My Marlin configs for Fabrikator Mini and CTC i3 Pro B
Du kan inte välja fler än 25 ämnen Ämnen måste starta med en bokstav eller siffra, kan innehålla bindestreck ('-') och vara max 35 tecken långa.

Marlin.pde 40KB

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  1. /*
  2. Reprap firmware based on Sprinter and grbl.
  3. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  4. This program is free software: you can redistribute it and/or modify
  5. it under the terms of the GNU General Public License as published by
  6. the Free Software Foundation, either version 3 of the License, or
  7. (at your option) any later version.
  8. This program is distributed in the hope that it will be useful,
  9. but WITHOUT ANY WARRANTY; without even the implied warranty of
  10. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  11. GNU General Public License for more details.
  12. You should have received a copy of the GNU General Public License
  13. along with this program. If not, see <http://www.gnu.org/licenses/>.
  14. */
  15. /*
  16. This firmware is a mashup between Sprinter and grbl.
  17. (https://github.com/kliment/Sprinter)
  18. (https://github.com/simen/grbl/tree)
  19. It has preliminary support for Matthew Roberts advance algorithm
  20. http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  21. */
  22. #include <math.h>
  23. #include <EEPROM.h>
  24. #include <stdio.h>
  25. #include "EEPROMwrite.h"
  26. #include "fastio.h"
  27. #include "Configuration.h"
  28. #include "pins.h"
  29. #include "Marlin.h"
  30. #include "ultralcd.h"
  31. #include "planner.h"
  32. #include "stepper.h"
  33. #include "temperature.h"
  34. #include "motion_control.h"
  35. #include "cardreader.h"
  36. #include "watchdog.h"
  37. #define VERSION_STRING "1.0.0 Beta 1"
  38. // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
  39. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  40. //Implemented Codes
  41. //-------------------
  42. // G0 -> G1
  43. // G1 - Coordinated Movement X Y Z E
  44. // G2 - CW ARC
  45. // G3 - CCW ARC
  46. // G4 - Dwell S<seconds> or P<milliseconds>
  47. // G28 - Home all Axis
  48. // G90 - Use Absolute Coordinates
  49. // G91 - Use Relative Coordinates
  50. // G92 - Set current position to cordinates given
  51. //RepRap M Codes
  52. // M104 - Set extruder target temp
  53. // M105 - Read current temp
  54. // M106 - Fan on
  55. // M107 - Fan off
  56. // M109 - Wait for extruder current temp to reach target temp.
  57. // M114 - Display current position
  58. //Custom M Codes
  59. // M17 - Enable/Power all stepper motors
  60. // M18 - Disable all stepper motors; same as M84
  61. // M20 - List SD card
  62. // M21 - Init SD card
  63. // M22 - Release SD card
  64. // M23 - Select SD file (M23 filename.g)
  65. // M24 - Start/resume SD print
  66. // M25 - Pause SD print
  67. // M26 - Set SD position in bytes (M26 S12345)
  68. // M27 - Report SD print status
  69. // M28 - Start SD write (M28 filename.g)
  70. // M29 - Stop SD write
  71. // M30 - Output time since last M109 or SD card start to serial
  72. // M42 - Change pin status via gcode
  73. // M80 - Turn on Power Supply
  74. // M81 - Turn off Power Supply
  75. // M82 - Set E codes absolute (default)
  76. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  77. // M84 - Disable steppers until next move,
  78. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  79. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  80. // M92 - Set axis_steps_per_unit - same syntax as G92
  81. // M114 - Output current position to serial port
  82. // M115 - Capabilities string
  83. // M117 - display message
  84. // M119 - Output Endstop status to serial port
  85. // M140 - Set bed target temp
  86. // M190 - Wait for bed current temp to reach target temp.
  87. // M200 - Set filament diameter
  88. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  89. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  90. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  91. // 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
  92. // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  93. // M206 - set additional homeing offset
  94. // M220 - set speed factor override percentage S:factor in percent
  95. // M301 - Set PID parameters P I and D
  96. // M302 - Allow cold extrudes
  97. // M400 - Finish all moves
  98. // M500 - stores paramters in EEPROM
  99. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  100. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  101. // M503 - print the current settings (from memory not from eeprom)
  102. //Stepper Movement Variables
  103. //===========================================================================
  104. //=============================imported variables============================
  105. //===========================================================================
  106. //===========================================================================
  107. //=============================public variables=============================
  108. //===========================================================================
  109. #ifdef SDSUPPORT
  110. CardReader card;
  111. #endif
  112. float homing_feedrate[] = HOMING_FEEDRATE;
  113. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  114. volatile int feedmultiply=100; //100->1 200->2
  115. int saved_feedmultiply;
  116. volatile bool feedmultiplychanged=false;
  117. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
  118. float add_homeing[3]={0,0,0};
  119. uint8_t active_extruder = 0;
  120. bool stop_heating_wait=false;
  121. //===========================================================================
  122. //=============================private variables=============================
  123. //===========================================================================
  124. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  125. static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  126. static float offset[3] = {0.0, 0.0, 0.0};
  127. static bool home_all_axis = true;
  128. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  129. static long gcode_N, gcode_LastN;
  130. static bool relative_mode = false; //Determines Absolute or Relative Coordinates
  131. static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
  132. static uint8_t fanpwm=0;
  133. static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
  134. static bool fromsd[BUFSIZE];
  135. static int bufindr = 0;
  136. static int bufindw = 0;
  137. static int buflen = 0;
  138. static int i = 0;
  139. static char serial_char;
  140. static int serial_count = 0;
  141. static boolean comment_mode = false;
  142. static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
  143. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  144. //static float tt = 0;
  145. //static float bt = 0;
  146. //Inactivity shutdown variables
  147. static unsigned long previous_millis_cmd = 0;
  148. static unsigned long max_inactive_time = 0;
  149. static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
  150. static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
  151. static unsigned long starttime=0;
  152. static unsigned long stoptime=0;
  153. static uint8_t tmp_extruder;
  154. //===========================================================================
  155. //=============================ROUTINES=============================
  156. //===========================================================================
  157. void get_arc_coordinates();
  158. extern "C"{
  159. extern unsigned int __bss_end;
  160. extern unsigned int __heap_start;
  161. extern void *__brkval;
  162. int freeMemory() {
  163. int free_memory;
  164. if((int)__brkval == 0)
  165. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  166. else
  167. free_memory = ((int)&free_memory) - ((int)__brkval);
  168. return free_memory;
  169. }
  170. }
  171. //adds an command to the main command buffer
  172. //thats really done in a non-safe way.
  173. //needs overworking someday
  174. void enquecommand(const char *cmd)
  175. {
  176. if(buflen < BUFSIZE)
  177. {
  178. //this is dangerous if a mixing of serial and this happsens
  179. strcpy(&(cmdbuffer[bufindw][0]),cmd);
  180. SERIAL_ECHO_START;
  181. SERIAL_ECHOPGM("enqueing \"");
  182. SERIAL_ECHO(cmdbuffer[bufindw]);
  183. SERIAL_ECHOLNPGM("\"");
  184. bufindw= (bufindw + 1)%BUFSIZE;
  185. buflen += 1;
  186. }
  187. }
  188. void setup()
  189. {
  190. MSerial.begin(BAUDRATE);
  191. SERIAL_ECHO_START;
  192. SERIAL_ECHOLNPGM(VERSION_STRING);
  193. SERIAL_PROTOCOLLNPGM("start");
  194. SERIAL_ECHO_START;
  195. SERIAL_ECHOPGM("Free Memory:");
  196. SERIAL_ECHO(freeMemory());
  197. SERIAL_ECHOPGM(" PlannerBufferBytes:");
  198. SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  199. for(int8_t i = 0; i < BUFSIZE; i++)
  200. {
  201. fromsd[i] = false;
  202. }
  203. EEPROM_RetrieveSettings(); // loads data from EEPROM if available
  204. for(int8_t i=0; i < NUM_AXIS; i++)
  205. {
  206. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  207. }
  208. tp_init(); // Initialize temperature loop
  209. plan_init(); // Initialize planner;
  210. st_init(); // Initialize stepper;
  211. wd_init();
  212. }
  213. void loop()
  214. {
  215. if(buflen<3)
  216. get_command();
  217. #ifdef SDSUPPORT
  218. card.checkautostart(false);
  219. #endif
  220. if(buflen)
  221. {
  222. #ifdef SDSUPPORT
  223. if(card.saving)
  224. {
  225. if(strstr(cmdbuffer[bufindr],"M29") == NULL)
  226. {
  227. card.write_command(cmdbuffer[bufindr]);
  228. SERIAL_PROTOCOLLNPGM("ok");
  229. }
  230. else
  231. {
  232. card.closefile();
  233. SERIAL_PROTOCOLLNPGM("Done saving file.");
  234. }
  235. }
  236. else
  237. {
  238. process_commands();
  239. }
  240. #else
  241. process_commands();
  242. #endif //SDSUPPORT
  243. buflen = (buflen-1);
  244. bufindr = (bufindr + 1)%BUFSIZE;
  245. }
  246. //check heater every n milliseconds
  247. manage_heater();
  248. manage_inactivity(1);
  249. checkHitEndstops();
  250. LCD_STATUS;
  251. }
  252. FORCE_INLINE void get_command()
  253. {
  254. while( MSerial.available() > 0 && buflen < BUFSIZE) {
  255. serial_char = MSerial.read();
  256. if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
  257. {
  258. if(!serial_count) return; //if empty line
  259. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  260. if(!comment_mode){
  261. fromsd[bufindw] = false;
  262. if(strstr(cmdbuffer[bufindw], "N") != NULL)
  263. {
  264. strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
  265. gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
  266. if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
  267. SERIAL_ERROR_START;
  268. SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:");
  269. SERIAL_ERRORLN(gcode_LastN);
  270. //Serial.println(gcode_N);
  271. FlushSerialRequestResend();
  272. serial_count = 0;
  273. return;
  274. }
  275. if(strstr(cmdbuffer[bufindw], "*") != NULL)
  276. {
  277. byte checksum = 0;
  278. byte count = 0;
  279. while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
  280. strchr_pointer = strchr(cmdbuffer[bufindw], '*');
  281. if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
  282. SERIAL_ERROR_START;
  283. SERIAL_ERRORPGM("checksum mismatch, Last Line:");
  284. SERIAL_ERRORLN(gcode_LastN);
  285. FlushSerialRequestResend();
  286. serial_count = 0;
  287. return;
  288. }
  289. //if no errors, continue parsing
  290. }
  291. else
  292. {
  293. SERIAL_ERROR_START;
  294. SERIAL_ERRORPGM("No Checksum with line number, Last Line:");
  295. SERIAL_ERRORLN(gcode_LastN);
  296. FlushSerialRequestResend();
  297. serial_count = 0;
  298. return;
  299. }
  300. gcode_LastN = gcode_N;
  301. //if no errors, continue parsing
  302. }
  303. else // if we don't receive 'N' but still see '*'
  304. {
  305. if((strstr(cmdbuffer[bufindw], "*") != NULL))
  306. {
  307. SERIAL_ERROR_START;
  308. SERIAL_ERRORPGM("No Line Number with checksum, Last Line:");
  309. SERIAL_ERRORLN(gcode_LastN);
  310. serial_count = 0;
  311. return;
  312. }
  313. }
  314. if((strstr(cmdbuffer[bufindw], "G") != NULL)){
  315. strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
  316. switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
  317. case 0:
  318. case 1:
  319. case 2:
  320. case 3:
  321. #ifdef SDSUPPORT
  322. if(card.saving)
  323. break;
  324. #endif //SDSUPPORT
  325. SERIAL_PROTOCOLLNPGM("ok");
  326. break;
  327. default:
  328. break;
  329. }
  330. }
  331. bufindw = (bufindw + 1)%BUFSIZE;
  332. buflen += 1;
  333. }
  334. comment_mode = false; //for new command
  335. serial_count = 0; //clear buffer
  336. }
  337. else
  338. {
  339. if(serial_char == ';') comment_mode = true;
  340. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  341. }
  342. }
  343. #ifdef SDSUPPORT
  344. if(!card.sdprinting || serial_count!=0){
  345. return;
  346. }
  347. while( !card.eof() && buflen < BUFSIZE) {
  348. int16_t n=card.get();
  349. serial_char = (char)n;
  350. if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  351. {
  352. if(card.eof()){
  353. SERIAL_PROTOCOLLNPGM("Done printing file");
  354. stoptime=millis();
  355. char time[30];
  356. unsigned long t=(stoptime-starttime)/1000;
  357. int sec,min;
  358. min=t/60;
  359. sec=t%60;
  360. sprintf(time,"%i min, %i sec",min,sec);
  361. SERIAL_ECHO_START;
  362. SERIAL_ECHOLN(time);
  363. LCD_MESSAGE(time);
  364. card.printingHasFinished();
  365. card.checkautostart(true);
  366. }
  367. if(serial_char=='\n')
  368. comment_mode = false; //for new command
  369. if(!serial_count)
  370. {
  371. return; //if empty line
  372. }
  373. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  374. if(!comment_mode){
  375. fromsd[bufindw] = true;
  376. buflen += 1;
  377. bufindw = (bufindw + 1)%BUFSIZE;
  378. }
  379. serial_count = 0; //clear buffer
  380. }
  381. else
  382. {
  383. if(serial_char == ';') comment_mode = true;
  384. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  385. }
  386. }
  387. #endif //SDSUPPORT
  388. }
  389. FORCE_INLINE float code_value()
  390. {
  391. return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
  392. }
  393. FORCE_INLINE long code_value_long()
  394. {
  395. return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
  396. }
  397. FORCE_INLINE bool code_seen(char code_string[]) //Return True if the string was found
  398. {
  399. return (strstr(cmdbuffer[bufindr], code_string) != NULL);
  400. }
  401. FORCE_INLINE bool code_seen(char code)
  402. {
  403. strchr_pointer = strchr(cmdbuffer[bufindr], code);
  404. return (strchr_pointer != NULL); //Return True if a character was found
  405. }
  406. #define HOMEAXIS(LETTER) \
  407. if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
  408. { \
  409. current_position[LETTER##_AXIS] = 0; \
  410. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
  411. destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
  412. feedrate = homing_feedrate[LETTER##_AXIS]; \
  413. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
  414. \
  415. current_position[LETTER##_AXIS] = 0;\
  416. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
  417. destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
  418. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
  419. \
  420. destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
  421. feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
  422. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
  423. \
  424. current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
  425. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
  426. destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
  427. feedrate = 0.0;\
  428. st_synchronize();\
  429. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
  430. endstops_hit_on_purpose();\
  431. }
  432. FORCE_INLINE void process_commands()
  433. {
  434. unsigned long codenum; //throw away variable
  435. char *starpos = NULL;
  436. if(code_seen('G'))
  437. {
  438. switch((int)code_value())
  439. {
  440. case 0: // G0 -> G1
  441. case 1: // G1
  442. get_coordinates(); // For X Y Z E F
  443. prepare_move();
  444. //ClearToSend();
  445. return;
  446. //break;
  447. case 2: // G2 - CW ARC
  448. get_arc_coordinates();
  449. prepare_arc_move(true);
  450. return;
  451. case 3: // G3 - CCW ARC
  452. get_arc_coordinates();
  453. prepare_arc_move(false);
  454. return;
  455. case 4: // G4 dwell
  456. LCD_MESSAGEPGM("DWELL...");
  457. codenum = 0;
  458. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  459. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  460. st_synchronize();
  461. codenum += millis(); // keep track of when we started waiting
  462. previous_millis_cmd = millis();
  463. while(millis() < codenum ){
  464. manage_heater();
  465. }
  466. break;
  467. case 28: //G28 Home all Axis one at a time
  468. saved_feedrate = feedrate;
  469. saved_feedmultiply = feedmultiply;
  470. feedmultiply = 100;
  471. enable_endstops(true);
  472. for(int8_t i=0; i < NUM_AXIS; i++) {
  473. destination[i] = current_position[i];
  474. }
  475. feedrate = 0.0;
  476. home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
  477. #ifdef QUICK_HOME
  478. if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
  479. {
  480. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  481. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  482. destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
  483. feedrate = homing_feedrate[X_AXIS];
  484. if(homing_feedrate[Y_AXIS]<feedrate)
  485. feedrate =homing_feedrate[Y_AXIS];
  486. prepare_move();
  487. current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
  488. current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
  489. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  490. destination[X_AXIS] = current_position[X_AXIS];
  491. destination[Y_AXIS] = current_position[Y_AXIS];
  492. feedrate = 0.0;
  493. st_synchronize();
  494. plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
  495. current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
  496. endstops_hit_on_purpose();
  497. }
  498. #endif
  499. if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
  500. {
  501. HOMEAXIS(X);
  502. }
  503. if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
  504. HOMEAXIS(Y);
  505. }
  506. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  507. HOMEAXIS(Z);
  508. }
  509. if(code_seen(axis_codes[X_AXIS]))
  510. {
  511. current_position[0]=code_value()+add_homeing[0];
  512. }
  513. if(code_seen(axis_codes[Y_AXIS])) {
  514. current_position[1]=code_value()+add_homeing[1];
  515. }
  516. if(code_seen(axis_codes[Z_AXIS])) {
  517. current_position[2]=code_value()+add_homeing[2];
  518. }
  519. #ifdef ENDSTOPS_ONLY_FOR_HOMING
  520. enable_endstops(false);
  521. #endif
  522. feedrate = saved_feedrate;
  523. feedmultiply = saved_feedmultiply;
  524. previous_millis_cmd = millis();
  525. endstops_hit_on_purpose();
  526. break;
  527. case 90: // G90
  528. relative_mode = false;
  529. break;
  530. case 91: // G91
  531. relative_mode = true;
  532. break;
  533. case 92: // G92
  534. if(!code_seen(axis_codes[E_AXIS]))
  535. st_synchronize();
  536. for(int8_t i=0; i < NUM_AXIS; i++) {
  537. if(code_seen(axis_codes[i])) {
  538. current_position[i] = code_value()+add_homeing[i];
  539. if(i == E_AXIS) {
  540. current_position[i] = code_value();
  541. plan_set_e_position(current_position[E_AXIS]);
  542. }
  543. else {
  544. current_position[i] = code_value()+add_homeing[i];
  545. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  546. }
  547. }
  548. }
  549. break;
  550. }
  551. }
  552. else if(code_seen('M'))
  553. {
  554. switch( (int)code_value() )
  555. {
  556. case 17:
  557. LCD_MESSAGEPGM("No move.");
  558. enable_x();
  559. enable_y();
  560. enable_z();
  561. enable_e0();
  562. enable_e1();
  563. enable_e2();
  564. break;
  565. #ifdef SDSUPPORT
  566. case 20: // M20 - list SD card
  567. SERIAL_PROTOCOLLNPGM("Begin file list");
  568. card.ls();
  569. SERIAL_PROTOCOLLNPGM("End file list");
  570. break;
  571. case 21: // M21 - init SD card
  572. card.initsd();
  573. break;
  574. case 22: //M22 - release SD card
  575. card.release();
  576. break;
  577. case 23: //M23 - Select file
  578. starpos = (strchr(strchr_pointer + 4,'*'));
  579. if(starpos!=NULL)
  580. *(starpos-1)='\0';
  581. card.openFile(strchr_pointer + 4,true);
  582. break;
  583. case 24: //M24 - Start SD print
  584. card.startFileprint();
  585. starttime=millis();
  586. break;
  587. case 25: //M25 - Pause SD print
  588. card.pauseSDPrint();
  589. break;
  590. case 26: //M26 - Set SD index
  591. if(card.cardOK && code_seen('S')) {
  592. card.setIndex(code_value_long());
  593. }
  594. break;
  595. case 27: //M27 - Get SD status
  596. card.getStatus();
  597. break;
  598. case 28: //M28 - Start SD write
  599. starpos = (strchr(strchr_pointer + 4,'*'));
  600. if(starpos != NULL){
  601. char* npos = strchr(cmdbuffer[bufindr], 'N');
  602. strchr_pointer = strchr(npos,' ') + 1;
  603. *(starpos-1) = '\0';
  604. }
  605. card.openFile(strchr_pointer+4,false);
  606. break;
  607. case 29: //M29 - Stop SD write
  608. //processed in write to file routine above
  609. //card,saving = false;
  610. break;
  611. #endif //SDSUPPORT
  612. case 30: //M30 take time since the start of the SD print or an M109 command
  613. {
  614. stoptime=millis();
  615. char time[30];
  616. unsigned long t=(stoptime-starttime)/1000;
  617. int sec,min;
  618. min=t/60;
  619. sec=t%60;
  620. sprintf(time,"%i min, %i sec",min,sec);
  621. SERIAL_ECHO_START;
  622. SERIAL_ECHOLN(time);
  623. LCD_MESSAGE(time);
  624. autotempShutdown();
  625. }
  626. break;
  627. case 42: //M42 -Change pin status via gcode
  628. if (code_seen('S'))
  629. {
  630. int pin_status = code_value();
  631. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  632. {
  633. int pin_number = code_value();
  634. for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
  635. {
  636. if (sensitive_pins[i] == pin_number)
  637. {
  638. pin_number = -1;
  639. break;
  640. }
  641. }
  642. if (pin_number > -1)
  643. {
  644. pinMode(pin_number, OUTPUT);
  645. digitalWrite(pin_number, pin_status);
  646. analogWrite(pin_number, pin_status);
  647. }
  648. }
  649. }
  650. break;
  651. case 104: // M104
  652. tmp_extruder = active_extruder;
  653. if(code_seen('T')) {
  654. tmp_extruder = code_value();
  655. if(tmp_extruder >= EXTRUDERS) {
  656. SERIAL_ECHO_START;
  657. SERIAL_ECHO("M104 Invalid extruder ");
  658. SERIAL_ECHOLN(tmp_extruder);
  659. break;
  660. }
  661. }
  662. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  663. setWatch();
  664. break;
  665. case 140: // M140 set bed temp
  666. if (code_seen('S')) setTargetBed(code_value());
  667. break;
  668. case 105 : // M105
  669. tmp_extruder = active_extruder;
  670. if(code_seen('T')) {
  671. tmp_extruder = code_value();
  672. if(tmp_extruder >= EXTRUDERS) {
  673. SERIAL_ECHO_START;
  674. SERIAL_ECHO("M105 Invalid extruder ");
  675. SERIAL_ECHOLN(tmp_extruder);
  676. break;
  677. }
  678. }
  679. #if (TEMP_0_PIN > -1)
  680. SERIAL_PROTOCOLPGM("ok T:");
  681. SERIAL_PROTOCOL(degHotend(tmp_extruder));
  682. #if TEMP_BED_PIN > -1
  683. SERIAL_PROTOCOLPGM(" B:");
  684. SERIAL_PROTOCOL(degBed());
  685. #endif //TEMP_BED_PIN
  686. #else
  687. SERIAL_ERROR_START;
  688. SERIAL_ERRORLNPGM("No thermistors - no temp");
  689. #endif
  690. #ifdef PIDTEMP
  691. SERIAL_PROTOCOLPGM(" @:");
  692. SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
  693. #endif
  694. SERIAL_PROTOCOLLN("");
  695. return;
  696. break;
  697. case 109:
  698. {// M109 - Wait for extruder heater to reach target.
  699. tmp_extruder = active_extruder;
  700. if(code_seen('T')) {
  701. tmp_extruder = code_value();
  702. if(tmp_extruder >= EXTRUDERS) {
  703. SERIAL_ECHO_START;
  704. SERIAL_ECHO("M109 Invalid extruder ");
  705. SERIAL_ECHOLN(tmp_extruder);
  706. break;
  707. }
  708. }
  709. LCD_MESSAGEPGM("Heating...");
  710. #ifdef AUTOTEMP
  711. autotemp_enabled=false;
  712. #endif
  713. if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
  714. #ifdef AUTOTEMP
  715. if (code_seen('S')) autotemp_min=code_value();
  716. if (code_seen('G')) autotemp_max=code_value();
  717. if (code_seen('F'))
  718. {
  719. autotemp_factor=code_value();
  720. autotemp_enabled=true;
  721. }
  722. #endif
  723. setWatch();
  724. codenum = millis();
  725. /* See if we are heating up or cooling down */
  726. bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
  727. #ifdef TEMP_RESIDENCY_TIME
  728. long residencyStart;
  729. residencyStart = -1;
  730. /* continue to loop until we have reached the target temp
  731. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  732. while((residencyStart == -1) ||
  733. (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
  734. #else
  735. while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
  736. #endif //TEMP_RESIDENCY_TIME
  737. if( (millis() - codenum) > 1000 )
  738. { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
  739. SERIAL_PROTOCOLPGM("T:");
  740. SERIAL_PROTOCOL( degHotend(tmp_extruder) );
  741. SERIAL_PROTOCOLPGM(" E:");
  742. SERIAL_PROTOCOL( (int)tmp_extruder );
  743. #ifdef TEMP_RESIDENCY_TIME
  744. SERIAL_PROTOCOLPGM(" W:");
  745. if(residencyStart > -1)
  746. {
  747. codenum = TEMP_RESIDENCY_TIME - ((millis() - residencyStart) / 1000);
  748. SERIAL_PROTOCOLLN( codenum );
  749. }
  750. else
  751. {
  752. SERIAL_PROTOCOLLN( "?" );
  753. }
  754. #endif
  755. codenum = millis();
  756. }
  757. manage_heater();
  758. LCD_STATUS;
  759. if(stop_heating_wait) break;
  760. #ifdef TEMP_RESIDENCY_TIME
  761. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  762. or when current temp falls outside the hysteresis after target temp was reached */
  763. if ((residencyStart == -1 && target_direction && !isHeatingHotend(tmp_extruder)) ||
  764. (residencyStart == -1 && !target_direction && !isCoolingHotend(tmp_extruder)) ||
  765. (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
  766. {
  767. residencyStart = millis();
  768. }
  769. #endif //TEMP_RESIDENCY_TIME
  770. }
  771. LCD_MESSAGEPGM("Heating done.");
  772. starttime=millis();
  773. previous_millis_cmd = millis();
  774. }
  775. break;
  776. case 190: // M190 - Wait for bed heater to reach target.
  777. #if TEMP_BED_PIN > -1
  778. LCD_MESSAGEPGM("Bed Heating.");
  779. if (code_seen('S')) setTargetBed(code_value());
  780. codenum = millis();
  781. while(isHeatingBed())
  782. {
  783. if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  784. {
  785. float tt=degHotend(active_extruder);
  786. SERIAL_PROTOCOLPGM("T:");
  787. SERIAL_PROTOCOL(tt);
  788. SERIAL_PROTOCOLPGM(" E:");
  789. SERIAL_PROTOCOL( (int)active_extruder );
  790. SERIAL_PROTOCOLPGM(" B:");
  791. SERIAL_PROTOCOLLN(degBed());
  792. codenum = millis();
  793. }
  794. manage_heater();
  795. }
  796. LCD_MESSAGEPGM("Bed done.");
  797. previous_millis_cmd = millis();
  798. #endif
  799. break;
  800. #if FAN_PIN > -1
  801. case 106: //M106 Fan On
  802. if (code_seen('S')){
  803. WRITE(FAN_PIN,HIGH);
  804. fanpwm=constrain(code_value(),0,255);
  805. analogWrite(FAN_PIN, fanpwm);
  806. }
  807. else {
  808. WRITE(FAN_PIN,HIGH);
  809. fanpwm=255;
  810. analogWrite(FAN_PIN, fanpwm);
  811. }
  812. break;
  813. case 107: //M107 Fan Off
  814. WRITE(FAN_PIN,LOW);
  815. analogWrite(FAN_PIN, 0);
  816. break;
  817. #endif //FAN_PIN
  818. #if (PS_ON_PIN > -1)
  819. case 80: // M80 - ATX Power On
  820. SET_OUTPUT(PS_ON_PIN); //GND
  821. break;
  822. case 81: // M81 - ATX Power Off
  823. SET_INPUT(PS_ON_PIN); //Floating
  824. break;
  825. #endif
  826. case 82:
  827. axis_relative_modes[3] = false;
  828. break;
  829. case 83:
  830. axis_relative_modes[3] = true;
  831. break;
  832. case 18: //compatibility
  833. case 84: // M84
  834. if(code_seen('S')){
  835. stepper_inactive_time = code_value() * 1000;
  836. }
  837. else
  838. {
  839. bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
  840. if(all_axis)
  841. {
  842. disable_e0();
  843. disable_e1();
  844. disable_e2();
  845. finishAndDisableSteppers();
  846. }
  847. else
  848. {
  849. st_synchronize();
  850. if(code_seen('X')) disable_x();
  851. if(code_seen('Y')) disable_y();
  852. if(code_seen('Z')) disable_z();
  853. #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
  854. if(code_seen('E')) {
  855. disable_e0();
  856. disable_e1();
  857. disable_e2();
  858. }
  859. #endif
  860. LCD_MESSAGEPGM("Partial Release");
  861. }
  862. }
  863. break;
  864. case 85: // M85
  865. code_seen('S');
  866. max_inactive_time = code_value() * 1000;
  867. break;
  868. case 92: // M92
  869. for(int8_t i=0; i < NUM_AXIS; i++)
  870. {
  871. if(code_seen(axis_codes[i]))
  872. axis_steps_per_unit[i] = code_value();
  873. }
  874. break;
  875. case 115: // M115
  876. SerialprintPGM("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
  877. break;
  878. case 117: // M117 display message
  879. LCD_MESSAGE(cmdbuffer[bufindr]+5);
  880. break;
  881. case 114: // M114
  882. SERIAL_PROTOCOLPGM("X:");
  883. SERIAL_PROTOCOL(current_position[X_AXIS]);
  884. SERIAL_PROTOCOLPGM("Y:");
  885. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  886. SERIAL_PROTOCOLPGM("Z:");
  887. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  888. SERIAL_PROTOCOLPGM("E:");
  889. SERIAL_PROTOCOL(current_position[E_AXIS]);
  890. SERIAL_PROTOCOLPGM(" Count X:");
  891. SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
  892. SERIAL_PROTOCOLPGM("Y:");
  893. SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
  894. SERIAL_PROTOCOLPGM("Z:");
  895. SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
  896. SERIAL_PROTOCOLLN("");
  897. break;
  898. case 119: // M119
  899. #if (X_MIN_PIN > -1)
  900. SERIAL_PROTOCOLPGM("x_min:");
  901. SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
  902. #endif
  903. #if (X_MAX_PIN > -1)
  904. SERIAL_PROTOCOLPGM("x_max:");
  905. SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
  906. #endif
  907. #if (Y_MIN_PIN > -1)
  908. SERIAL_PROTOCOLPGM("y_min:");
  909. SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
  910. #endif
  911. #if (Y_MAX_PIN > -1)
  912. SERIAL_PROTOCOLPGM("y_max:");
  913. SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
  914. #endif
  915. #if (Z_MIN_PIN > -1)
  916. SERIAL_PROTOCOLPGM("z_min:");
  917. SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
  918. #endif
  919. #if (Z_MAX_PIN > -1)
  920. SERIAL_PROTOCOLPGM("z_max:");
  921. SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
  922. #endif
  923. SERIAL_PROTOCOLLN("");
  924. break;
  925. //TODO: update for all axis, use for loop
  926. case 201: // M201
  927. for(int8_t i=0; i < NUM_AXIS; i++)
  928. {
  929. if(code_seen(axis_codes[i]))
  930. {
  931. max_acceleration_units_per_sq_second[i] = code_value();
  932. axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  933. }
  934. }
  935. break;
  936. #if 0 // Not used for Sprinter/grbl gen6
  937. case 202: // M202
  938. for(int8_t i=0; i < NUM_AXIS; i++) {
  939. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  940. }
  941. break;
  942. #endif
  943. case 203: // M203 max feedrate mm/sec
  944. for(int8_t i=0; i < NUM_AXIS; i++) {
  945. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
  946. }
  947. break;
  948. case 204: // M204 acclereration S normal moves T filmanent only moves
  949. {
  950. if(code_seen('S')) acceleration = code_value() ;
  951. if(code_seen('T')) retract_acceleration = code_value() ;
  952. }
  953. break;
  954. 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
  955. {
  956. if(code_seen('S')) minimumfeedrate = code_value();
  957. if(code_seen('T')) mintravelfeedrate = code_value();
  958. if(code_seen('B')) minsegmenttime = code_value() ;
  959. if(code_seen('X')) max_xy_jerk = code_value() ;
  960. if(code_seen('Z')) max_z_jerk = code_value() ;
  961. }
  962. break;
  963. case 206: // M206 additional homeing offset
  964. for(int8_t i=0; i < 3; i++)
  965. {
  966. if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
  967. }
  968. break;
  969. case 220: // M220 S<factor in percent>- set speed factor override percentage
  970. {
  971. if(code_seen('S'))
  972. {
  973. feedmultiply = code_value() ;
  974. feedmultiplychanged=true;
  975. }
  976. }
  977. break;
  978. #ifdef PIDTEMP
  979. case 301: // M301
  980. {
  981. if(code_seen('P')) Kp = code_value();
  982. if(code_seen('I')) Ki = code_value()*PID_dT;
  983. if(code_seen('D')) Kd = code_value()/PID_dT;
  984. #ifdef PID_ADD_EXTRUSION_RATE
  985. if(code_seen('C')) Kc = code_value();
  986. #endif
  987. updatePID();
  988. SERIAL_PROTOCOL("ok p:");
  989. SERIAL_PROTOCOL(Kp);
  990. SERIAL_PROTOCOL(" i:");
  991. SERIAL_PROTOCOL(Ki/PID_dT);
  992. SERIAL_PROTOCOL(" d:");
  993. SERIAL_PROTOCOL(Kd*PID_dT);
  994. #ifdef PID_ADD_EXTRUSION_RATE
  995. SERIAL_PROTOCOL(" c:");
  996. SERIAL_PROTOCOL(Kc*PID_dT);
  997. #endif
  998. SERIAL_PROTOCOLLN("");
  999. }
  1000. break;
  1001. #endif //PIDTEMP
  1002. case 302: // finish all moves
  1003. {
  1004. allow_cold_extrudes(true);
  1005. }
  1006. break;
  1007. case 400: // finish all moves
  1008. {
  1009. st_synchronize();
  1010. }
  1011. break;
  1012. case 500: // Store settings in EEPROM
  1013. {
  1014. EEPROM_StoreSettings();
  1015. }
  1016. break;
  1017. case 501: // Read settings from EEPROM
  1018. {
  1019. EEPROM_RetrieveSettings();
  1020. }
  1021. break;
  1022. case 502: // Revert to default settings
  1023. {
  1024. EEPROM_RetrieveSettings(true);
  1025. }
  1026. break;
  1027. case 503: // print settings currently in memory
  1028. {
  1029. EEPROM_printSettings();
  1030. }
  1031. break;
  1032. }
  1033. }
  1034. else if(code_seen('T'))
  1035. {
  1036. tmp_extruder = code_value();
  1037. if(tmp_extruder >= EXTRUDERS) {
  1038. SERIAL_ECHO_START;
  1039. SERIAL_ECHO("T");
  1040. SERIAL_ECHO(tmp_extruder);
  1041. SERIAL_ECHOLN("Invalid extruder");
  1042. }
  1043. else {
  1044. active_extruder = tmp_extruder;
  1045. SERIAL_ECHO_START;
  1046. SERIAL_ECHO("Active Extruder: ");
  1047. SERIAL_PROTOCOLLN((int)active_extruder);
  1048. }
  1049. }
  1050. else
  1051. {
  1052. SERIAL_ECHO_START;
  1053. SERIAL_ECHOPGM("Unknown command:\"");
  1054. SERIAL_ECHO(cmdbuffer[bufindr]);
  1055. SERIAL_ECHOLNPGM("\"");
  1056. }
  1057. ClearToSend();
  1058. }
  1059. void FlushSerialRequestResend()
  1060. {
  1061. //char cmdbuffer[bufindr][100]="Resend:";
  1062. MSerial.flush();
  1063. SERIAL_PROTOCOLPGM("Resend:");
  1064. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  1065. ClearToSend();
  1066. }
  1067. void ClearToSend()
  1068. {
  1069. previous_millis_cmd = millis();
  1070. #ifdef SDSUPPORT
  1071. if(fromsd[bufindr])
  1072. return;
  1073. #endif //SDSUPPORT
  1074. SERIAL_PROTOCOLLNPGM("ok");
  1075. }
  1076. FORCE_INLINE void get_coordinates()
  1077. {
  1078. for(int8_t i=0; i < NUM_AXIS; i++) {
  1079. if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  1080. else destination[i] = current_position[i]; //Are these else lines really needed?
  1081. }
  1082. if(code_seen('F')) {
  1083. next_feedrate = code_value();
  1084. if(next_feedrate > 0.0) feedrate = next_feedrate;
  1085. }
  1086. }
  1087. FORCE_INLINE void get_arc_coordinates()
  1088. {
  1089. get_coordinates();
  1090. if(code_seen('I')) offset[0] = code_value();
  1091. if(code_seen('J')) offset[1] = code_value();
  1092. }
  1093. void prepare_move()
  1094. {
  1095. if (min_software_endstops) {
  1096. if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
  1097. if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
  1098. if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
  1099. }
  1100. if (max_software_endstops) {
  1101. if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
  1102. if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
  1103. if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
  1104. }
  1105. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
  1106. for(int8_t i=0; i < NUM_AXIS; i++) {
  1107. current_position[i] = destination[i];
  1108. }
  1109. previous_millis_cmd = millis();
  1110. }
  1111. void prepare_arc_move(char isclockwise) {
  1112. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  1113. // Trace the arc
  1114. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
  1115. // As far as the parser is concerned, the position is now == target. In reality the
  1116. // motion control system might still be processing the action and the real tool position
  1117. // in any intermediate location.
  1118. for(int8_t i=0; i < NUM_AXIS; i++) {
  1119. current_position[i] = destination[i];
  1120. }
  1121. previous_millis_cmd = millis();
  1122. }
  1123. void manage_inactivity(byte debug)
  1124. {
  1125. if( (millis()-previous_millis_cmd) > max_inactive_time )
  1126. if(max_inactive_time)
  1127. kill();
  1128. if(stepper_inactive_time)
  1129. if( (millis()-last_stepperdisabled_time) > stepper_inactive_time )
  1130. {
  1131. if(previous_millis_cmd>last_stepperdisabled_time)
  1132. last_stepperdisabled_time=previous_millis_cmd;
  1133. else
  1134. {
  1135. if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
  1136. enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
  1137. last_stepperdisabled_time=millis();
  1138. }
  1139. }
  1140. #ifdef EXTRUDER_RUNOUT_PREVENT
  1141. if( (millis()-previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
  1142. if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
  1143. {
  1144. bool oldstatus=READ(E0_ENABLE_PIN);
  1145. enable_e0();
  1146. float oldepos=current_position[E_AXIS];
  1147. float oldedes=destination[E_AXIS];
  1148. plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
  1149. current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
  1150. EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
  1151. current_position[E_AXIS]=oldepos;
  1152. destination[E_AXIS]=oldedes;
  1153. plan_set_e_position(oldepos);
  1154. previous_millis_cmd=millis();
  1155. //enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
  1156. st_synchronize();
  1157. WRITE(E0_ENABLE_PIN,oldstatus);
  1158. }
  1159. #endif
  1160. check_axes_activity();
  1161. }
  1162. void kill()
  1163. {
  1164. cli(); // Stop interrupts
  1165. disable_heater();
  1166. disable_x();
  1167. disable_y();
  1168. disable_z();
  1169. disable_e0();
  1170. disable_e1();
  1171. disable_e2();
  1172. if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
  1173. SERIAL_ERROR_START;
  1174. SERIAL_ERRORLNPGM("Printer halted. kill() called !!");
  1175. LCD_MESSAGEPGM("KILLED. ");
  1176. while(1); // Wait for reset
  1177. }