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Printer.cpp
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/*
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/>.
*/
#include "Repetier.h"
#if defined(USE_ADVANCE)
uint8_t Printer::minExtruderSpeed; ///< Timer delay for start extruder speed
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.
//uint8_t Printer::extruderAccelerateDelay; ///< delay between 2 speec increases
#endif
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::invAxisStepsPerMM[4]; ///< Inverse of axisStepsPerMM for faster conversion
float Printer::maxFeedrate[4] = {MAX_FEEDRATE_X, MAX_FEEDRATE_Y, MAX_FEEDRATE_Z}; ///< Maximum allowed feedrate.
float Printer::homingFeedrate[3] = {HOMING_FEEDRATE_X, HOMING_FEEDRATE_Y, HOMING_FEEDRATE_Z};
#ifdef RAMP_ACCELERATION
// float max_start_speed_units_per_second[4] = MAX_START_SPEED_UNITS_PER_SECOND; ///< Speed we can use, without acceleration.
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
/** Acceleration in steps/s^3 in printing mode.*/
unsigned long Printer::maxPrintAccelerationStepsPerSquareSecond[4];
/** Acceleration in steps/s^2 in movement mode.*/
unsigned long Printer::maxTravelAccelerationStepsPerSquareSecond[4];
#endif
#if NONLINEAR_SYSTEM
long Printer::currentDeltaPositionSteps[4];
uint8_t lastMoveID = 0; // Last move ID
#endif
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.
long Printer::currentPositionSteps[4];
float Printer::currentPosition[3];
long Printer::destinationSteps[4];
float Printer::coordinateOffset[3] = {0,0,0};
uint8_t Printer::flag0 = 0;
uint8_t Printer::flag1 = 0;
uint8_t Printer::debugLevel = 6; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
uint8_t Printer::stepsPerTimerCall = 1;
uint8_t Printer::menuMode = 0;
#if FEATURE_AUTOLEVEL
float Printer::autolevelTransformation[9]; ///< Transformation matrix
#endif
unsigned long Printer::interval; ///< Last step duration in ticks.
unsigned long Printer::timer; ///< used for acceleration/deceleration timing
unsigned long Printer::stepNumber; ///< Step number in current move.
#ifdef USE_ADVANCE
#ifdef ENABLE_QUADRATIC_ADVANCE
long Printer::advanceExecuted; ///< Executed advance steps
#endif
int Printer::advanceStepsSet;
#endif
#if NONLINEAR_SYSTEM
long Printer::maxDeltaPositionSteps;
long Printer::deltaDiagonalStepsSquared;
float Printer::deltaDiagonalStepsSquaredF;
long Printer::deltaAPosXSteps;
long Printer::deltaAPosYSteps;
long Printer::deltaBPosXSteps;
long Printer::deltaBPosYSteps;
long Printer::deltaCPosXSteps;
long Printer::deltaCPosYSteps;
#endif
#if FEATURE_Z_PROBE || MAX_HARDWARE_ENDSTOP_Z || DRIVE_SYSTEM==3
long Printer::stepsRemainingAtZHit;
#endif
#if DRIVE_SYSTEM==3
long Printer::stepsRemainingAtXHit;
long Printer::stepsRemainingAtYHit;
#endif
#ifdef SOFTWARE_LEVELING
long Printer::levelingP1[3];
long Printer::levelingP2[3];
long Printer::levelingP3[3];
#endif
float Printer::minimumSpeed; ///< lowest allowed speed to keep integration error small
float Printer::minimumZSpeed;
long Printer::xMaxSteps; ///< For software endstops, limit of move in positive direction.
long Printer::yMaxSteps; ///< For software endstops, limit of move in positive direction.
long Printer::zMaxSteps; ///< For software endstops, limit of move in positive direction.
long Printer::xMinSteps; ///< For software endstops, limit of move in negative direction.
long Printer::yMinSteps; ///< For software endstops, limit of move in negative direction.
long Printer::zMinSteps; ///< For software endstops, limit of move in negative direction.
float Printer::xLength;
float Printer::xMin;
float Printer::yLength;
float Printer::yMin;
float Printer::zLength;
float Printer::zMin;
float Printer::feedrate; ///< Last requested feedrate.
int Printer::feedrateMultiply; ///< Multiplier for feedrate in percent (factor 1 = 100)
unsigned int Printer::extrudeMultiply; ///< Flow multiplier in percdent (factor 1 = 100)
float Printer::maxJerk; ///< Maximum allowed jerk in mm/s
#if DRIVE_SYSTEM!=3
float Printer::maxZJerk; ///< Maximum allowed jerk in z direction in mm/s
#endif
float Printer::offsetX; ///< X-offset for different extruder positions.
float Printer::offsetY; ///< Y-offset for different extruder positions.
unsigned int Printer::vMaxReached; ///< Maximumu reached speed
unsigned long Printer::msecondsPrinting; ///< Milliseconds of printing time (means time with heated extruder)
float Printer::filamentPrinted; ///< mm of filament printed since counting started
uint8_t Printer::wasLastHalfstepping; ///< Indicates if last move had halfstepping enabled
#if ENABLE_BACKLASH_COMPENSATION
float Printer::backlashX;
float Printer::backlashY;
float Printer::backlashZ;
uint8_t Printer::backlashDir;
#endif
#ifdef DEBUG_STEPCOUNT
long Printer::totalStepsRemaining;
#endif
#if FEATURE_MEMORY_POSITION
float Printer::memoryX;
float Printer::memoryY;
float Printer::memoryZ;
float Printer::memoryE;
#endif
#ifdef XY_GANTRY
char Printer::motorX;
char Printer::motorY;
#endif
void Printer::constrainDestinationCoords()
{
#if min_software_endstop_x == true
if (destinationSteps[X_AXIS] < xMinSteps) Printer::destinationSteps[X_AXIS] = Printer::xMinSteps;
#endif
#if min_software_endstop_y == true
if (destinationSteps[Y_AXIS] < yMinSteps) Printer::destinationSteps[Y_AXIS] = Printer::yMinSteps;
#endif
#if min_software_endstop_z == true
if (destinationSteps[Z_AXIS] < zMinSteps) Printer::destinationSteps[Z_AXIS] = Printer::zMinSteps;
#endif
#if max_software_endstop_x == true
if (destinationSteps[X_AXIS] > Printer::xMaxSteps) Printer::destinationSteps[X_AXIS] = Printer::xMaxSteps;
#endif
#if max_software_endstop_y == true
if (destinationSteps[Y_AXIS] > Printer::yMaxSteps) Printer::destinationSteps[Y_AXIS] = Printer::yMaxSteps;
#endif
#if max_software_endstop_z == true
if (destinationSteps[Z_AXIS] > Printer::zMaxSteps) Printer::destinationSteps[Z_AXIS] = Printer::zMaxSteps;
#endif
}
void Printer::updateDerivedParameter()
{
#if DRIVE_SYSTEM==3
axisStepsPerMM[X_AXIS] = axisStepsPerMM[Y_AXIS] = axisStepsPerMM[Z_AXIS];
maxAccelerationMMPerSquareSecond[X_AXIS] = maxAccelerationMMPerSquareSecond[Y_AXIS] = maxAccelerationMMPerSquareSecond[Z_AXIS];
homingFeedrate[X_AXIS] = homingFeedrate[Y_AXIS] = homingFeedrate[Z_AXIS];
maxFeedrate[X_AXIS] = maxFeedrate[Y_AXIS] = maxFeedrate[Z_AXIS];
maxTravelAccelerationMMPerSquareSecond[X_AXIS] = maxTravelAccelerationMMPerSquareSecond[Y_AXIS] = maxTravelAccelerationMMPerSquareSecond[Z_AXIS];
zMaxSteps = axisStepsPerMM[Z_AXIS]*(zLength - zMin);
float radius0 = EEPROM::deltaHorizontalRadius();
float radiusA = radius0 + EEPROM::deltaRadiusCorrectionA();
float radiusB = radius0 + EEPROM::deltaRadiusCorrectionB();
float radiusC = radius0 + EEPROM::deltaRadiusCorrectionC();
deltaAPosXSteps = floor(radiusA * cos(EEPROM::deltaAlphaA() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaAPosYSteps = floor(radiusA * sin(EEPROM::deltaAlphaA() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaBPosXSteps = floor(radiusB * cos(EEPROM::deltaAlphaB() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaBPosYSteps = floor(radiusB * sin(EEPROM::deltaAlphaB() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaCPosXSteps = floor(radiusC * cos(EEPROM::deltaAlphaC() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaCPosYSteps = floor(radiusC * sin(EEPROM::deltaAlphaC() * M_PI/180.0) * axisStepsPerMM[Z_AXIS] + 0.5);
deltaDiagonalStepsSquared = long(EEPROM::deltaDiagonalRodLength()*axisStepsPerMM[Z_AXIS]);
if(deltaDiagonalStepsSquared>46000 || 2*EEPROM::deltaHorizontalRadius()*axisStepsPerMM[2]>46000)
{
setLargeMachine(true);
deltaDiagonalStepsSquaredF = float(deltaDiagonalStepsSquared)*float(deltaDiagonalStepsSquared);
}
else
deltaDiagonalStepsSquared = deltaDiagonalStepsSquared*deltaDiagonalStepsSquared;
long cart[3], delta[3];
cart[X_AXIS] = cart[Y_AXIS] = 0;
cart[Z_AXIS] = zMaxSteps;
transformCartesianStepsToDeltaSteps(cart, delta);
maxDeltaPositionSteps = delta[0];
xMaxSteps = (long)(axisStepsPerMM[Z_AXIS]*(xMin+xLength));
yMaxSteps = (long)(axisStepsPerMM[Z_AXIS]*(yMin+yLength));
xMinSteps = (long)(axisStepsPerMM[Z_AXIS]*xMin);
yMinSteps = (long)(axisStepsPerMM[Z_AXIS]*yMin);
zMinSteps = 0;
#elif DRIVE_SYSTEM==4
deltaDiagonalStepsSquared = long(EEPROM::deltaDiagonalRodLength()*axisStepsPerMM[X_AXIS]);
if(deltaDiagonalStepsSquared>46000)
{
setLargeMachine(true);
deltaDiagonalStepsSquaredF = float(deltaDiagonalStepsSquared)*float(deltaDiagonalStepsSquared);
}
else
deltaDiagonalStepsSquared = deltaDiagonalStepsSquared*deltaDiagonalStepsSquared;
deltaBPosXSteps = long(EEPROM::deltaDiagonalRodLength()*axisStepsPerMM[X_AXIS]);
xMaxSteps = (long)(axisStepsPerMM[X_AXIS]*(xMin+xLength));
yMaxSteps = (long)(axisStepsPerMM[Y_AXIS]*yLength);
zMaxSteps = (long)(axisStepsPerMM[Z_AXIS]*(zMin+zLength));
xMinSteps = (long)(axisStepsPerMM[X_AXIS]*xMin);
yMinSteps = 0;
zMinSteps = (long)(axisStepsPerMM[Z_AXIS]*zMin);
#else
xMaxSteps = (long)(axisStepsPerMM[X_AXIS]*(xMin+xLength));
yMaxSteps = (long)(axisStepsPerMM[Y_AXIS]*(yMin+yLength));
zMaxSteps = (long)(axisStepsPerMM[Z_AXIS]*(zMin+zLength));
xMinSteps = (long)(axisStepsPerMM[X_AXIS]*xMin);
yMinSteps = (long)(axisStepsPerMM[Y_AXIS]*yMin);
zMinSteps = (long)(axisStepsPerMM[Z_AXIS]*zMin);
// For which directions do we need backlash compensation
#if ENABLE_BACKLASH_COMPENSATION
backlashDir &= 7;
if(backlashX!=0) backlashDir |= 8;
if(backlashY!=0) backlashDir |= 16;
if(backlashZ!=0) backlashDir |= 32;
#endif
#endif
for(uint8_t i=0; i<4; i++)
{
invAxisStepsPerMM[i] = 1.0f/axisStepsPerMM[i];
#ifdef RAMP_ACCELERATION
/** Acceleration in steps/s^3 in printing mode.*/
maxPrintAccelerationStepsPerSquareSecond[i] = maxAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
/** Acceleration in steps/s^2 in movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[i] = maxTravelAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
#endif
}
float accel = RMath::max(maxAccelerationMMPerSquareSecond[X_AXIS],maxTravelAccelerationMMPerSquareSecond[X_AXIS]);
minimumSpeed = accel*sqrt(2.0f/(axisStepsPerMM[X_AXIS]*accel));
accel = RMath::max(maxAccelerationMMPerSquareSecond[Z_AXIS],maxTravelAccelerationMMPerSquareSecond[Z_AXIS]);
minimumZSpeed = accel*sqrt(2.0f/(axisStepsPerMM[Z_AXIS]*accel));
Printer::updateAdvanceFlags();
}
/**
\brief Stop heater and stepper motors. Disable power,if possible.
*/
void Printer::kill(uint8_t only_steppers)
{
if(areAllSteppersDisabled() && only_steppers) return;
if(Printer::isAllKilled()) return;
setAllSteppersDiabled();
disableXStepper();
disableYStepper();
disableZStepper();
Extruder::disableCurrentExtruderMotor();
#if FAN_BOARD_PIN>-1
pwm_pos[NUM_EXTRUDER+1] = 0;
#endif // FAN_BOARD_PIN
if(!only_steppers)
{
for(uint8_t i=0; i<NUM_TEMPERATURE_LOOPS; i++)
Extruder::setTemperatureForExtruder(0,i);
Extruder::setHeatedBedTemperature(0);
UI_STATUS_UPD(UI_TEXT_KILLED);
#if defined(PS_ON_PIN) && PS_ON_PIN>-1
//pinMode(PS_ON_PIN,INPUT);
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? LOW : HIGH));
#endif
Printer::setAllKilled(true);
}
else UI_STATUS_UPD(UI_TEXT_STEPPER_DISABLED);
}
void Printer::updateAdvanceFlags()
{
Printer::setAdvanceActivated(false);
#if defined(USE_ADVANCE)
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
{
if(extruder[i].advanceL!=0)
{
Printer::setAdvanceActivated(true);
}
#ifdef ENABLE_QUADRATIC_ADVANCE
if(extruder[i].advanceK!=0) Printer::setAdvanceActivated(true);
#endif
}
#endif
}
void Printer::moveTo(float x,float y,float z,float e,float f)
{
if(x!=IGNORE_COORDINATE)
destinationSteps[X_AXIS] = (x+Printer::offsetX)*axisStepsPerMM[X_AXIS];
if(y!=IGNORE_COORDINATE)
destinationSteps[Y_AXIS] = (y+Printer::offsetY)*axisStepsPerMM[Y_AXIS];
if(z!=IGNORE_COORDINATE)
destinationSteps[Z_AXIS] = z*axisStepsPerMM[Z_AXIS];
if(e!=IGNORE_COORDINATE)
destinationSteps[E_AXIS] = e*axisStepsPerMM[E_AXIS];
if(f!=IGNORE_COORDINATE)
feedrate = f;
#if NONLINEAR_SYSTEM
PrintLine::queueDeltaMove(ALWAYS_CHECK_ENDSTOPS, true, true);
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS,true);
#endif
updateCurrentPosition();
}
void Printer::moveToReal(float x,float y,float z,float e,float f)
{
if(x == IGNORE_COORDINATE)
x = currentPosition[X_AXIS];
if(y == IGNORE_COORDINATE)
y = currentPosition[Y_AXIS];
if(z == IGNORE_COORDINATE)
z = currentPosition[Z_AXIS];
currentPosition[X_AXIS] = x;
currentPosition[Y_AXIS] = y;
currentPosition[Z_AXIS] = z;
#if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
if(isAutolevelActive())
transformToPrinter(x + Printer::offsetX,y + Printer::offsetY,z,x,y,z);
else
#endif // FEATURE_AUTOLEVEL
{
x += Printer::offsetX;
y += Printer::offsetY;
}
if(x != IGNORE_COORDINATE)
destinationSteps[X_AXIS] = floor(x * axisStepsPerMM[X_AXIS] + 0.5);
if(y != IGNORE_COORDINATE)
destinationSteps[Y_AXIS] = floor(y * axisStepsPerMM[Y_AXIS] + 0.5);
if(z != IGNORE_COORDINATE)
destinationSteps[Z_AXIS] = floor(z * axisStepsPerMM[Z_AXIS] + 0.5);
if(e != IGNORE_COORDINATE)
destinationSteps[E_AXIS] = e * axisStepsPerMM[E_AXIS];
if(f != IGNORE_COORDINATE)
Printer::feedrate = f;
#if NONLINEAR_SYSTEM
PrintLine::queueDeltaMove(ALWAYS_CHECK_ENDSTOPS, true, true);
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS,true);
#endif
}
void Printer::setOrigin(float xOff,float yOff,float zOff)
{
coordinateOffset[X_AXIS] = xOff;
coordinateOffset[Y_AXIS] = yOff;
coordinateOffset[Z_AXIS] = zOff;
}
void Printer::updateCurrentPosition()
{
currentPosition[X_AXIS] = (float)(currentPositionSteps[X_AXIS])*invAxisStepsPerMM[X_AXIS];
currentPosition[Y_AXIS] = (float)(currentPositionSteps[Y_AXIS])*invAxisStepsPerMM[Y_AXIS];
currentPosition[Z_AXIS] = (float)(currentPositionSteps[Z_AXIS])*invAxisStepsPerMM[Z_AXIS];
#if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
if(isAutolevelActive())
transformFromPrinter(currentPosition[X_AXIS],currentPosition[Y_AXIS],currentPosition[Z_AXIS],currentPosition[X_AXIS],currentPosition[Y_AXIS],currentPosition[Z_AXIS]);
#endif // FEATURE_AUTOLEVEL
currentPosition[X_AXIS] -= Printer::offsetX;
currentPosition[Y_AXIS] -= Printer::offsetY;
//Com::printArrayFLN(Com::tP,currentPosition,3,4);
}
/**
\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.
- Reltive or absolute positioning with special case only extruder relative.
- Offset in x and y direction for multiple extruder support.
*/
uint8_t Printer::setDestinationStepsFromGCode(GCode *com)
{
register long p;
/*if(!PrintLine::hasLines()) // only print for the first line
{
UI_STATUS(UI_TEXT_PRINTING);
}*/
float x,y,z;
if(!relativeCoordinateMode)
{
if(!com->hasX()) x = currentPosition[X_AXIS];
else currentPosition[X_AXIS] = x = convertToMM(com->X) - coordinateOffset[X_AXIS];
if(!com->hasY()) y = currentPosition[Y_AXIS];
else currentPosition[Y_AXIS] = y = convertToMM(com->Y) - coordinateOffset[Y_AXIS];
if(!com->hasZ()) z = currentPosition[Z_AXIS];
else currentPosition[Z_AXIS] = z = convertToMM(com->Z) - coordinateOffset[Z_AXIS];
}
else
{
if(com->hasX()) currentPosition[X_AXIS] += (x = convertToMM(com->X));
else x = 0;
if(com->hasY()) currentPosition[Y_AXIS] += (y = convertToMM(com->Y));
else y = 0;
if(com->hasZ()) currentPosition[Z_AXIS] += (z = convertToMM(com->Z));
else z = 0;
}
#if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE //&& DRIVE_SYSTEM!=3
if(isAutolevelActive())
{
if(relativeCoordinateMode)
transformToPrinter(x, y, z, x, y, z);
else
transformToPrinter(x + Printer::offsetX, y + Printer::offsetY, z, x, y, z);
}
else
#endif // FEATURE_AUTOLEVEL
{
if(!relativeCoordinateMode)
{
x += Printer::offsetX;
y += Printer::offsetY;
}
}
long xSteps = static_cast<long>(floor(x * axisStepsPerMM[X_AXIS] + 0.5));
long ySteps = static_cast<long>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5));
long zSteps = static_cast<long>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5));
if(relativeCoordinateMode)
{
destinationSteps[X_AXIS] = currentPositionSteps[X_AXIS] + xSteps;
destinationSteps[Y_AXIS] = currentPositionSteps[Y_AXIS] + ySteps;
destinationSteps[Z_AXIS] = currentPositionSteps[Z_AXIS] + zSteps;
}
else
{
destinationSteps[X_AXIS] = xSteps;
destinationSteps[Y_AXIS] = ySteps;
destinationSteps[Z_AXIS] = zSteps;
}
if(com->hasE() && !Printer::debugDryrun())
{
p = convertToMM(com->E * axisStepsPerMM[E_AXIS]);
if(relativeCoordinateMode || relativeExtruderCoordinateMode)
{
if(
#if MIN_EXTRUDER_TEMP > 30
Extruder::current->tempControl.currentTemperatureC<MIN_EXTRUDER_TEMP ||
#endif
fabs(com->E)>EXTRUDE_MAXLENGTH)
p = 0;
destinationSteps[E_AXIS] = currentPositionSteps[E_AXIS] + p;
}
else
{
if(
#if MIN_EXTRUDER_TEMP > 30
Extruder::current->tempControl.currentTemperatureC<MIN_EXTRUDER_TEMP ||
#endif
fabs(p - currentPositionSteps[E_AXIS])>EXTRUDE_MAXLENGTH * axisStepsPerMM[E_AXIS])
currentPositionSteps[E_AXIS] = p;
destinationSteps[E_AXIS] = p;
}
}
else Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
if(com->hasF())
{
if(unitIsInches)
feedrate = com->F*0.0042333f*(float)feedrateMultiply; // Factor is 25.5/60/100
else
feedrate = com->F*(float)feedrateMultiply*0.00016666666f;
}
return !com->hasNoXYZ() || (com->hasE() && destinationSteps[E_AXIS]!=currentPositionSteps[E_AXIS]); // ignore unproductive moves
}
void Printer::setup()
{
HAL::stopWatchdog();
#if FEATURE_CONTROLLER==5
HAL::delayMilliseconds(100);
#endif // FEATURE_CONTROLLER
//HAL::delayMilliseconds(500); // add a delay at startup to give hardware time for initalization
HAL::hwSetup();
#ifdef ANALYZER
// Channel->pin assignments
#if ANALYZER_CH0>=0
SET_OUTPUT(ANALYZER_CH0);
#endif
#if ANALYZER_CH1>=0
SET_OUTPUT(ANALYZER_CH1);
#endif
#if ANALYZER_CH2>=0
SET_OUTPUT(ANALYZER_CH2);
#endif
#if ANALYZER_CH3>=0
SET_OUTPUT(ANALYZER_CH3);
#endif
#if ANALYZER_CH4>=0
SET_OUTPUT(ANALYZER_CH4);
#endif
#if ANALYZER_CH5>=0
SET_OUTPUT(ANALYZER_CH5);
#endif
#if ANALYZER_CH6>=0
SET_OUTPUT(ANALYZER_CH6);
#endif
#if ANALYZER_CH7>=0
SET_OUTPUT(ANALYZER_CH7);
#endif
#endif
#if defined(ENABLE_POWER_ON_STARTUP) && PS_ON_PIN>-1
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif
//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
#if Y_DIR_PIN>-1
SET_OUTPUT(Y_DIR_PIN);
#endif
#if Z_DIR_PIN>-1
SET_OUTPUT(Z_DIR_PIN);
#endif
//Steppers default to disabled.
#if X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif
#if Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif
#if Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif
#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
#endif
#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
#endif
#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
#endif
//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
#else
#error You have defined hardware x min endstop without pin assignment. Set pin number for X_MIN_PIN
#endif
#endif
#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
#else
#error You have defined hardware y min endstop without pin assignment. Set pin number for Y_MIN_PIN
#endif
#endif
#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
#else
#error You have defined hardware z min endstop without pin assignment. Set pin number for Z_MIN_PIN
#endif
#endif
#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
#else
#error You have defined hardware x max endstop without pin assignment. Set pin number for X_MAX_PIN
#endif
#endif
#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
#else
#error You have defined hardware y max endstop without pin assignment. Set pin number for Y_MAX_PIN
#endif
#endif
#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
#else
#error You have defined hardware z max endstop without pin assignment. Set pin number for Z_MAX_PIN
#endif
#endif
#if FEATURE_Z_PROBE && Z_PROBE_PIN>-1
SET_INPUT(Z_PROBE_PIN);
#if Z_PROBE_PULLUP
PULLUP(Z_PROBE_PIN,HIGH);
#endif
#endif // FEATURE_FEATURE_Z_PROBE
#if FAN_PIN>-1
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN,LOW);
#endif
#if FAN_BOARD_PIN>-1
SET_OUTPUT(FAN_BOARD_PIN);
WRITE(FAN_BOARD_PIN,LOW);
#endif
#if EXT0_HEATER_PIN>-1
SET_OUTPUT(EXT0_HEATER_PIN);
WRITE(EXT0_HEATER_PIN,LOW);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_HEATER_PIN);
WRITE(EXT1_HEATER_PIN,LOW);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_HEATER_PIN);
WRITE(EXT2_HEATER_PIN,LOW);
#endif
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_HEATER_PIN);
WRITE(EXT3_HEATER_PIN,LOW);
#endif
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_HEATER_PIN);
WRITE(EXT4_HEATER_PIN,LOW);
#endif
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN>-1 && NUM_EXTRUDER>5
SET_OUTPUT(EXT5_HEATER_PIN);
WRITE(EXT5_HEATER_PIN,LOW);
#endif
#if EXT0_EXTRUDER_COOLER_PIN>-1
SET_OUTPUT(EXT0_EXTRUDER_COOLER_PIN);
WRITE(EXT0_EXTRUDER_COOLER_PIN,LOW);
#endif
#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
#if defined(EXT2_EXTRUDER_COOLER_PIN) && EXT2_EXTRUDER_COOLER_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_EXTRUDER_COOLER_PIN);
WRITE(EXT2_EXTRUDER_COOLER_PIN,LOW);
#endif
#if defined(EXT3_EXTRUDER_COOLER_PIN) && EXT3_EXTRUDER_COOLER_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_EXTRUDER_COOLER_PIN);
WRITE(EXT3_EXTRUDER_COOLER_PIN,LOW);
#endif
#if defined(EXT4_EXTRUDER_COOLER_PIN) && EXT4_EXTRUDER_COOLER_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_EXTRUDER_COOLER_PIN);
WRITE(EXT4_EXTRUDER_COOLER_PIN,LOW);
#endif
#if defined(EXT5_EXTRUDER_COOLER_PIN) && EXT5_EXTRUDER_COOLER_PIN>-1 && NUM_EXTRUDER>5
SET_OUTPUT(EXT5_EXTRUDER_COOLER_PIN);
WRITE(EXT5_EXTRUDER_COOLER_PIN,LOW);
#endif
#if CASE_LIGHTS_PIN>=0
SET_OUTPUT(CASE_LIGHTS_PIN);
#endif // CASE_LIGHTS_PIN
#ifdef XY_GANTRY
Printer::motorX = 0;
Printer::motorY = 0;
#endif
#if STEPPER_CURRENT_CONTROL!=CURRENT_CONTROL_MANUAL
motorCurrentControlInit(); // Set current if it is firmware controlled
#endif
microstepInit();
#if FEATURE_AUTOLEVEL && FEATURE_Z_PROBE
resetTransformationMatrix(true);
#endif // FEATURE_AUTOLEVEL
feedrate = 50; ///< Current feedrate in mm/s.
feedrateMultiply = 100;
extrudeMultiply = 100;
#ifdef USE_ADVANCE
#ifdef ENABLE_QUADRATIC_ADVANCE
advanceExecuted = 0;
#endif
advanceStepsSet = 0;
#endif
for(uint8_t i=0; i<NUM_EXTRUDER+3; i++) pwm_pos[i]=0;
currentPositionSteps[X_AXIS] = currentPositionSteps[Y_AXIS] = currentPositionSteps[Z_AXIS] = currentPositionSteps[E_AXIS] = 0;
maxJerk = MAX_JERK;
#if DRIVE_SYSTEM!=3
maxZJerk = MAX_ZJERK;
#endif
offsetX = offsetY = 0;
interval = 5000;
stepsPerTimerCall = 1;
msecondsPrinting = 0;
filamentPrinted = 0;
flag0 = PRINTER_FLAG0_STEPPER_DISABLED;
xLength = X_MAX_LENGTH;
yLength = Y_MAX_LENGTH;
zLength = Z_MAX_LENGTH;
xMin = X_MIN_POS;
yMin = Y_MIN_POS;
zMin = Z_MIN_POS;
wasLastHalfstepping = 0;
#if ENABLE_BACKLASH_COMPENSATION
backlashX = X_BACKLASH;
backlashY = Y_BACKLASH;
backlashZ = Z_BACKLASH;
backlashDir = 0;
#endif
#if defined(USE_ADVANCE)
extruderStepsNeeded = 0;
#endif
EEPROM::initBaudrate();
HAL::serialSetBaudrate(baudrate);
Com::printFLN(Com::tStart);
UI_INITIALIZE;
HAL::showStartReason();
Extruder::initExtruder();
EEPROM::init(); // Read settings from eeprom if wanted
updateDerivedParameter();
Commands::checkFreeMemory();
Commands::writeLowestFreeRAM();
HAL::setupTimer();
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentDeltaPositionSteps);
#if DELTA_HOME_ON_POWER
homeAxis(true,true,true);
#endif
Commands::printCurrentPosition();
#endif // DRIVE_SYSTEM
Extruder::selectExtruderById(0);
#if SDSUPPORT
sd.initsd();
#endif
#if FEATURE_WATCHDOG
HAL::startWatchdog();
#endif // FEATURE_WATCHDOG
}
void Printer::defaultLoopActions()
{
//check heater every n milliseconds
Commands::checkForPeriodicalActions();
UI_MEDIUM; // do check encoder
millis_t curtime = HAL::timeInMilliseconds();
if(PrintLine::hasLines())
previousMillisCmd = curtime;
else
{
curtime -= previousMillisCmd;
if(maxInactiveTime!=0 && curtime > maxInactiveTime ) Printer::kill(false);
else Printer::setAllKilled(false); // prevent repeated kills
if(stepperInactiveTime!=0 && curtime > stepperInactiveTime )
Printer::kill(true);
}
#if defined(SDCARDDETECT) && SDCARDDETECT>-1 && defined(SDSUPPORT) && SDSUPPORT
sd.automount();
#endif
//void finishNextSegment();
DEBUG_MEMORY;
}
#if FEATURE_MEMORY_POSITION
void Printer::MemoryPosition()
{
updateCurrentPosition();
realPosition(memoryX,memoryY,memoryZ);
memoryE = currentPositionSteps[E_AXIS]*axisStepsPerMM[E_AXIS];
}
void Printer::GoToMemoryPosition(bool x,bool y,bool z,bool e,float feed)
{
bool all = !(x || y || z);
float oldFeedrate = feedrate;
moveToReal((all || x ? memoryX : IGNORE_COORDINATE)
,(all || y ? memoryY : IGNORE_COORDINATE)
,(all || z ? memoryZ : IGNORE_COORDINATE)
,(e ? memoryE:IGNORE_COORDINATE),
feed);
feedrate = oldFeedrate;
}
#endif
#if DRIVE_SYSTEM==3
void Printer::deltaMoveToTopEndstops(float feedrate)
{
for (uint8_t i=0; i<3; i++)
Printer::currentPositionSteps[i] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentDeltaPositionSteps);
PrintLine::moveRelativeDistanceInSteps(0,0,zMaxSteps*1.5,0,feedrate, true, true);
offsetX = 0;
offsetY = 0;
}
void Printer::homeXAxis()
{
destinationSteps[X_AXIS] = 0;
PrintLine::queueDeltaMove(true,false,false);
}
void Printer::homeYAxis()
{
Printer::destinationSteps[Y_AXIS] = 0;
PrintLine::queueDeltaMove(true,false,false);
}
void Printer::homeZAxis() // Delta z homing
{
deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
PrintLine::moveRelativeDistanceInSteps(0,0,axisStepsPerMM[Z_AXIS]*-ENDSTOP_Z_BACK_MOVE,0,Printer::homingFeedrate[Z_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, false);
deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR);
#if defined(ENDSTOP_Z_BACK_ON_HOME)
if(ENDSTOP_Z_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(0,0,axisStepsPerMM[Z_AXIS]*-ENDSTOP_Z_BACK_ON_HOME * Z_HOME_DIR,0,homingFeedrate[Z_AXIS],true,false);
#endif
long dx = -EEPROM::deltaTowerXOffsetSteps();
long dy = -EEPROM::deltaTowerYOffsetSteps();
long dz = -EEPROM::deltaTowerZOffsetSteps();
long dm = RMath::min(dx,RMath::min(dy,dz));
//Com::printFLN(Com::tTower1,dx);
//Com::printFLN(Com::tTower2,dy);
//Com::printFLN(Com::tTower3,dz);
dx -= dm;
dy -= dm;
dz -= dm;
currentPositionSteps[X_AXIS] = 0;
currentPositionSteps[Y_AXIS] = 0;
currentPositionSteps[Z_AXIS] = zMaxSteps;
transformCartesianStepsToDeltaSteps(currentPositionSteps,currentDeltaPositionSteps);
currentDeltaPositionSteps[X_AXIS] -= dx;
currentDeltaPositionSteps[Y_AXIS] -= dy;
currentDeltaPositionSteps[Z_AXIS] -= dz;
PrintLine::moveRelativeDistanceInSteps(0,0,dm,0,homingFeedrate[Z_AXIS],true,false);
currentPositionSteps[X_AXIS] = 0;
currentPositionSteps[Y_AXIS] = 0;
currentPositionSteps[Z_AXIS] = zMaxSteps; // Extruder is now exactly in the delta center
coordinateOffset[X_AXIS] = 0;
coordinateOffset[Y_AXIS] = 0;
coordinateOffset[Z_AXIS] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentDeltaPositionSteps);
maxDeltaPositionSteps = currentDeltaPositionSteps[X_AXIS];
#if defined(ENDSTOP_Z_BACK_ON_HOME)
if(ENDSTOP_Z_BACK_ON_HOME > 0)
maxDeltaPositionSteps += axisStepsPerMM[Z_AXIS]*ENDSTOP_Z_BACK_ON_HOME;
#endif
Extruder::selectExtruderById(Extruder::current->id);
}
void Printer::homeAxis(bool xaxis,bool yaxis,bool zaxis) // Delta homing code
{
long steps;
setHomed(true);
bool homeallaxis = (xaxis && yaxis && zaxis) || (!xaxis && !yaxis && !zaxis);
if (X_MAX_PIN > -1 && Y_MAX_PIN > -1 && Z_MAX_PIN > -1 && MAX_HARDWARE_ENDSTOP_X & MAX_HARDWARE_ENDSTOP_Y && MAX_HARDWARE_ENDSTOP_Z)
{
UI_STATUS_UPD(UI_TEXT_HOME_DELTA);
// Homing Z axis means that you must home X and Y
if (homeallaxis || zaxis)
{
homeZAxis();
}
else
{
if (xaxis) Printer::destinationSteps[X_AXIS] = 0;
if (yaxis) Printer::destinationSteps[Y_AXIS] = 0;
PrintLine::queueDeltaMove(true,false,false);
}
UI_CLEAR_STATUS
}
updateCurrentPosition();
moveToReal(0,0,Printer::zMin+Printer::zLength,IGNORE_COORDINATE,homingFeedrate[Z_AXIS]); // Move to designed coordinates including translation
UI_CLEAR_STATUS
}
#else
#if DRIVE_SYSTEM==4 // Tuga printer homing
void Printer::homeXAxis()
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_X && X_MIN_PIN > -1 && X_HOME_DIR==-1 && MIN_HARDWARE_ENDSTOP_Y && Y_MIN_PIN > -1 && Y_HOME_DIR==-1) ||
(MAX_HARDWARE_ENDSTOP_X && X_MAX_PIN > -1 && X_HOME_DIR==1 && MAX_HARDWARE_ENDSTOP_Y && Y_MAX_PIN > -1 && Y_HOME_DIR==1))
{
long offX = 0,offY = 0;
#if NUM_EXTRUDER>1
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
{
#if X_HOME_DIR < 0
offX = RMath::max(offX,extruder[i].xOffset);
offY = RMath::max(offY,extruder[i].yOffset);
#else
offX = RMath::min(offX,extruder[i].xOffset);
offY = RMath::min(offY,extruder[i].yOffset);
#endif
}
// Reposition extruder that way, that all extruders can be selected at home pos.
#endif
UI_STATUS_UPD(UI_TEXT_HOME_X);
steps = (Printer::xMaxSteps-Printer::xMinSteps) * X_HOME_DIR;
currentPositionSteps[X_AXIS] = -steps;
currentPositionSteps[Y_AXIS] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentDeltaPositionSteps);
PrintLine::moveRelativeDistanceInSteps(2*steps,0,0,0,homingFeedrate[X_AXIS],true,true);
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps+offX;
currentPositionSteps[Y_AXIS] = 0; //(Y_HOME_DIR == -1) ? yMinSteps-offY : yMaxSteps+offY;
//PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[0]*-ENDSTOP_X_BACK_MOVE * X_HOME_DIR,axisStepsPerMM[1]*-ENDSTOP_X_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[0]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
// PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[0]*2*ENDSTOP_X_BACK_MOVE * X_HOME_DIR,axisStepsPerMM[1]*2*ENDSTOP_X_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[0]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*2*ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS],true,false);
// PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[0]*-ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,axisStepsPerMM[1]*-ENDSTOP_Y_BACK_ON_HOME * Y_HOME_DIR,0,0,homingFeedrate[0],true,false);
#endif
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps+offX;
currentPositionSteps[Y_AXIS] = 0; //(Y_HOME_DIR == -1) ? yMinSteps-offY : yMaxSteps+offY;
coordinateOffset[X_AXIS] = 0;
coordinateOffset[Y_AXIS] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentDeltaPositionSteps);
#if NUM_EXTRUDER>1
PrintLine::moveRelativeDistanceInSteps((Extruder::current->xOffset-offX) * X_HOME_DIR,(Extruder::current->yOffset-offY) * Y_HOME_DIR,0,0,homingFeedrate[X_AXIS],true,false);
#endif
}
}
void Printer::homeYAxis()
{
// Dummy function x and y homing must occur together
}
#else // cartesian printer
void Printer::homeXAxis()
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_X && X_MIN_PIN > -1 && X_HOME_DIR==-1) || (MAX_HARDWARE_ENDSTOP_X && X_MAX_PIN > -1 && X_HOME_DIR==1))
{
long offX = 0;
#if NUM_EXTRUDER>1
for(uint8_t i=0; i<NUM_EXTRUDER; i++)
#if X_HOME_DIR < 0
offX = RMath::max(offX,extruder[i].xOffset);
#else
offX = RMath::min(offX,extruder[i].xOffset);
#endif
// Reposition extruder that way, that all extruders can be selected at home pos.
#endif
UI_STATUS_UPD(UI_TEXT_HOME_X);
steps = (Printer::xMaxSteps-Printer::xMinSteps) * X_HOME_DIR;
currentPositionSteps[X_AXIS] = -steps;
PrintLine::moveRelativeDistanceInSteps(2*steps,0,0,0,homingFeedrate[X_AXIS],true,true);
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps + offX;
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * -ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * 2 * ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * -ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS],true,false);
#endif
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps+offX;
#if NUM_EXTRUDER>1
PrintLine::moveRelativeDistanceInSteps((Extruder::current->xOffset-offX) * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS],true,false);
#endif
}
}
void Printer::homeYAxis()
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_Y && Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (MAX_HARDWARE_ENDSTOP_Y && Y_MAX_PIN > -1 && Y_HOME_DIR==1))