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- /* -*- c++ -*- */
-
- /*
- Reprap firmware based on Sprinter and grbl.
- Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
-
- This program 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.
-
- This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- /*
- This firmware is a mashup between Sprinter and grbl.
- (https://github.com/kliment/Sprinter)
- (https://github.com/simen/grbl/tree)
-
- It has preliminary support for Matthew Roberts advance algorithm
- http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
-
- #include "Marlin.h"
-
- #include "ultralcd.h"
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "motion_control.h"
- #include "cardreader.h"
- #include "watchdog.h"
- #include "ConfigurationStore.h"
- #include "language.h"
- #include "pins_arduino.h"
-
- #if DIGIPOTSS_PIN > -1
- #include <SPI.h>
- #endif
-
- #define VERSION_STRING "1.0.0"
-
- // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
- // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
-
- //Implemented Codes
- //-------------------
- // G0 -> G1
- // G1 - Coordinated Movement X Y Z E
- // G2 - CW ARC
- // G3 - CCW ARC
- // G4 - Dwell S<seconds> or P<milliseconds>
- // G10 - retract filament according to settings of M207
- // G11 - retract recover filament according to settings of M208
- // G28 - Home all Axis
- // G90 - Use Absolute Coordinates
- // G91 - Use Relative Coordinates
- // G92 - Set current position to cordinates given
-
- //RepRap M Codes
- // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
- // M1 - Same as M0
- // M104 - Set extruder target temp
- // M105 - Read current temp
- // M106 - Fan on
- // M107 - Fan off
- // M109 - Wait for extruder current temp to reach target temp.
- // M114 - Display current position
-
- //Custom M Codes
- // M17 - Enable/Power all stepper motors
- // M18 - Disable all stepper motors; same as M84
- // M20 - List SD card
- // M21 - Init SD card
- // M22 - Release SD card
- // M23 - Select SD file (M23 filename.g)
- // M24 - Start/resume SD print
- // M25 - Pause SD print
- // M26 - Set SD position in bytes (M26 S12345)
- // M27 - Report SD print status
- // M28 - Start SD write (M28 filename.g)
- // M29 - Stop SD write
- // M30 - Delete file from SD (M30 filename.g)
- // M31 - Output time since last M109 or SD card start to serial
- // M42 - Change pin status via gcode
- // M80 - Turn on Power Supply
- // M81 - Turn off Power Supply
- // M82 - Set E codes absolute (default)
- // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
- // M84 - Disable steppers until next move,
- // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
- // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
- // M92 - Set axis_steps_per_unit - same syntax as G92
- // M114 - Output current position to serial port
- // M115 - Capabilities string
- // M117 - display message
- // M119 - Output Endstop status to serial port
- // M140 - Set bed target temp
- // M190 - Wait for bed current temp to reach target temp.
- // M200 - Set filament diameter
- // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
- // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
- // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
- // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
- // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
- // M206 - set additional homeing offset
- // M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
- // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
- // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- // M220 S<factor in percent>- set speed factor override percentage
- // M221 S<factor in percent>- set extrude factor override percentage
- // M240 - Trigger a camera to take a photograph
- // M301 - Set PID parameters P I and D
- // M302 - Allow cold extrudes
- // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
- // M304 - Set bed PID parameters P I and D
- // M400 - Finish all moves
- // M500 - stores paramters in EEPROM
- // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
- // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
- // M503 - print the current settings (from memory not from eeprom)
- // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
- // M907 - Set digital trimpot motor current using axis codes.
- // M908 - Control digital trimpot directly.
- // M350 - Set microstepping mode.
- // M351 - Toggle MS1 MS2 pins directly.
- // M999 - Restart after being stopped by error
-
- //Stepper Movement Variables
-
- //===========================================================================
- //=============================imported variables============================
- //===========================================================================
-
-
- //===========================================================================
- //=============================public variables=============================
- //===========================================================================
- #ifdef SDSUPPORT
- CardReader card;
- #endif
- float homing_feedrate[] = HOMING_FEEDRATE;
- bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
- int feedmultiply=100; //100->1 200->2
- int saved_feedmultiply;
- int extrudemultiply=100; //100->1 200->2
- float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
- float add_homeing[3]={0,0,0};
- float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
- float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
- uint8_t active_extruder = 0;
- int fanSpeed=0;
-
- #ifdef FWRETRACT
- bool autoretract_enabled=true;
- bool retracted=false;
- float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
- float retract_recover_length=0, retract_recover_feedrate=8*60;
- #endif
-
- //===========================================================================
- //=============================private variables=============================
- //===========================================================================
- const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
- static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
- static float offset[3] = {0.0, 0.0, 0.0};
- static bool home_all_axis = true;
- static float feedrate = 1500.0, next_feedrate, saved_feedrate;
- static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
- static bool relative_mode = false; //Determines Absolute or Relative Coordinates
-
- static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
- static bool fromsd[BUFSIZE];
- static int bufindr = 0;
- static int bufindw = 0;
- static int buflen = 0;
- //static int i = 0;
- static char serial_char;
- static int serial_count = 0;
- static boolean comment_mode = false;
- static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
-
- const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
-
- //static float tt = 0;
- //static float bt = 0;
-
- //Inactivity shutdown variables
- static unsigned long previous_millis_cmd = 0;
- static unsigned long max_inactive_time = 0;
- static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
-
- unsigned long starttime=0;
- unsigned long stoptime=0;
-
- static uint8_t tmp_extruder;
-
-
- bool Stopped=false;
-
- //===========================================================================
- //=============================ROUTINES=============================
- //===========================================================================
-
- void get_arc_coordinates();
- bool setTargetedHotend(int code);
-
- void serial_echopair_P(const char *s_P, float v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, double v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
- void serial_echopair_P(const char *s_P, unsigned long v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
- extern "C"{
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void *__brkval;
-
- int freeMemory() {
- int free_memory;
-
- if((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
-
- return free_memory;
- }
- }
-
- //adds an command to the main command buffer
- //thats really done in a non-safe way.
- //needs overworking someday
- void enquecommand(const char *cmd)
- {
- if(buflen < BUFSIZE)
- {
- //this is dangerous if a mixing of serial and this happsens
- strcpy(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("enqueing \"");
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
- }
-
- void enquecommand_P(const char *cmd)
- {
- if(buflen < BUFSIZE)
- {
- //this is dangerous if a mixing of serial and this happsens
- strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("enqueing \"");
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
- }
-
- void setup_killpin()
- {
- #if( KILL_PIN>-1 )
- pinMode(KILL_PIN,INPUT);
- WRITE(KILL_PIN,HIGH);
- #endif
- }
-
- void setup_photpin()
- {
- #ifdef PHOTOGRAPH_PIN
- #if (PHOTOGRAPH_PIN > -1)
- SET_OUTPUT(PHOTOGRAPH_PIN);
- WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- #endif
- }
-
- void setup_powerhold()
- {
- #ifdef SUICIDE_PIN
- #if (SUICIDE_PIN> -1)
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- #endif
- #if (PS_ON_PIN > -1)
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
- }
-
- void suicide()
- {
- #ifdef SUICIDE_PIN
- #if (SUICIDE_PIN> -1)
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, LOW);
- #endif
- #endif
- }
-
- void setup()
- {
- setup_killpin();
- setup_powerhold();
- MYSERIAL.begin(BAUDRATE);
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START;
-
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
- if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
- if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
- if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
- if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
- MCUSR=0;
-
- SERIAL_ECHOPGM(MSG_MARLIN);
- SERIAL_ECHOLNPGM(VERSION_STRING);
- #ifdef STRING_VERSION_CONFIG_H
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
- SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
- SERIAL_ECHOPGM(MSG_AUTHOR);
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_FREE_MEMORY);
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
- for(int8_t i = 0; i < BUFSIZE; i++)
- {
- fromsd[i] = false;
- }
-
- Config_RetrieveSettings(); // loads data from EEPROM if available
-
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
- }
-
-
- tp_init(); // Initialize temperature loop
- plan_init(); // Initialize planner;
- watchdog_init();
- st_init(); // Initialize stepper, this enables interrupts!
- setup_photpin();
-
- lcd_init();
- }
-
-
- void loop()
- {
- if(buflen < (BUFSIZE-1))
- get_command();
- #ifdef SDSUPPORT
- card.checkautostart(false);
- #endif
- if(buflen)
- {
- #ifdef SDSUPPORT
- if(card.saving)
- {
- if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
- {
- card.write_command(cmdbuffer[bufindr]);
- SERIAL_PROTOCOLLNPGM(MSG_OK);
- }
- else
- {
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
- }
- }
- else
- {
- process_commands();
- }
- #else
- process_commands();
- #endif //SDSUPPORT
- buflen = (buflen-1);
- bufindr = (bufindr + 1)%BUFSIZE;
- }
- //check heater every n milliseconds
- manage_heater();
- manage_inactivity();
- checkHitEndstops();
- lcd_update();
- }
-
- void get_command()
- {
- while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
- serial_char = MYSERIAL.read();
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1) )
- {
- if(!serial_count) { //if empty line
- comment_mode = false; //for new command
- return;
- }
- cmdbuffer[bufindw][serial_count] = 0; //terminate string
- if(!comment_mode){
- comment_mode = false; //for new command
- fromsd[bufindw] = false;
- if(strchr(cmdbuffer[bufindw], 'N') != NULL)
- {
- strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
- gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
- if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
-
- if(strchr(cmdbuffer[bufindw], '*') != NULL)
- {
- byte checksum = 0;
- byte count = 0;
- while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
- strchr_pointer = strchr(cmdbuffer[bufindw], '*');
-
- if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
- //if no errors, continue parsing
- }
- else
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
-
- gcode_LastN = gcode_N;
- //if no errors, continue parsing
- }
- else // if we don't receive 'N' but still see '*'
- {
- if((strchr(cmdbuffer[bufindw], '*') != NULL))
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- serial_count = 0;
- return;
- }
- }
- if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
- strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
- switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
- case 0:
- case 1:
- case 2:
- case 3:
- if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
- #ifdef SDSUPPORT
- if(card.saving)
- break;
- #endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
- }
- else {
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
- break;
- default:
- break;
- }
-
- }
- bufindw = (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
- serial_count = 0; //clear buffer
- }
- else
- {
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
- }
- }
- #ifdef SDSUPPORT
- if(!card.sdprinting || serial_count!=0){
- return;
- }
- while( !card.eof() && buflen < BUFSIZE) {
- int16_t n=card.get();
- serial_char = (char)n;
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
- {
- if(card.eof()){
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int hours, minutes;
- minutes=(t/60)%60;
- hours=t/60/60;
- sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- card.printingHasFinished();
- card.checkautostart(true);
-
- }
- if(!serial_count)
- {
- comment_mode = false; //for new command
- return; //if empty line
- }
- cmdbuffer[bufindw][serial_count] = 0; //terminate string
- // if(!comment_mode){
- fromsd[bufindw] = true;
- buflen += 1;
- bufindw = (bufindw + 1)%BUFSIZE;
- // }
- comment_mode = false; //for new command
- serial_count = 0; //clear buffer
- }
- else
- {
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
- }
- }
-
- #endif //SDSUPPORT
-
- }
-
-
- float code_value()
- {
- return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
- }
-
- long code_value_long()
- {
- return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
- }
-
- bool code_seen(char code)
- {
- strchr_pointer = strchr(cmdbuffer[bufindr], code);
- return (strchr_pointer != NULL); //Return True if a character was found
- }
-
- #define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
-
- DEFINE_PGM_READ_ANY(float, float);
- DEFINE_PGM_READ_ANY(signed char, byte);
-
- #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
- static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
-
- XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
- XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
- XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
- XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
- XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
-
- static void axis_is_at_home(int axis) {
- current_position[axis] = base_home_pos(axis) + add_homeing[axis];
- min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
- max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
- }
-
- static void homeaxis(int axis) {
- #define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis==X_AXIS ? HOMEAXIS_DO(X) :
- axis==Y_AXIS ? HOMEAXIS_DO(Y) :
- axis==Z_AXIS ? HOMEAXIS_DO(Z) :
- 0) {
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
- feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -home_retract_mm(axis) * home_dir(axis);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
- feedrate = homing_feedrate[axis]/2 ;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- axis_is_at_home(axis);
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose();
- }
- }
- #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-
- void process_commands()
- {
- unsigned long codenum; //throw away variable
- char *starpos = NULL;
-
- if(code_seen('G'))
- {
- switch((int)code_value())
- {
- case 0: // G0 -> G1
- case 1: // G1
- if(Stopped == false) {
- get_coordinates(); // For X Y Z E F
- prepare_move();
- //ClearToSend();
- return;
- }
- //break;
- case 2: // G2 - CW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(true);
- return;
- }
- case 3: // G3 - CCW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(false);
- return;
- }
- case 4: // G4 dwell
- LCD_MESSAGEPGM(MSG_DWELL);
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
- st_synchronize();
- codenum += millis(); // keep track of when we started waiting
- previous_millis_cmd = millis();
- while(millis() < codenum ){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- break;
- #ifdef FWRETRACT
- case 10: // G10 retract
- if(!retracted)
- {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- current_position[Z_AXIS]+=-retract_zlift;
- destination[E_AXIS]=current_position[E_AXIS]-retract_length;
- feedrate=retract_feedrate;
- retracted=true;
- prepare_move();
- }
-
- break;
- case 11: // G10 retract_recover
- if(!retracted)
- {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
-
- current_position[Z_AXIS]+=retract_zlift;
- current_position[E_AXIS]+=-retract_recover_length;
- feedrate=retract_recover_feedrate;
- retracted=false;
- prepare_move();
- }
- break;
- #endif //FWRETRACT
- case 28: //G28 Home all Axis one at a time
- saved_feedrate = feedrate;
- saved_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = millis();
-
- enable_endstops(true);
-
- for(int8_t i=0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i];
- }
- feedrate = 0.0;
- home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- HOMEAXIS(Z);
- }
- #endif
-
- #ifdef QUICK_HOME
- if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
- {
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
-
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
- feedrate = homing_feedrate[X_AXIS];
- if(homing_feedrate[Y_AXIS]<feedrate)
- feedrate =homing_feedrate[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- axis_is_at_home(X_AXIS);
- axis_is_at_home(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- feedrate = 0.0;
- st_synchronize();
- endstops_hit_on_purpose();
- }
- #endif
-
- if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
- {
- HOMEAXIS(X);
- }
-
- if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
- HOMEAXIS(Y);
- }
-
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- HOMEAXIS(Z);
- }
- #endif
-
- if(code_seen(axis_codes[X_AXIS]))
- {
- if(code_value_long() != 0) {
- current_position[X_AXIS]=code_value()+add_homeing[0];
- }
- }
-
- if(code_seen(axis_codes[Y_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Y_AXIS]=code_value()+add_homeing[1];
- }
- }
-
- if(code_seen(axis_codes[Z_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Z_AXIS]=code_value()+add_homeing[2];
- }
- }
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
-
- feedrate = saved_feedrate;
- feedmultiply = saved_feedmultiply;
- previous_millis_cmd = millis();
- endstops_hit_on_purpose();
- break;
- case 90: // G90
- relative_mode = false;
- break;
- case 91: // G91
- relative_mode = true;
- break;
- case 92: // G92
- if(!code_seen(axis_codes[E_AXIS]))
- st_synchronize();
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) {
- if(i == E_AXIS) {
- current_position[i] = code_value();
- plan_set_e_position(current_position[E_AXIS]);
- }
- else {
- current_position[i] = code_value()+add_homeing[i];
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- }
- }
- break;
- }
- }
-
- else if(code_seen('M'))
- {
- switch( (int)code_value() )
- {
- #ifdef ULTIPANEL
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- {
- LCD_MESSAGEPGM(MSG_USERWAIT);
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
- st_synchronize();
- previous_millis_cmd = millis();
- if (codenum > 0){
- codenum += millis(); // keep track of when we started waiting
- while(millis() < codenum && !LCD_CLICKED){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }else{
- while(!LCD_CLICKED){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }
- LCD_MESSAGEPGM(MSG_RESUMING);
- }
- break;
- #endif
- case 17:
- LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- break;
-
- #ifdef SDSUPPORT
- case 20: // M20 - list SD card
- SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
- card.ls();
- SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
- break;
- case 21: // M21 - init SD card
-
- card.initsd();
-
- break;
- case 22: //M22 - release SD card
- card.release();
-
- break;
- case 23: //M23 - Select file
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos!=NULL)
- *(starpos-1)='\0';
- card.openFile(strchr_pointer + 4,true);
- break;
- case 24: //M24 - Start SD print
- card.startFileprint();
- starttime=millis();
- break;
- case 25: //M25 - Pause SD print
- card.pauseSDPrint();
- break;
- case 26: //M26 - Set SD index
- if(card.cardOK && code_seen('S')) {
- card.setIndex(code_value_long());
- }
- break;
- case 27: //M27 - Get SD status
- card.getStatus();
- break;
- case 28: //M28 - Start SD write
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos-1) = '\0';
- }
- card.openFile(strchr_pointer+4,false);
- break;
- case 29: //M29 - Stop SD write
- //processed in write to file routine above
- //card,saving = false;
- break;
- case 30: //M30 <filename> Delete File
- if (card.cardOK){
- card.closefile();
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos-1) = '\0';
- }
- card.removeFile(strchr_pointer + 4);
- }
- break;
-
- #endif //SDSUPPORT
-
- case 31: //M31 take time since the start of the SD print or an M109 command
- {
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int sec,min;
- min=t/60;
- sec=t%60;
- sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- autotempShutdown();
- }
- break;
- case 42: //M42 -Change pin status via gcode
- if (code_seen('S'))
- {
- int pin_status = code_value();
- int pin_number = LED_PIN;
- if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
- pin_number = code_value();
- for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- if (pin_number > -1)
- {
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
- }
- }
- break;
- case 104: // M104
- if(setTargetedHotend(104)){
- break;
- }
- if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
- setWatch();
- break;
- case 140: // M140 set bed temp
- if (code_seen('S')) setTargetBed(code_value());
- break;
- case 105 : // M105
- if(setTargetedHotend(105)){
- break;
- }
- #if (TEMP_0_PIN > -1)
- SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
- #if TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetBed(),1);
- #endif //TEMP_BED_PIN
- #else
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
- #endif
-
- SERIAL_PROTOCOLPGM(" @:");
- SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
-
- SERIAL_PROTOCOLPGM(" B@:");
- SERIAL_PROTOCOL(getHeaterPower(-1));
-
- SERIAL_PROTOCOLLN("");
- return;
- break;
- case 109:
- {// M109 - Wait for extruder heater to reach target.
- if(setTargetedHotend(109)){
- break;
- }
- LCD_MESSAGEPGM(MSG_HEATING);
- #ifdef AUTOTEMP
- autotemp_enabled=false;
- #endif
- if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
- #ifdef AUTOTEMP
- if (code_seen('S')) autotemp_min=code_value();
- if (code_seen('B')) autotemp_max=code_value();
- if (code_seen('F'))
- {
- autotemp_factor=code_value();
- autotemp_enabled=true;
- }
- #endif
-
- setWatch();
- codenum = millis();
-
- /* See if we are heating up or cooling down */
- bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
-
- #ifdef TEMP_RESIDENCY_TIME
- long residencyStart;
- residencyStart = -1;
- /* continue to loop until we have reached the target temp
- _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
- while((residencyStart == -1) ||
- (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
- #else
- while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
- #endif //TEMP_RESIDENCY_TIME
- if( (millis() - codenum) > 1000UL )
- { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)tmp_extruder);
- #ifdef TEMP_RESIDENCY_TIME
- SERIAL_PROTOCOLPGM(" W:");
- if(residencyStart > -1)
- {
- codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
- SERIAL_PROTOCOLLN( codenum );
- }
- else
- {
- SERIAL_PROTOCOLLN( "?" );
- }
- #else
- SERIAL_PROTOCOLLN("");
- #endif
- codenum = millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- #ifdef TEMP_RESIDENCY_TIME
- /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
- or when current temp falls outside the hysteresis after target temp was reached */
- if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
- (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
- (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
- {
- residencyStart = millis();
- }
- #endif //TEMP_RESIDENCY_TIME
- }
- LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
- starttime=millis();
- previous_millis_cmd = millis();
- }
- break;
- case 190: // M190 - Wait for bed heater to reach target.
- #if TEMP_BED_PIN > -1
- LCD_MESSAGEPGM(MSG_BED_HEATING);
- if (code_seen('S')) setTargetBed(code_value());
- codenum = millis();
- while(isHeatingBed())
- {
- if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
- {
- float tt=degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLLN("");
- codenum = millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- LCD_MESSAGEPGM(MSG_BED_DONE);
- previous_millis_cmd = millis();
- #endif
- break;
-
- #if FAN_PIN > -1
- case 106: //M106 Fan On
- if (code_seen('S')){
- fanSpeed=constrain(code_value(),0,255);
- }
- else {
- fanSpeed=255;
- }
- break;
- case 107: //M107 Fan Off
- fanSpeed = 0;
- break;
- #endif //FAN_PIN
-
- #if (PS_ON_PIN > -1)
- case 80: // M80 - ATX Power On
- SET_OUTPUT(PS_ON_PIN); //GND
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- break;
- #endif
-
- case 81: // M81 - ATX Power Off
-
- #if defined SUICIDE_PIN && SUICIDE_PIN > -1
- st_synchronize();
- suicide();
- #elif (PS_ON_PIN > -1)
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- break;
-
- case 82:
- axis_relative_modes[3] = false;
- break;
- case 83:
- axis_relative_modes[3] = true;
- break;
- case 18: //compatibility
- case 84: // M84
- if(code_seen('S')){
- stepper_inactive_time = code_value() * 1000;
- }
- else
- {
- bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
- if(all_axis)
- {
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- }
- else
- {
- st_synchronize();
- if(code_seen('X')) disable_x();
- if(code_seen('Y')) disable_y();
- if(code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if(code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- }
- #endif
- }
- }
- break;
- case 85: // M85
- code_seen('S');
- max_inactive_time = code_value() * 1000;
- break;
- case 92: // M92
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- if(i == 3) { // E
- float value = code_value();
- if(value < 20.0) {
- float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
- max_e_jerk *= factor;
- max_feedrate[i] *= factor;
- axis_steps_per_sqr_second[i] *= factor;
- }
- axis_steps_per_unit[i] = value;
- }
- else {
- axis_steps_per_unit[i] = code_value();
- }
- }
- }
- break;
- case 115: // M115
- SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
- break;
- case 117: // M117 display message
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos!=NULL)
- *(starpos-1)='\0';
- lcd_setstatus(strchr_pointer + 5);
- break;
- case 114: // M114
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM("Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM("Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM("E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
-
- SERIAL_PROTOCOLPGM(MSG_COUNT_X);
- SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
- SERIAL_PROTOCOLPGM("Y:");
- SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
- SERIAL_PROTOCOLPGM("Z:");
- SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
-
- SERIAL_PROTOCOLLN("");
- break;
- case 120: // M120
- enable_endstops(false) ;
- break;
- case 121: // M121
- enable_endstops(true) ;
- break;
- case 119: // M119
- SERIAL_PROTOCOLLN(MSG_M119_REPORT);
- #if (X_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_X_MIN);
- SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (X_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_X_MAX);
- SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Y_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Y_MIN);
- SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Y_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Y_MAX);
- SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Z_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Z_MIN);
- SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Z_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Z_MAX);
- SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- break;
- //TODO: update for all axis, use for loop
- case 201: // M201
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- max_acceleration_units_per_sq_second[i] = code_value();
- axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- }
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- break;
- #endif
- case 203: // M203 max feedrate mm/sec
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
- }
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- {
- if(code_seen('S')) acceleration = code_value() ;
- if(code_seen('T')) retract_acceleration = code_value() ;
- }
- break;
- case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
- {
- if(code_seen('S')) minimumfeedrate = code_value();
- if(code_seen('T')) mintravelfeedrate = code_value();
- if(code_seen('B')) minsegmenttime = code_value() ;
- if(code_seen('X')) max_xy_jerk = code_value() ;
- if(code_seen('Z')) max_z_jerk = code_value() ;
- if(code_seen('E')) max_e_jerk = code_value() ;
- }
- break;
- case 206: // M206 additional homeing offset
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
- }
- break;
- #ifdef FWRETRACT
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
- {
- if(code_seen('S'))
- {
- retract_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_feedrate = code_value() ;
- }
- if(code_seen('Z'))
- {
- retract_zlift = code_value() ;
- }
- }break;
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
- {
- if(code_seen('S'))
- {
- retract_recover_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_recover_feedrate = code_value() ;
- }
- }break;
-
- case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- {
- if(code_seen('S'))
- {
- int t= code_value() ;
- switch(t)
- {
- case 0: autoretract_enabled=false;retracted=false;break;
- case 1: autoretract_enabled=true;retracted=false;break;
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(cmdbuffer[bufindr]);
- SERIAL_ECHOLNPGM("\"");
- }
- }
-
- }break;
- #endif
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- {
- if(code_seen('S'))
- {
- feedmultiply = code_value() ;
- }
- }
- break;
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- {
- if(code_seen('S'))
- {
- extrudemultiply = code_value() ;
- }
- }
- break;
-
- #ifdef PIDTEMP
- case 301: // M301
- {
- if(code_seen('P')) Kp = code_value();
- if(code_seen('I')) Ki = code_value()*PID_dT;
- if(code_seen('D')) Kd = code_value()/PID_dT;
- #ifdef PID_ADD_EXTRUSION_RATE
- if(code_seen('C')) Kc = code_value();
- #endif
- updatePID();
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(Kp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(Ki/PID_dT);
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(Kd*PID_dT);
- #ifdef PID_ADD_EXTRUSION_RATE
- SERIAL_PROTOCOL(" c:");
- SERIAL_PROTOCOL(Kc*PID_dT);
- #endif
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- #ifdef PIDTEMPBED
- case 304: // M304
- {
- if(code_seen('P')) bedKp = code_value();
- if(code_seen('I')) bedKi = code_value()*PID_dT;
- if(code_seen('D')) bedKd = code_value()/PID_dT;
- updatePID();
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(bedKp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(bedKi/PID_dT);
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(bedKd*PID_dT);
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- {
- #ifdef PHOTOGRAPH_PIN
- #if (PHOTOGRAPH_PIN > -1)
- const uint8_t NUM_PULSES=16;
- const float PULSE_LENGTH=0.01524;
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- delay(7.33);
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- #endif
- #endif
- }
- break;
-
- case 302: // allow cold extrudes
- {
- allow_cold_extrudes(true);
- }
- break;
- case 303: // M303 PID autotune
- {
- float temp = 150.0;
- int e=0;
- int c=5;
- if (code_seen('E')) e=code_value();
- if (e<0)
- temp=70;
- if (code_seen('S')) temp=code_value();
- if (code_seen('C')) c=code_value();
- PID_autotune(temp, e, c);
- }
- break;
- case 400: // M400 finish all moves
- {
- st_synchronize();
- }
- break;
- case 500: // M500 Store settings in EEPROM
- {
- Config_StoreSettings();
- }
- break;
- case 501: // M501 Read settings from EEPROM
- {
- Config_RetrieveSettings();
- }
- break;
- case 502: // M502 Revert to default settings
- {
- Config_ResetDefault();
- }
- break;
- case 503: // M503 print settings currently in memory
- {
- Config_PrintSettings();
- }
- break;
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- case 540:
- {
- if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
- }
- break;
- #endif
- case 907: // M907 Set digital trimpot motor current using axis codes.
- {
- #if DIGIPOTSS_PIN > -1
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
- if(code_seen('B')) digipot_current(4,code_value());
- if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
- #endif
- }
- case 908: // M908 Control digital trimpot directly.
- {
- #if DIGIPOTSS_PIN > -1
- uint8_t channel,current;
- if(code_seen('P')) channel=code_value();
- if(code_seen('S')) current=code_value();
- digitalPotWrite(channel, current);
- #endif
- }
- break;
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- {
- #if X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
- if(code_seen('B')) microstep_mode(4,code_value());
- microstep_readings();
- #endif
- }
- break;
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- {
- #if X_MS1_PIN > -1
- if(code_seen('S')) switch((int)code_value())
- {
- case 1:
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
- if(code_seen('B')) microstep_ms(4,code_value(),-1);
- break;
- case 2:
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
- if(code_seen('B')) microstep_ms(4,-1,code_value());
- break;
- }
- microstep_readings();
- #endif
- }
- break;
- case 999: // M999: Restart after being stopped
- Stopped = false;
- lcd_reset_alert_level();
- gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- break;
- }
- }
-
- else if(code_seen('T'))
- {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHO("T");
- SERIAL_ECHO(tmp_extruder);
- SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
- }
- else {
- active_extruder = tmp_extruder;
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
- }
-
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(cmdbuffer[bufindr]);
- SERIAL_ECHOLNPGM("\"");
- }
-
- ClearToSend();
- }
-
- void FlushSerialRequestResend()
- {
- //char cmdbuffer[bufindr][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ClearToSend();
- }
-
- void ClearToSend()
- {
- previous_millis_cmd = millis();
- #ifdef SDSUPPORT
- if(fromsd[bufindr])
- return;
- #endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
- }
-
- void get_coordinates()
- {
- bool seen[4]={false,false,false,false};
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
- {
- destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
- seen[i]=true;
- }
- else destination[i] = current_position[i]; //Are these else lines really needed?
- }
- if(code_seen('F')) {
- next_feedrate = code_value();
- if(next_feedrate > 0.0) feedrate = next_feedrate;
- }
- #ifdef FWRETRACT
- if(autoretract_enabled)
- if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
- {
- float echange=destination[E_AXIS]-current_position[E_AXIS];
- if(echange<-MIN_RETRACT) //retract
- {
- if(!retracted)
- {
-
- destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
- //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
- float correctede=-echange-retract_length;
- //to generate the additional steps, not the destination is changed, but inversely the current position
- current_position[E_AXIS]+=-correctede;
- feedrate=retract_feedrate;
- retracted=true;
- }
-
- }
- else
- if(echange>MIN_RETRACT) //retract_recover
- {
- if(retracted)
- {
- //current_position[Z_AXIS]+=-retract_zlift;
- //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
- float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
- current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
- feedrate=retract_recover_feedrate;
- retracted=false;
- }
- }
-
- }
- #endif //FWRETRACT
- }
-
- void get_arc_coordinates()
- {
- #ifdef SF_ARC_FIX
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
- #endif
- get_coordinates();
- #ifdef SF_ARC_FIX
- relative_mode=relative_mode_backup;
- #endif
-
- if(code_seen('I')) {
- offset[0] = code_value();
- }
- else {
- offset[0] = 0.0;
- }
- if(code_seen('J')) {
- offset[1] = code_value();
- }
- else {
- offset[1] = 0.0;
- }
- }
-
- void clamp_to_software_endstops(float target[3])
- {
- if (min_software_endstops) {
- if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
- if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
- if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
- }
-
- if (max_software_endstops) {
- if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
- if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
- if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
- }
- }
-
- void prepare_move()
- {
- clamp_to_software_endstops(destination);
-
- previous_millis_cmd = millis();
- // Do not use feedmultiply for E or Z only moves
- if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- }
- else {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
- }
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- }
-
- void prepare_arc_move(char isclockwise) {
- float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
-
- // Trace the arc
- mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
-
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- previous_millis_cmd = millis();
- }
-
- #ifdef CONTROLLERFAN_PIN
- unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
- unsigned long lastMotorCheck = 0;
-
- void controllerFan()
- {
- if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
- {
- lastMotorCheck = millis();
-
- if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
- #if EXTRUDERS > 2
- || !READ(E2_ENABLE_PIN)
- #endif
- #if EXTRUDER > 1
- || !READ(E2_ENABLE_PIN)
- #endif
- || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
- {
- lastMotor = millis(); //... set time to NOW so the fan will turn on
- }
-
- if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
- {
- WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
- }
- else
- {
- WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
- }
- }
- }
- #endif
-
- void manage_inactivity()
- {
- if( (millis() - previous_millis_cmd) > max_inactive_time )
- if(max_inactive_time)
- kill();
- if(stepper_inactive_time) {
- if( (millis() - previous_millis_cmd) > stepper_inactive_time )
- {
- if(blocks_queued() == false) {
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- }
- }
- }
- #if( KILL_PIN>-1 )
- if( 0 == READ(KILL_PIN) )
- kill();
- #endif
- #ifdef CONTROLLERFAN_PIN
- controllerFan(); //Check if fan should be turned on to cool stepper drivers down
- #endif
- #ifdef EXTRUDER_RUNOUT_PREVENT
- if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
- if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
- {
- bool oldstatus=READ(E0_ENABLE_PIN);
- enable_e0();
- float oldepos=current_position[E_AXIS];
- float oldedes=destination[E_AXIS];
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
- EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
- current_position[E_AXIS]=oldepos;
- destination[E_AXIS]=oldedes;
- plan_set_e_position(oldepos);
- previous_millis_cmd=millis();
- st_synchronize();
- WRITE(E0_ENABLE_PIN,oldstatus);
- }
- #endif
- check_axes_activity();
- }
-
- void kill()
- {
- cli(); // Stop interrupts
- disable_heater();
-
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
-
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
- LCD_ALERTMESSAGEPGM(MSG_KILLED);
- suicide();
- while(1) { /* Intentionally left empty */ } // Wait for reset
- }
-
- void Stop()
- {
- disable_heater();
- if(Stopped == false) {
- Stopped = true;
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
- }
-
- bool IsStopped() { return Stopped; };
-
- #ifdef FAST_PWM_FAN
- void setPwmFrequency(uint8_t pin, int val)
- {
- val &= 0x07;
- switch(digitalPinToTimer(pin))
- {
-
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
- // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
- // TCCR0B |= val;
- break;
- #endif
-
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
- // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- // TCCR1B |= val;
- break;
- #endif
-
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
-
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
-
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
-
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
-
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
-
- }
- }
- #endif //FAST_PWM_FAN
-
- bool setTargetedHotend(int code){
- tmp_extruder = active_extruder;
- if(code_seen('T')) {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- switch(code){
- case 104:
- SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
- break;
- case 105:
- SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
- break;
- case 109:
- SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
- break;
- }
- SERIAL_ECHOLN(tmp_extruder);
- return true;
- }
- }
- return false;
- }
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