z*/
float Printer::lastWobbleFixOffset[2] = { 0 }; ///< last calculated target wobbleFixOffsets for relative coordinates and display output.
#endif // FEATURE_Kurt67_WOBBLE_FIX
void Printer::updateDerivedParameter()
{
// das extruder offset dürfen wir zur achslänge addieren, weil in dem Axis-Length von z.b. 180 mm schon angenommen wird, dass der extruder mit beiden nozzles jeden punkt erreicht.
// Offset von links ist gesetzt, aber überfahren rechts muss aber noch möglich werden.
// Darum 1x das Offset mehr zulassen und die Achsenlänge immer als reine Druckbreite definieren.
maxSoftEndstopSteps[X_AXIS] = (long)(axisStepsPerMM[X_AXIS] * (axisLengthMM[X_AXIS]
#if NUM_EXTRUDER > 1
+ getMaxExtruderOffsetMM(X_AXIS)
#endif
));
maxSoftEndstopSteps[Y_AXIS] = (long)(axisStepsPerMM[Y_AXIS] * (axisLengthMM[Y_AXIS]
#if NUM_EXTRUDER > 1
+ getMaxExtruderOffsetMM(Y_AXIS)
#endif
));
// Sonderbehandlung für Z.
maxSoftEndstopSteps[Z_AXIS] = (long)(axisStepsPerMM[Z_AXIS] * axisLengthMM[Z_AXIS]);
for (uint8_t axis = 0; axis < 4; axis++)
{
axisMMPerSteps[axis] = 1.0f / axisStepsPerMM[axis];
#if FEATURE_MILLING_MODE
if (Printer::operatingMode == OPERATING_MODE_PRINT)
{
#endif // FEATURE_MILLING_MODE
/** Acceleration in steps/s^2 in printing mode.*/
maxPrintAccelerationStepsPerSquareSecond[axis] = uint32_t(maxAccelerationMMPerSquareSecond[axis] * axisStepsPerMM[axis]);
/** Acceleration in steps/s^2 in movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[axis] = uint32_t(maxTravelAccelerationMMPerSquareSecond[axis] * axisStepsPerMM[axis]);
#if FEATURE_MILLING_MODE
}
else
{
/** Acceleration in steps/s^2 in milling mode.*/
maxPrintAccelerationStepsPerSquareSecond[axis] = uint32_t(MILLER_ACCELERATION * axisStepsPerMM[axis]);
/** Acceleration in steps/s^2 in milling-movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[axis] = uint32_t(MILLER_ACCELERATION * axisStepsPerMM[axis]);
}
#endif // FEATURE_MILLING_MODE
}
// 07 11 2017 https://github.com/repetier/Repetier-Firmware/commit/e76875ec2d04bd0dbfdd9a157270ee03f4731d5f#diff-dbe11559ff43e09563388a4968911e40L1973
// For numeric stability we need to start accelerations at a minimum speed and hence ensure that the
// jerk is at least 2 * minimum speed.
// For xy moves the minimum speed is multiplied with 1.41 to enforce the condition also for diagonals since the
// driving axis is the problematic speed.
float accel;
#if FEATURE_MILLING_MODE
if (Printer::operatingMode == OPERATING_MODE_PRINT)
{
#endif // FEATURE_MILLING_MODE
accel = RMath::max(maxAccelerationMMPerSquareSecond[X_AXIS], maxTravelAccelerationMMPerSquareSecond[X_AXIS]);
#if FEATURE_MILLING_MODE
}
else {
accel = MILLER_ACCELERATION;
}
#endif // FEATURE_MILLING_MODE
float minimumSpeed = 1.41 * accel * sqrt(2.0f / (axisStepsPerMM[X_AXIS] * accel));
#if FEATURE_MILLING_MODE
if (Printer::operatingMode == OPERATING_MODE_PRINT)
{
#endif // FEATURE_MILLING_MODE
accel = RMath::max(maxAccelerationMMPerSquareSecond[Y_AXIS], maxTravelAccelerationMMPerSquareSecond[Y_AXIS]);
#if FEATURE_MILLING_MODE
}
else {
accel = MILLER_ACCELERATION;
}
#endif // FEATURE_MILLING_MODE
float minimumSpeed2 = 1.41 * accel * sqrt(2.0f / (axisStepsPerMM[Y_AXIS] * accel));
if (minimumSpeed2 > minimumSpeed) {
minimumSpeed = minimumSpeed2;
}
if (maxXYJerk < 2 * minimumSpeed) {// Enforce minimum start speed if target is faster and jerk too low
maxXYJerk = 2 * minimumSpeed;
Com::printFLN(PSTR("XY jerk was too low, setting to "), maxXYJerk);
}
#if FEATURE_MILLING_MODE
if (Printer::operatingMode == OPERATING_MODE_PRINT)
{
#endif // FEATURE_MILLING_MODE
accel = RMath::max(maxAccelerationMMPerSquareSecond[Z_AXIS], maxTravelAccelerationMMPerSquareSecond[Z_AXIS]);
#if FEATURE_MILLING_MODE
}
#endif // FEATURE_MILLING_MODE
float minimumZSpeed = 0.5 * accel * sqrt(2.0f / (axisStepsPerMM[Z_AXIS] * accel));
if (maxZJerk < 2 * minimumZSpeed) {
maxZJerk = 2 * minimumZSpeed;
Com::printFLN(PSTR("Z jerk was too low, setting to "), maxZJerk);
}
Printer::updateAdvanceActivated();
} // updateDerivedParameter
/** \brief Stop heater and stepper motors. Disable power,if possible. */
void Printer::switchEverythingOff()
{
if (Printer::isAllSwitchedOff()) return;
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
// disable the fan
Commands::setFanSpeed((uint8_t)0);
#endif // FAN_PIN>-1 && FEATURE_FAN_CONTROL
Printer::disableAllSteppersNow();
Extruder::setTemperatureForAllExtruders(0, false);
Extruder::setHeatedBedTemperature(0);
UI_STATUS_UPD(UI_TEXT_SWITCHED_OFF);
Printer::setAllSwitchedOff(true);
} // switchEverythingOff
void Printer::updateAdvanceActivated()
{
Printer::setAdvanceActivated(false);
#if USE_ADVANCE
for (uint8_t i = 0; i < NUM_EXTRUDER; i++) {
if (extruder[i].advanceL != 0) {
Printer::setAdvanceActivated(true);
}
}
#endif // USE_ADVANCE
} // updateAdvanceActivated
#if FEATURE_Kurt67_WOBBLE_FIX
void Printer::addKurtWobbleFixOffset()
{
/*
Zielkoordinate in Z ist: "z"
Wir fügen beim Umrechnen in Steps vorher noch ein Offset in XYZ ein.
offsetZ = amplitude des hubs * drehposition spindel
offsetY = amplitude in Richtung Y linke Spindel * drehposition spindel
offsetY = amplitude in Richtung Y rechte Spindel * drehposition spindel
offsetX = amplitude in Richtung X * drehposition spindel
"sinOffset = amplitude * sin( 2*Pi*(Z/5mm + zStartOffset) );"
*/
//vorausgerechnete konstanten.
float zweiPi = 6.2832f; //2*Pi
float hundertstelPi = 0.031428f; //Pi/100
float spindelSteigung = 5.0f; //[mm]
float zSchalterZ = Printer::currentZSteps * Printer::axisMMPerSteps[Z_AXIS];
//wobble durch Bauchtanz der Druckplatte
//wobbleX oder wobbleY(x0) oder wobbleX(x245)
if (Printer::wobbleAmplitudes[0]) {
float anglePositionWobble = cos(zweiPi*(zSchalterZ / spindelSteigung) - (float)Printer::wobblePhaseXY * hundertstelPi);
//für das wobble in Richtung X-Achse gilt immer dieselbe Amplitude, weil im extremfall beide gegeneinander arbeiten und sich aufheben könnten, oder die Spindeln arbeiten zusammen.
float wOffsetX = Printer::wobbleAmplitudes[0] * anglePositionWobble * 0.001; //offset in [mm]
if (Printer::relativeCoordinateMode) {
//fraglich wie lange das genau bleibt. Ist aber auch so beim relativen Drucken ein Problem.
//addiere nur die Änderung des Offsets.
Printer::destinationMM[X_AXIS] += (wOffsetX - Printer::lastWobbleFixOffset[X_AXIS]);
}
else {
Printer::destinationMM[X_AXIS] += wOffsetX;
}
Printer::lastWobbleFixOffset[X_AXIS] = wOffsetX;
}
if (Printer::wobbleAmplitudes[1] || Printer::wobbleAmplitudes[2]) {
float anglePositionWobble = sin(zweiPi*(zSchalterZ / spindelSteigung) - (float)Printer::wobblePhaseXY * hundertstelPi);
//gilt eher die Y-Achsen-Richtung-Amplitude links (x=0) oder rechts (x=achsenlänge)? (abhängig von der ziel-x-position wird anteilig verrechnet.)
float xPosPercent = float(Printer::currentXSteps) / float(Printer::maxSoftEndstopSteps[X_AXIS]);
float wOffsetY = ((1 - xPosPercent) * Printer::wobbleAmplitudes[1] + (xPosPercent)* Printer::wobbleAmplitudes[2]) * anglePositionWobble * 0.001; //offset in [mm]
if (Printer::relativeCoordinateMode) {
//fraglich wie lange das genau bleibt. Ist aber auch so beim relativen Drucken ein Problem.
//addiere nur die Änderung des Offsets.
Printer::destinationMM[Y_AXIS] += (wOffsetY - Printer::lastWobbleFixOffset[Y_AXIS]);
}
else {
Printer::destinationMM[Y_AXIS] += wOffsetY;
}
Printer::lastWobbleFixOffset[Y_AXIS] = wOffsetY;
}
} // addKurtWobbleFixOffset
#endif // FEATURE_Kurt67_WOBBLE_FIX
inline bool isExtrusionAllowed(float e) {
// calculate total amount of extrusion respecting coordinate mode
float de = e;
if (!Printer::relativeCoordinateMode && !Printer::relativeExtruderCoordinateMode)
{
de = e - Printer::destinationMM[E_AXIS];
}
#if FEATURE_DIGIT_FLOW_COMPENSATION
if (fabs(de) * Printer::menuExtrusionFactor * Printer::dynamicExtrusionFactor > EXTRUDE_MAXLENGTH) {
return false;
}
#else
if (fabs(de) * Printer::menuExtrusionFactor > EXTRUDE_MAXLENGTH) {
return false;
}
#endif // FEATURE_DIGIT_FLOW_COMPENSATION
if (Printer::debugDryrun()) {
return false;
}
return true;
}
bool Printer::isZMoveActive() {
if (PrintLine::direct.stepsRemaining && PrintLine::direct.isZMove()) {
return true;
}
if (PrintLine::cur == NULL) {
return false;
}
if (PrintLine::cur->isZMove()) {
return true;
}
return false;
}
/**
* Set the printers feedrate according to active unit settings
*/
void Printer::setFeedrate(float feedrate) {
if (feedrate <= 0) return;
if (Printer::unitIsInches)
Printer::feedrate = feedrate * (float)Printer::feedrateMultiply * 0.0042333f; // Factor is 25.4/60/100 = convertToMM(0.00016666666f)
else
Printer::feedrate = feedrate * (float)Printer::feedrateMultiply * 0.00016666666f;
}
/**
\brief Sets the destination coordinates to values stored in com.
For the computation of the destination, the following facts are considered:
- Are units inches or mm.
- Relative or absolute positioning with special case only extruder relative.
- Offset in x and y direction for multiple extruder support.
- originOffsetMM is only affecting gcode coordinates??
*/
bool Printer::queueGCodeCoordinates(GCode *com, bool noDriving)
{
InterruptProtectedBlock noInts;
bool isXYZMove = !com->hasNoXYZ();
if (relativeCoordinateMode)
{
if (com->hasX()) destinationMM[X_AXIS] += convertToMM(com->X);
if (com->hasY()) destinationMM[Y_AXIS] += convertToMM(com->Y);
if (com->hasZ()) destinationMM[Z_AXIS] += convertToMM(com->Z);
}
else //absolute Coordinate Mode
{
if (com->hasX()) destinationMM[X_AXIS] = convertToMM(com->X) - Printer::originOffsetMM[X_AXIS];
if (com->hasY()) destinationMM[Y_AXIS] = convertToMM(com->Y) - Printer::originOffsetMM[Y_AXIS];
if (com->hasZ()) destinationMM[Z_AXIS] = convertToMM(com->Z) - Printer::originOffsetMM[Z_AXIS];
}
noInts.unprotect();
float e = convertToMM(com->E);
bool isEMove = com->hasE() && isExtrusionAllowed(e);
if (isEMove)
{
noInts.protect();
if (relativeCoordinateMode || relativeExtruderCoordinateMode)
{
destinationMM[E_AXIS] += e;
}
else //absolute Coordinate Mode
{
destinationMM[E_AXIS] = e;
}
noInts.unprotect();
}
if (com->hasF())
{
Printer::setFeedrate(com->F);
}
#if FEATURE_Kurt67_WOBBLE_FIX
if (isXYZMove) {
addKurtWobbleFixOffset();
}
#endif // FEATURE_Kurt67_WOBBLE_FIX
if (noDriving) {
return isXYZMove || isEMove;
}
if (isXYZMove || isEMove)
{
PrintLine::prepareQueueMove(false, true, Printer::feedrate);
return true;
}
// report back moves which do not turn steppers
return false;
} // queueGCodeCoordinates
/**
* Move to Cartesian coordinates
*
* Does ignore origin offset? TODO
* Does ignore wobble fix
*/
void Printer::queueFloatCoordinates(float x, float y, float z, float e, float feedrate)
{
InterruptProtectedBlock noInts;
if (x == IGNORE_COORDINATE) x = destinationMM[X_AXIS];
if (y == IGNORE_COORDINATE) y = destinationMM[Y_AXIS];
if (z == IGNORE_COORDINATE) z = destinationMM[Z_AXIS];
if (e == IGNORE_COORDINATE) e = destinationMM[E_AXIS];
if (feedrate == IGNORE_COORDINATE) feedrate = Printer::feedrate;
destinationMM[X_AXIS] = x;
destinationMM[Y_AXIS] = y;
destinationMM[Z_AXIS] = z;
destinationMM[E_AXIS] = e;
noInts.unprotect();
PrintLine::prepareQueueMove(false, true, feedrate);
previousMillisCmd = HAL::timeInMilliseconds(); //prevent inactive shutdown of steppers/temps
} // queueFloatCoordinates
/** \brief Move printer the given number of steps. Puts the move into the queue. Used by e.g. homing commands. */
void Printer::queueRelativeStepsCoordinates(long dx, long dy, long dz, long de, float feedrate, bool waitEnd, bool abortAtEndstops)
{
InterruptProtectedBlock noInts;
destinationMM[X_AXIS] += dx * axisMMPerSteps[X_AXIS];
destinationMM[Y_AXIS] += dy * axisMMPerSteps[Y_AXIS];
destinationMM[Z_AXIS] += dz * axisMMPerSteps[Z_AXIS];
destinationMM[E_AXIS] += de * axisMMPerSteps[E_AXIS];
noInts.unprotect();
PrintLine::prepareQueueMove(abortAtEndstops, !waitEnd, feedrate);
if (waitEnd) Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds(); //prevent inactive shutdown of steppers/temps
} // queueRelativeStepsCoordinates
/** \brief Move printer the given number of mm. Puts the move into the queue. */
void Printer::queueRelativeMMCoordinates(float dx, float dy, float dz, float de, float feedrate, bool waitEnd, bool abortAtEndstops)
{
InterruptProtectedBlock noInts;
destinationMM[X_AXIS] += dx;
destinationMM[Y_AXIS] += dy;
destinationMM[Z_AXIS] += dz;
destinationMM[E_AXIS] += de;
noInts.unprotect();
PrintLine::prepareQueueMove(abortAtEndstops, !waitEnd, feedrate);
if (waitEnd) Commands::waitUntilEndOfAllMoves();
previousMillisCmd = HAL::timeInMilliseconds(); //prevent inactive shutdown of steppers/temps
} // queueRelativeMMCoordinates
/**
* This function transfers the axis without affecting the axis values.
* This is expecially usefull to transfer the extruder 0 to 1 and backwards.
*/
#define NORMAL_DIRECT false
#define STOPPABLE_DIRECT true
void Printer::offsetRelativeStepsCoordinates(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint8_t configuration) {
#if FEATURE_MILLING_MODE
// we do not process the extruder in case we are not in operating mode "print"
if (Printer::operatingMode != OPERATING_MODE_PRINT)
{
de = 0;
}
#endif // FEATURE_MILLING_MODE
if (dx != 0 || dy != 0 || dz != 0 || de != 0) {
while (PrintLine::direct.task) {
// If another offset move is going on, we have to wait
Commands::checkForPeriodicalActions(Processing);
}
InterruptProtectedBlock noInts;
//braucht man das Stop noch?
Printer::stopDirectAxis(X_AXIS);
Printer::stopDirectAxis(Y_AXIS);
Printer::stopDirectAxis(Z_AXIS);
Printer::stopDirectAxis(E_AXIS);
Printer::directDestinationSteps[X_AXIS] += dx;
Printer::directDestinationSteps[Y_AXIS] += dy;
Printer::directDestinationSteps[Z_AXIS] += dz;
Printer::directDestinationSteps[E_AXIS] += de;
bool feedrateSource = FEEDRATE_DIRECTCONFIG;
if (configuration == TASK_MOVE_FROM_BUTTON || configuration == TASK_MOVE_POSITION_MANUAL) {
// In position menu or when moving using z-buttons we always choose the feedrate type configured in menu->position->Pos-Feedrate {direct or gcode}
// single Z feedrate is always limited to direct config as well as max-feedrate
feedrateSource = Printer::movePositionFeedrateChoice;
}
// If we start this move by pressing a button we dont want to wait for it to finish and instead have it listening to the buttons release
if (configuration == TASK_MOVE_FROM_BUTTON) {
PrintLine::prepareDirectMove(STOPPABLE_DIRECT, feedrateSource);
//noInts handled by destructor
return;
}
PrintLine::prepareDirectMove(NORMAL_DIRECT, feedrateSource);
//release Interrupts for processing
noInts.unprotect();
while (PrintLine::direct.task) {
// Wait until this offset move is finished. Otherwise could be interrupted by queue-moves and end up directStepping
Commands::checkForPeriodicalActions(Processing);
}
}
}
void Printer::setOrigin(float xOff, float yOff, float zOff)
{
Com::printF(PSTR("setOrigin():"));
bool someFailed = false;
if (isAxisHomed(X_AXIS) || xOff == 0.0f) {
originOffsetMM[X_AXIS] = xOff;
Com::printF(PSTR("x="), originOffsetMM[X_AXIS]);
}
else {
Com::printF(PSTR("x-fail"));
someFailed = true;
}
if (isAxisHomed(Y_AXIS) || yOff == 0.0f) {
originOffsetMM[Y_AXIS] = yOff;
Com::printF(PSTR(" y="), originOffsetMM[Y_AXIS]);
}
else {
Com::printF(PSTR(" y-fail"));
someFailed = true;
}
if (isAxisHomed(Z_AXIS) || zOff == 0.0f) {
originOffsetMM[Z_AXIS] = zOff;
Com::printF(PSTR(" z="), originOffsetMM[Z_AXIS]);
}
else {
Com::printF(PSTR(" z-fail"));
someFailed = true;
}
Com::println();
if (someFailed)
{
// we can not set the origin when we do not know the home position
Com::printFLN(PSTR("WARNING: Home positions were unknown/Value not 0 -> ignored!"));
showError((void*)ui_text_set_origin, (void*)ui_text_home_unknown);
}
} // setOrigin
void Printer::setup()
{
HAL::stopWatchdog();
for (uint8_t i = 0; i < NUM_EXTRUDER + 3; i++) pwm_pos[i] = 0;
#if FEATURE_USER_INT3
SET_INPUT(RESERVE_DIGITAL_PIN_PD3);
PULLUP(RESERVE_DIGITAL_PIN_PD3, HIGH);
#endif //FEATURE_USER_INT3
#if FEATURE_READ_CALIPER
// read for using pins : https://www.arduino.cc/en/Tutorial/DigitalPins
//where the clock comes in and triggers an interrupt which reads data then:
SET_INPUT(FEATURE_READ_CALIPER_INT_PIN); //input as default already this is here for explaination more than really having an input.
PULLUP(FEATURE_READ_CALIPER_INT_PIN, HIGH); //do I need this pullup??
//where data is to read when Int triggers because of clock from caliper:
SET_INPUT(FEATURE_READ_CALIPER_DATA_PIN); //input as default already this is here for explaination more than really having an input.
PULLUP(FEATURE_READ_CALIPER_DATA_PIN, HIGH); //do I need this pullup??
#endif //FEATURE_READ_CALIPER
HAL::allowInterrupts();
#if FEATURE_USER_INT3
attachInterrupt(digitalPinToInterrupt(RESERVE_DIGITAL_PIN_PD3), USER_INTERRUPT3_HOOK, FALLING);
#endif //FEATURE_USER_INT3
#if FEATURE_READ_CALIPER
attachInterrupt(digitalPinToInterrupt(FEATURE_READ_CALIPER_INT_PIN), FEATURE_READ_CALIPER_HOOK, FALLING);
#endif //FEATURE_READ_CALIPER
#if FEATURE_BEEPER
enableBeeper = BEEPER_MODE;
#endif // FEATURE_BEEPER
Wire.begin();
#if FEATURE_TYPE_EEPROM
determineHardwareType();
if (wrongType)
{
// this firmware is not for this hardware
while (1)
{
// this firmware shall not try to do anything at this hardware
}
}
#endif // FEATURE_TYPE_EEPROM
//Initialize Step Pins
SET_OUTPUT(X_STEP_PIN);
SET_OUTPUT(Y_STEP_PIN);
SET_OUTPUT(Z_STEP_PIN);
//Initialize Dir Pins
#if X_DIR_PIN>-1
SET_OUTPUT(X_DIR_PIN);
#endif // X_DIR_PIN>-1
#if Y_DIR_PIN>-1
SET_OUTPUT(Y_DIR_PIN);
#endif // Y_DIR_PIN>-1
#if Z_DIR_PIN>-1
SET_OUTPUT(Z_DIR_PIN);
#endif // Z_DIR_PIN>-1
//Steppers default to disabled.
#if X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
if (!X_ENABLE_ON) WRITE(X_ENABLE_PIN, HIGH);
disableXStepper();
#endif // X_ENABLE_PIN > -1
#if Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if (!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN, HIGH);
disableYStepper();
#endif // Y_ENABLE_PIN > -1
#if Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
if (!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN, HIGH);
disableZStepper();
#endif // Z_ENABLE_PIN > -1
#if FEATURE_TWO_XSTEPPER
SET_OUTPUT(X2_STEP_PIN);
SET_OUTPUT(X2_DIR_PIN);
#if X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN);
if (!X_ENABLE_ON) WRITE(X2_ENABLE_PIN, HIGH);
#endif // X2_ENABLE_PIN > -1
#endif // FEATURE_TWO_XSTEPPER
#if FEATURE_TWO_YSTEPPER
SET_OUTPUT(Y2_STEP_PIN);
SET_OUTPUT(Y2_DIR_PIN);
#if Y2_ENABLE_PIN > -1
SET_OUTPUT(Y2_ENABLE_PIN);
if (!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN, HIGH);
#endif // Y2_ENABLE_PIN > -1
#endif // FEATURE_TWO_YSTEPPER
#if FEATURE_TWO_ZSTEPPER
SET_OUTPUT(Z2_STEP_PIN);
SET_OUTPUT(Z2_DIR_PIN);
#if X2_ENABLE_PIN > -1
SET_OUTPUT(Z2_ENABLE_PIN);
if (!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN, HIGH);
#endif // X2_ENABLE_PIN > -1
#endif // FEATURE_TWO_ZSTEPPER
//endstop pullups
#if MIN_HARDWARE_ENDSTOP_X
#if X_MIN_PIN>-1
SET_INPUT(X_MIN_PIN);
#if ENDSTOP_PULLUP_X_MIN
PULLUP(X_MIN_PIN, HIGH);
#endif // ENDSTOP_PULLUP_X_MIN
#else
#error You have defined hardware x min endstop without pin assignment. Set pin number for X_MIN_PIN
#endif // X_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_X
#if MIN_HARDWARE_ENDSTOP_Y
#if Y_MIN_PIN>-1
SET_INPUT(Y_MIN_PIN);
#if ENDSTOP_PULLUP_Y_MIN
PULLUP(Y_MIN_PIN, HIGH);
#endif // ENDSTOP_PULLUP_Y_MIN
#else
#error You have defined hardware y min endstop without pin assignment. Set pin number for Y_MIN_PIN
#endif // Y_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_Y
#if MIN_HARDWARE_ENDSTOP_Z
#if Z_MIN_PIN>-1
SET_INPUT(Z_MIN_PIN);
#if ENDSTOP_PULLUP_Z_MIN
PULLUP(Z_MIN_PIN, HIGH);
#endif // ENDSTOP_PULLUP_Z_MIN
#else
#error You have defined hardware z min endstop without pin assignment. Set pin number for Z_MIN_PIN
#endif // Z_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_Z
#if MAX_HARDWARE_ENDSTOP_X
#if X_MAX_PIN>-1
SET_INPUT(X_MAX_PIN);
#if ENDSTOP_PULLUP_X_MAX
PULLUP(X_MAX_PIN, HIGH);
#endif // ENDSTOP_PULLUP_X_MAX
#else
#error You have defined hardware x max endstop without pin assignment. Set pin number for X_MAX_PIN
#endif // X_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_X
#if MAX_HARDWARE_ENDSTOP_Y
#if Y_MAX_PIN>-1
SET_INPUT(Y_MAX_PIN);
#if ENDSTOP_PULLUP_Y_MAX
PULLUP(Y_MAX_PIN, HIGH);
#endif // ENDSTOP_PULLUP_Y_MAX
#else
#error You have defined hardware y max endstop without pin assignment. Set pin number for Y_MAX_PIN
#endif // Y_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_Y
#if MAX_HARDWARE_ENDSTOP_Z
#if Z_MAX_PIN>-1
SET_INPUT(Z_MAX_PIN);
#if ENDSTOP_PULLUP_Z_MAX
PULLUP(Z_MAX_PIN, HIGH);
#endif // ENDSTOP_PULLUP_Z_MAX
#else
#error You have defined hardware z max endstop without pin assignment. Set pin number for Z_MAX_PIN
#endif // Z_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_Z
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN, LOW);
#endif // FAN_PIN>-1 && FEATURE_FAN_CONTROL
#if FAN_BOARD_PIN>-1
SET_OUTPUT(FAN_BOARD_PIN);
WRITE(FAN_BOARD_PIN, LOW);
#endif // FAN_BOARD_PIN>-1
#if EXT0_HEATER_PIN>-1
SET_OUTPUT(EXT0_HEATER_PIN);
WRITE(EXT0_HEATER_PIN, HEATER_PINS_INVERTED);
#endif // EXT0_HEATER_PIN>-1
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_HEATER_PIN);
WRITE(EXT1_HEATER_PIN, HEATER_PINS_INVERTED);
#endif // defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if EXT0_EXTRUDER_COOLER_PIN >- 1
SET_OUTPUT(EXT0_EXTRUDER_COOLER_PIN);
WRITE(EXT0_EXTRUDER_COOLER_PIN, LOW);
#endif // EXT0_EXTRUDER_COOLER_PIN >- 1
#if defined(EXT1_EXTRUDER_COOLER_PIN) && EXT1_EXTRUDER_COOLER_PIN >- 1 && NUM_EXTRUDER > 1
SET_OUTPUT(EXT1_EXTRUDER_COOLER_PIN);
WRITE(EXT1_EXTRUDER_COOLER_PIN, LOW);
#endif // defined(EXT1_EXTRUDER_COOLER_PIN) && EXT1_EXTRUDER_COOLER_PIN >- 1 && NUM_EXTRUDER > 1
#if USE_ADVANCE
advanceStepsSet = 0;
#endif // USE_ADVANCE
maxXYJerk = MAX_JERK;
maxZJerk = MAX_ZJERK;
flag0 = PRINTER_FLAG0_STEPPER_DISABLED;
moveMode[X_AXIS] = DEFAULT_MOVE_MODE_X;
moveMode[Y_AXIS] = DEFAULT_MOVE_MODE_Y;
moveMode[Z_AXIS] = DEFAULT_MOVE_MODE_Z;
#if FEATURE_HEAT_BED_Z_COMPENSATION
doHeatBedZCompensation = 0; //init
#endif // FEATURE_HEAT_BED_Z_COMPENSATION
#if FEATURE_WORK_PART_Z_COMPENSATION
doWorkPartZCompensation = 0; //init
staticCompensationZ = 0; //init
#endif // FEATURE_WORK_PART_Z_COMPENSATION
blockAll = 0;
#if FEATURE_MILLING_MODE
operatingMode = DEFAULT_OPERATING_MODE;
drillFeedrate = 0.0;
drillZDepth = 0.0;
#endif // FEATURE_MILLING_MODE
#if FEATURE_MILLING_MODE
if (Printer::operatingMode == OPERATING_MODE_PRINT)
{
#endif // FEATURE_MILLING_MODE
Printer::homingFeedrate[X_AXIS] = HOMING_FEEDRATE_X_PRINT;
Printer::homingFeedrate[Y_AXIS] = HOMING_FEEDRATE_Y_PRINT;
Printer::homingFeedrate[Z_AXIS] = HOMING_FEEDRATE_Z_PRINT;
Printer::axisLengthMM[X_AXIS] = X_MAX_LENGTH_PRINT;
#if FEATURE_MILLING_MODE
}
else
{
Printer::homingFeedrate[X_AXIS] = HOMING_FEEDRATE_X_MILL;
Printer::homingFeedrate[Y_AXIS] = HOMING_FEEDRATE_Y_MILL;
Printer::homingFeedrate[Z_AXIS] = HOMING_FEEDRATE_Z_MILL;
Printer::axisLengthMM[X_AXIS] = X_MAX_LENGTH_MILL;
}
#endif // FEATURE_MILLING_MODE
Printer::axisLengthMM[Y_AXIS] = Y_MAX_LENGTH;
Printer::axisLengthMM[Z_AXIS] = Z_MAX_LENGTH;
#if FEATURE_CONFIGURABLE_Z_ENDSTOPS
ZEndstopType = DEFAULT_Z_ENDSTOP_TYPE;
ZEndstopUnknown = 0;
lastZDirection = 0;
endstopZMinHit = ENDSTOP_NOT_HIT;
endstopZMaxHit = ENDSTOP_NOT_HIT;
#endif // FEATURE_CONFIGURABLE_Z_ENDSTOPS
#if FEATURE_CASE_FAN
fanOffDelay = CASE_FAN_OFF_DELAY;
#endif // FEATURE_CASE_FAN
#if FEATURE_RGB_LIGHT_EFFECTS
RGBLightMode = RGB_LIGHT_DEFAULT_MODE;
if (RGBLightMode == RGB_MODE_AUTOMATIC)
{
RGBLightStatus = RGB_STATUS_AUTOMATIC;
}
else
{
RGBLightStatus = RGB_STATUS_NOT_AUTOMATIC;
}
RGBLightIdleStart = 0;
RGBButtonBackPressed = 0;
RGBLightModeForceWhite = 0;
#endif // FEATURE_RGB_LIGHT_EFFECTS
#if USE_ADVANCE
extruderStepsNeeded = 0;
#endif // USE_ADVANCE
UI_INITIALIZE;
EEPROM::initBaudrate();