My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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Marlin.pde 32KB

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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 <EEPROM.h>
  23. #include "EEPROMwrite.h"
  24. #include "fastio.h"
  25. #include "Configuration.h"
  26. #include "pins.h"
  27. #include "Marlin.h"
  28. #include "ultralcd.h"
  29. #include "planner.h"
  30. #include "stepper.h"
  31. #include "temperature.h"
  32. #include "motion_control.h"
  33. #include "cardreader.h"
  34. #include "watchdog.h"
  35. #define VERSION_STRING "1.0.0 Alpha 1"
  36. // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
  37. // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
  38. //Implemented Codes
  39. //-------------------
  40. // G0 -> G1
  41. // G1 - Coordinated Movement X Y Z E
  42. // G2 - CW ARC
  43. // G3 - CCW ARC
  44. // G4 - Dwell S<seconds> or P<milliseconds>
  45. // G28 - Home all Axis
  46. // G90 - Use Absolute Coordinates
  47. // G91 - Use Relative Coordinates
  48. // G92 - Set current position to cordinates given
  49. //RepRap M Codes
  50. // M104 - Set extruder target temp
  51. // M105 - Read current temp
  52. // M106 - Fan on
  53. // M107 - Fan off
  54. // M109 - Wait for extruder current temp to reach target temp.
  55. // M114 - Display current position
  56. //Custom M Codes
  57. // M20 - List SD card
  58. // M21 - Init SD card
  59. // M22 - Release SD card
  60. // M23 - Select SD file (M23 filename.g)
  61. // M24 - Start/resume SD print
  62. // M25 - Pause SD print
  63. // M26 - Set SD position in bytes (M26 S12345)
  64. // M27 - Report SD print status
  65. // M28 - Start SD write (M28 filename.g)
  66. // M29 - Stop SD write
  67. // M30 - Output time since last M109 or SD card start to serial
  68. // M42 - Change pin status via gcode
  69. // M80 - Turn on Power Supply
  70. // M81 - Turn off Power Supply
  71. // M82 - Set E codes absolute (default)
  72. // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
  73. // M84 - Disable steppers until next move,
  74. // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
  75. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
  76. // M92 - Set axis_steps_per_unit - same syntax as G92
  77. // M115 - Capabilities string
  78. // M140 - Set bed target temp
  79. // M190 - Wait for bed current temp to reach target temp.
  80. // M200 - Set filament diameter
  81. // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
  82. // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
  83. // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
  84. // 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
  85. // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
  86. // M220 - set speed factor override percentage S:factor in percent
  87. // M301 - Set PID parameters P I and D
  88. // M400 - Finish all moves
  89. // M500 - stores paramters in EEPROM
  90. // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
  91. // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
  92. //Stepper Movement Variables
  93. //===========================================================================
  94. //=============================imported variables============================
  95. //===========================================================================
  96. extern float HeaterPower;
  97. //===========================================================================
  98. //=============================public variables=============================
  99. //===========================================================================
  100. #ifdef SDSUPPORT
  101. CardReader card;
  102. #endif
  103. float homing_feedrate[] = HOMING_FEEDRATE;
  104. bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
  105. volatile int feedmultiply=100; //100->1 200->2
  106. int saved_feedmultiply;
  107. volatile bool feedmultiplychanged=false;
  108. float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  109. //===========================================================================
  110. //=============================private variables=============================
  111. //===========================================================================
  112. const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  113. static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
  114. static float offset[3] = {0.0, 0.0, 0.0};
  115. static bool home_all_axis = true;
  116. static float feedrate = 1500.0, next_feedrate, saved_feedrate;
  117. static long gcode_N, gcode_LastN;
  118. static bool relative_mode = false; //Determines Absolute or Relative Coordinates
  119. 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.
  120. static uint8_t fanpwm=0;
  121. static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
  122. static bool fromsd[BUFSIZE];
  123. static int bufindr = 0;
  124. static int bufindw = 0;
  125. static int buflen = 0;
  126. static int i = 0;
  127. static char serial_char;
  128. static int serial_count = 0;
  129. static boolean comment_mode = false;
  130. static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
  131. const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
  132. static float tt = 0, bt = 0;
  133. //Inactivity shutdown variables
  134. static unsigned long previous_millis_cmd = 0;
  135. static unsigned long max_inactive_time = 0;
  136. static unsigned long stepper_inactive_time = 0;
  137. static unsigned long starttime=0;
  138. static unsigned long stoptime=0;
  139. //===========================================================================
  140. //=============================ROUTINES=============================
  141. //===========================================================================
  142. void get_arc_coordinates();
  143. extern "C"{
  144. extern unsigned int __bss_end;
  145. extern unsigned int __heap_start;
  146. extern void *__brkval;
  147. int freeMemory() {
  148. int free_memory;
  149. if((int)__brkval == 0)
  150. free_memory = ((int)&free_memory) - ((int)&__bss_end);
  151. else
  152. free_memory = ((int)&free_memory) - ((int)__brkval);
  153. return free_memory;
  154. }
  155. }
  156. //adds an command to the main command buffer
  157. //thats really done in a non-safe way.
  158. //needs overworking someday
  159. void enquecommand(const char *cmd)
  160. {
  161. if(buflen < BUFSIZE)
  162. {
  163. //this is dangerous if a mixing of serial and this happsens
  164. strcpy(&(cmdbuffer[bufindw][0]),cmd);
  165. SERIAL_ECHO_START;
  166. SERIAL_ECHOPGM("enqueing \"");
  167. SERIAL_ECHO(cmdbuffer[bufindw]);
  168. SERIAL_ECHOLNPGM("\"");
  169. bufindw= (bufindw + 1)%BUFSIZE;
  170. buflen += 1;
  171. }
  172. }
  173. void setup()
  174. {
  175. Serial.begin(BAUDRATE);
  176. SERIAL_ECHO_START;
  177. SERIAL_ECHOLNPGM(VERSION_STRING);
  178. SERIAL_PROTOCOLLNPGM("start");
  179. SERIAL_ECHO_START;
  180. SERIAL_ECHOPGM("Free Memory:");
  181. SERIAL_ECHOLN(freeMemory());
  182. for(int8_t i = 0; i < BUFSIZE; i++)
  183. {
  184. fromsd[i] = false;
  185. }
  186. RetrieveSettings(); // loads data from EEPROM if available
  187. for(int8_t i=0; i < NUM_AXIS; i++)
  188. {
  189. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  190. }
  191. tp_init(); // Initialize temperature loop
  192. plan_init(); // Initialize planner;
  193. st_init(); // Initialize stepper;
  194. wd_init();
  195. }
  196. void loop()
  197. {
  198. if(buflen<3)
  199. get_command();
  200. #ifdef SDSUPPORT
  201. card.checkautostart(false);
  202. #endif
  203. if(buflen)
  204. {
  205. #ifdef SDSUPPORT
  206. if(card.saving)
  207. {
  208. if(strstr(cmdbuffer[bufindr],"M29") == NULL)
  209. {
  210. card.write_command(cmdbuffer[bufindr]);
  211. SERIAL_PROTOCOLLNPGM("ok");
  212. }
  213. else
  214. {
  215. card.closefile();
  216. SERIAL_PROTOCOLLNPGM("Done saving file.");
  217. }
  218. }
  219. else
  220. {
  221. process_commands();
  222. }
  223. #else
  224. process_commands();
  225. #endif //SDSUPPORT
  226. buflen = (buflen-1);
  227. bufindr = (bufindr + 1)%BUFSIZE;
  228. }
  229. //check heater every n milliseconds
  230. manage_heater();
  231. manage_inactivity(1);
  232. checkHitEndstops();
  233. LCD_STATUS;
  234. }
  235. inline void get_command()
  236. {
  237. while( Serial.available() > 0 && buflen < BUFSIZE) {
  238. serial_char = Serial.read();
  239. if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
  240. {
  241. if(!serial_count) return; //if empty line
  242. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  243. if(!comment_mode){
  244. fromsd[bufindw] = false;
  245. if(strstr(cmdbuffer[bufindw], "N") != NULL)
  246. {
  247. strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
  248. gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
  249. if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
  250. SERIAL_ERROR_START;
  251. SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:");
  252. SERIAL_ERRORLN(gcode_LastN);
  253. //Serial.println(gcode_N);
  254. FlushSerialRequestResend();
  255. serial_count = 0;
  256. return;
  257. }
  258. if(strstr(cmdbuffer[bufindw], "*") != NULL)
  259. {
  260. byte checksum = 0;
  261. byte count = 0;
  262. while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
  263. strchr_pointer = strchr(cmdbuffer[bufindw], '*');
  264. if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
  265. SERIAL_ERROR_START;
  266. SERIAL_ERRORPGM("checksum mismatch, Last Line:");
  267. SERIAL_ERRORLN(gcode_LastN);
  268. FlushSerialRequestResend();
  269. serial_count = 0;
  270. return;
  271. }
  272. //if no errors, continue parsing
  273. }
  274. else
  275. {
  276. SERIAL_ERROR_START;
  277. SERIAL_ERRORPGM("No Checksum with line number, Last Line:");
  278. SERIAL_ERRORLN(gcode_LastN);
  279. FlushSerialRequestResend();
  280. serial_count = 0;
  281. return;
  282. }
  283. gcode_LastN = gcode_N;
  284. //if no errors, continue parsing
  285. }
  286. else // if we don't receive 'N' but still see '*'
  287. {
  288. if((strstr(cmdbuffer[bufindw], "*") != NULL))
  289. {
  290. SERIAL_ERROR_START;
  291. SERIAL_ERRORPGM("No Line Number with checksum, Last Line:");
  292. SERIAL_ERRORLN(gcode_LastN);
  293. serial_count = 0;
  294. return;
  295. }
  296. }
  297. if((strstr(cmdbuffer[bufindw], "G") != NULL)){
  298. strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
  299. switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
  300. case 0:
  301. case 1:
  302. case 2:
  303. case 3:
  304. #ifdef SDSUPPORT
  305. if(card.saving)
  306. break;
  307. #endif //SDSUPPORT
  308. SERIAL_PROTOCOLLNPGM("ok");
  309. break;
  310. default:
  311. break;
  312. }
  313. }
  314. bufindw = (bufindw + 1)%BUFSIZE;
  315. buflen += 1;
  316. }
  317. comment_mode = false; //for new command
  318. serial_count = 0; //clear buffer
  319. }
  320. else
  321. {
  322. if(serial_char == ';') comment_mode = true;
  323. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  324. }
  325. }
  326. #ifdef SDSUPPORT
  327. if(!card.sdprinting || serial_count!=0){
  328. return;
  329. }
  330. while( !card.eof() && buflen < BUFSIZE) {
  331. int16_t n=card.get();
  332. serial_char = (char)n;
  333. if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
  334. {
  335. if(card.eof()){
  336. card.sdprinting = false;
  337. SERIAL_PROTOCOLLNPGM("Done printing file");
  338. stoptime=millis();
  339. char time[30];
  340. unsigned long t=(stoptime-starttime)/1000;
  341. int sec,min;
  342. min=t/60;
  343. sec=t%60;
  344. sprintf(time,"%i min, %i sec",min,sec);
  345. SERIAL_ECHO_START;
  346. SERIAL_ECHOLN(time);
  347. LCD_MESSAGE(time);
  348. card.checkautostart(true);
  349. }
  350. if(serial_char=='\n')
  351. comment_mode = false; //for new command
  352. if(!serial_count)
  353. {
  354. return; //if empty line
  355. }
  356. cmdbuffer[bufindw][serial_count] = 0; //terminate string
  357. if(!comment_mode){
  358. fromsd[bufindw] = true;
  359. buflen += 1;
  360. bufindw = (bufindw + 1)%BUFSIZE;
  361. }
  362. serial_count = 0; //clear buffer
  363. }
  364. else
  365. {
  366. if(serial_char == ';') comment_mode = true;
  367. if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
  368. }
  369. }
  370. #endif //SDSUPPORT
  371. }
  372. inline float code_value()
  373. {
  374. return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
  375. }
  376. inline long code_value_long()
  377. {
  378. return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
  379. }
  380. inline bool code_seen(char code_string[]) //Return True if the string was found
  381. {
  382. return (strstr(cmdbuffer[bufindr], code_string) != NULL);
  383. }
  384. inline bool code_seen(char code)
  385. {
  386. strchr_pointer = strchr(cmdbuffer[bufindr], code);
  387. return (strchr_pointer != NULL); //Return True if a character was found
  388. }
  389. #define HOMEAXIS(LETTER) \
  390. if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
  391. { \
  392. current_position[LETTER##_AXIS] = 0; \
  393. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
  394. destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
  395. feedrate = homing_feedrate[LETTER##_AXIS]; \
  396. prepare_move(); \
  397. st_synchronize();\
  398. \
  399. current_position[LETTER##_AXIS] = 0;\
  400. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
  401. destination[LETTER##_AXIS] = -5 * LETTER##_HOME_DIR;\
  402. prepare_move(); \
  403. st_synchronize();\
  404. \
  405. destination[LETTER##_AXIS] = 10 * LETTER##_HOME_DIR;\
  406. feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
  407. prepare_move(); \
  408. st_synchronize();\
  409. \
  410. current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
  411. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
  412. destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
  413. feedrate = 0.0;\
  414. st_synchronize();\
  415. endstops_hit_on_purpose();\
  416. }
  417. inline void process_commands()
  418. {
  419. unsigned long codenum; //throw away variable
  420. char *starpos = NULL;
  421. if(code_seen('G'))
  422. {
  423. switch((int)code_value())
  424. {
  425. case 0: // G0 -> G1
  426. case 1: // G1
  427. get_coordinates(); // For X Y Z E F
  428. prepare_move();
  429. previous_millis_cmd = millis();
  430. //ClearToSend();
  431. return;
  432. //break;
  433. case 2: // G2 - CW ARC
  434. get_arc_coordinates();
  435. prepare_arc_move(true);
  436. previous_millis_cmd = millis();
  437. return;
  438. case 3: // G3 - CCW ARC
  439. get_arc_coordinates();
  440. prepare_arc_move(false);
  441. previous_millis_cmd = millis();
  442. return;
  443. case 4: // G4 dwell
  444. LCD_MESSAGEPGM("DWELL...");
  445. codenum = 0;
  446. if(code_seen('P')) codenum = code_value(); // milliseconds to wait
  447. if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
  448. codenum += millis(); // keep track of when we started waiting
  449. while(millis() < codenum ){
  450. manage_heater();
  451. }
  452. break;
  453. case 28: //G28 Home all Axis one at a time
  454. saved_feedrate = feedrate;
  455. saved_feedmultiply = feedmultiply;
  456. feedmultiply = 100;
  457. for(int8_t i=0; i < NUM_AXIS; i++) {
  458. destination[i] = current_position[i];
  459. }
  460. feedrate = 0.0;
  461. home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
  462. if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
  463. {
  464. HOMEAXIS(X);
  465. }
  466. if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
  467. HOMEAXIS(Y);
  468. }
  469. if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
  470. HOMEAXIS(Z);
  471. }
  472. feedrate = saved_feedrate;
  473. feedmultiply = saved_feedmultiply;
  474. previous_millis_cmd = millis();
  475. endstops_hit_on_purpose();
  476. break;
  477. case 90: // G90
  478. relative_mode = false;
  479. break;
  480. case 91: // G91
  481. relative_mode = true;
  482. break;
  483. case 92: // G92
  484. if(!code_seen(axis_codes[E_AXIS]))
  485. st_synchronize();
  486. for(int8_t i=0; i < NUM_AXIS; i++) {
  487. if(code_seen(axis_codes[i])) current_position[i] = code_value();
  488. }
  489. plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  490. break;
  491. }
  492. }
  493. else if(code_seen('M'))
  494. {
  495. switch( (int)code_value() )
  496. {
  497. #ifdef SDSUPPORT
  498. case 20: // M20 - list SD card
  499. SERIAL_PROTOCOLLNPGM("Begin file list");
  500. card.ls();
  501. SERIAL_PROTOCOLLNPGM("End file list");
  502. break;
  503. case 21: // M21 - init SD card
  504. card.initsd();
  505. break;
  506. case 22: //M22 - release SD card
  507. card.release();
  508. break;
  509. case 23: //M23 - Select file
  510. starpos = (strchr(strchr_pointer + 4,'*'));
  511. if(starpos!=NULL)
  512. *(starpos-1)='\0';
  513. card.openFile(strchr_pointer + 4,true);
  514. break;
  515. case 24: //M24 - Start SD print
  516. card.startFileprint();
  517. starttime=millis();
  518. break;
  519. case 25: //M25 - Pause SD print
  520. card.pauseSDPrint();
  521. break;
  522. case 26: //M26 - Set SD index
  523. if(card.cardOK && code_seen('S')){
  524. card.setIndex(code_value_long());
  525. }
  526. break;
  527. case 27: //M27 - Get SD status
  528. card.getStatus();
  529. break;
  530. case 28: //M28 - Start SD write
  531. starpos = (strchr(strchr_pointer + 4,'*'));
  532. if(starpos != NULL){
  533. char* npos = strchr(cmdbuffer[bufindr], 'N');
  534. strchr_pointer = strchr(npos,' ') + 1;
  535. *(starpos-1) = '\0';
  536. }
  537. card.openFile(strchr_pointer+4,false);
  538. break;
  539. case 29: //M29 - Stop SD write
  540. //processed in write to file routine above
  541. //card,saving = false;
  542. break;
  543. #endif //SDSUPPORT
  544. case 30: //M30 take time since the start of the SD print or an M109 command
  545. {
  546. stoptime=millis();
  547. char time[30];
  548. unsigned long t=(stoptime-starttime)/1000;
  549. int sec,min;
  550. min=t/60;
  551. sec=t%60;
  552. sprintf(time,"%i min, %i sec",min,sec);
  553. SERIAL_ECHO_START;
  554. SERIAL_ECHOLN(time);
  555. LCD_MESSAGE(time);
  556. }
  557. break;
  558. case 42: //M42 -Change pin status via gcode
  559. if (code_seen('S'))
  560. {
  561. int pin_status = code_value();
  562. if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
  563. {
  564. int pin_number = code_value();
  565. for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
  566. {
  567. if (sensitive_pins[i] == pin_number)
  568. {
  569. pin_number = -1;
  570. break;
  571. }
  572. }
  573. if (pin_number > -1)
  574. {
  575. pinMode(pin_number, OUTPUT);
  576. digitalWrite(pin_number, pin_status);
  577. analogWrite(pin_number, pin_status);
  578. }
  579. }
  580. }
  581. break;
  582. case 104: // M104
  583. if (code_seen('S')) setTargetHotend0(code_value());
  584. setWatch();
  585. break;
  586. case 140: // M140 set bed temp
  587. if (code_seen('S')) setTargetBed(code_value());
  588. break;
  589. case 105: // M105
  590. //SERIAL_ECHOLN(freeMemory());
  591. //test watchdog:
  592. //delay(20000);
  593. #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
  594. SERIAL_PROTOCOLPGM("ok T:");
  595. SERIAL_PROTOCOL( degHotend0());
  596. #if TEMP_1_PIN > -1
  597. SERIAL_PROTOCOLPGM(" B:");
  598. SERIAL_PROTOCOL(degBed());
  599. #endif //TEMP_1_PIN
  600. #else
  601. SERIAL_ERROR_START;
  602. SERIAL_ERRORLNPGM("No thermistors - no temp");
  603. #endif
  604. #ifdef PIDTEMP
  605. SERIAL_PROTOCOLPGM(" @:");
  606. SERIAL_PROTOCOL( HeaterPower);
  607. #endif
  608. SERIAL_PROTOCOLLN("");
  609. return;
  610. break;
  611. case 109:
  612. {// M109 - Wait for extruder heater to reach target.
  613. LCD_MESSAGEPGM("Heating...");
  614. if (code_seen('S')) setTargetHotend0(code_value());
  615. setWatch();
  616. codenum = millis();
  617. /* See if we are heating up or cooling down */
  618. bool target_direction = isHeatingHotend0(); // true if heating, false if cooling
  619. #ifdef TEMP_RESIDENCY_TIME
  620. long residencyStart;
  621. residencyStart = -1;
  622. /* continue to loop until we have reached the target temp
  623. _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
  624. while((target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ||
  625. (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
  626. #else
  627. while ( target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ) {
  628. #endif //TEMP_RESIDENCY_TIME
  629. if( (millis() - codenum) > 1000 )
  630. { //Print Temp Reading every 1 second while heating up/cooling down
  631. SERIAL_PROTOCOLPGM("T:");
  632. SERIAL_PROTOCOLLN( degHotend0() );
  633. codenum = millis();
  634. }
  635. manage_heater();
  636. LCD_STATUS;
  637. #ifdef TEMP_RESIDENCY_TIME
  638. /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
  639. or when current temp falls outside the hysteresis after target temp was reached */
  640. if ((residencyStart == -1 && target_direction && !isHeatingHotend0()) ||
  641. (residencyStart == -1 && !target_direction && !isCoolingHotend0()) ||
  642. (residencyStart > -1 && labs(degHotend0() - degTargetHotend0()) > TEMP_HYSTERESIS) )
  643. {
  644. residencyStart = millis();
  645. }
  646. #endif //TEMP_RESIDENCY_TIME
  647. }
  648. LCD_MESSAGEPGM("Heating done.");
  649. starttime=millis();
  650. }
  651. break;
  652. case 190: // M190 - Wait bed for heater to reach target.
  653. #if TEMP_1_PIN > -1
  654. LCD_MESSAGEPGM("Bed Heating.");
  655. if (code_seen('S')) setTargetBed(code_value());
  656. codenum = millis();
  657. while(isHeatingBed())
  658. {
  659. if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
  660. {
  661. float tt=degHotend0();
  662. SERIAL_PROTOCOLPGM("T:");
  663. SERIAL_PROTOCOLLN(tt );
  664. SERIAL_PROTOCOLPGM("ok T:");
  665. SERIAL_PROTOCOL(tt );
  666. SERIAL_PROTOCOLPGM(" B:");
  667. SERIAL_PROTOCOLLN(degBed() );
  668. codenum = millis();
  669. }
  670. manage_heater();
  671. }
  672. LCD_MESSAGEPGM("Bed done.");
  673. #endif
  674. break;
  675. #if FAN_PIN > -1
  676. case 106: //M106 Fan On
  677. if (code_seen('S')){
  678. WRITE(FAN_PIN,HIGH);
  679. fanpwm=constrain(code_value(),0,255);
  680. analogWrite(FAN_PIN, fanpwm);
  681. }
  682. else {
  683. WRITE(FAN_PIN,HIGH);
  684. fanpwm=255;
  685. analogWrite(FAN_PIN, fanpwm);
  686. }
  687. break;
  688. case 107: //M107 Fan Off
  689. WRITE(FAN_PIN,LOW);
  690. analogWrite(FAN_PIN, 0);
  691. break;
  692. #endif //FAN_PIN
  693. #if (PS_ON_PIN > -1)
  694. case 80: // M80 - ATX Power On
  695. SET_OUTPUT(PS_ON_PIN); //GND
  696. break;
  697. case 81: // M81 - ATX Power Off
  698. SET_INPUT(PS_ON_PIN); //Floating
  699. break;
  700. #endif
  701. case 82:
  702. axis_relative_modes[3] = false;
  703. break;
  704. case 83:
  705. axis_relative_modes[3] = true;
  706. break;
  707. case 18: //compatibility
  708. case 84:
  709. if(code_seen('S')){
  710. stepper_inactive_time = code_value() * 1000;
  711. }
  712. else
  713. {
  714. st_synchronize();
  715. LCD_MESSAGEPGM("Free move.");
  716. disable_x();
  717. disable_y();
  718. disable_z();
  719. disable_e();
  720. }
  721. break;
  722. case 85: // M85
  723. code_seen('S');
  724. max_inactive_time = code_value() * 1000;
  725. break;
  726. case 92: // M92
  727. for(int8_t i=0; i < NUM_AXIS; i++)
  728. {
  729. if(code_seen(axis_codes[i]))
  730. axis_steps_per_unit[i] = code_value();
  731. }
  732. break;
  733. case 115: // M115
  734. 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");
  735. break;
  736. case 114: // M114
  737. SERIAL_PROTOCOLPGM("X:");
  738. SERIAL_PROTOCOL(current_position[X_AXIS]);
  739. SERIAL_PROTOCOLPGM("Y:");
  740. SERIAL_PROTOCOL(current_position[Y_AXIS]);
  741. SERIAL_PROTOCOLPGM("Z:");
  742. SERIAL_PROTOCOL(current_position[Z_AXIS]);
  743. SERIAL_PROTOCOLPGM("E:");
  744. SERIAL_PROTOCOL(current_position[E_AXIS]);
  745. #ifdef DEBUG_STEPS
  746. SERIAL_PROTOCOLPGM(" Count X:");
  747. SERIAL_PROTOCOL(float(count_position[X_AXIS])/axis_steps_per_unit[X_AXIS]);
  748. SERIAL_PROTOCOLPGM("Y:");
  749. SERIAL_PROTOCOL(float(count_position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]);
  750. SERIAL_PROTOCOLPGM("Z:");
  751. SERIAL_PROTOCOL(float(count_position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]);
  752. #endif
  753. SERIAL_PROTOCOLLN("");
  754. break;
  755. case 119: // M119
  756. #if (X_MIN_PIN > -1)
  757. SERIAL_PROTOCOLPGM("x_min:");
  758. SERIAL_PROTOCOL(((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  759. #endif
  760. #if (X_MAX_PIN > -1)
  761. SERIAL_PROTOCOLPGM("x_max:");
  762. SERIAL_PROTOCOL(((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  763. #endif
  764. #if (Y_MIN_PIN > -1)
  765. SERIAL_PROTOCOLPGM("y_min:");
  766. SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  767. #endif
  768. #if (Y_MAX_PIN > -1)
  769. SERIAL_PROTOCOLPGM("y_max:");
  770. SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  771. #endif
  772. #if (Z_MIN_PIN > -1)
  773. SERIAL_PROTOCOLPGM("z_min:");
  774. SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  775. #endif
  776. #if (Z_MAX_PIN > -1)
  777. SERIAL_PROTOCOLPGM("z_max:");
  778. SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
  779. #endif
  780. SERIAL_PROTOCOLLN("");
  781. break;
  782. //TODO: update for all axis, use for loop
  783. case 201: // M201
  784. for(int8_t i=0; i < NUM_AXIS; i++)
  785. {
  786. if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  787. }
  788. break;
  789. #if 0 // Not used for Sprinter/grbl gen6
  790. case 202: // M202
  791. for(int8_t i=0; i < NUM_AXIS; i++) {
  792. if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
  793. }
  794. break;
  795. #endif
  796. case 203: // M203 max feedrate mm/sec
  797. for(int8_t i=0; i < NUM_AXIS; i++) {
  798. if(code_seen(axis_codes[i])) max_feedrate[i] = code_value()*60 ;
  799. }
  800. break;
  801. case 204: // M204 acclereration S normal moves T filmanent only moves
  802. {
  803. if(code_seen('S')) acceleration = code_value() ;
  804. if(code_seen('T')) retract_acceleration = code_value() ;
  805. }
  806. break;
  807. 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
  808. {
  809. if(code_seen('S')) minimumfeedrate = code_value()*60 ;
  810. if(code_seen('T')) mintravelfeedrate = code_value()*60 ;
  811. if(code_seen('B')) minsegmenttime = code_value() ;
  812. if(code_seen('X')) max_xy_jerk = code_value()*60 ;
  813. if(code_seen('Z')) max_z_jerk = code_value()*60 ;
  814. }
  815. break;
  816. case 220: // M220 S<factor in percent>- set speed factor override percentage
  817. {
  818. if(code_seen('S'))
  819. {
  820. feedmultiply = code_value() ;
  821. feedmultiplychanged=true;
  822. }
  823. }
  824. break;
  825. #ifdef PIDTEMP
  826. case 301: // M301
  827. {
  828. if(code_seen('P')) Kp = code_value();
  829. if(code_seen('I')) Ki = code_value()*PID_dT;
  830. if(code_seen('D')) Kd = code_value()/PID_dT;
  831. #ifdef PID_ADD_EXTRUSION_RATE
  832. if(code_seen('C')) Kc = code_value();
  833. #endif
  834. updatePID();
  835. SERIAL_PROTOCOL("ok p:");
  836. SERIAL_PROTOCOL(Kp);
  837. SERIAL_PROTOCOL(" i:");
  838. SERIAL_PROTOCOL(Ki/PID_dT);
  839. SERIAL_PROTOCOL(" d:");
  840. SERIAL_PROTOCOL(Kd*PID_dT);
  841. #ifdef PID_ADD_EXTRUSION_RATE
  842. SERIAL_PROTOCOL(" c:");
  843. SERIAL_PROTOCOL(Kc*PID_dT);
  844. #endif
  845. SERIAL_PROTOCOLLN("");
  846. }
  847. break;
  848. #endif //PIDTEMP
  849. case 400: // finish all moves
  850. {
  851. st_synchronize();
  852. }
  853. break;
  854. case 500: // Store settings in EEPROM
  855. {
  856. StoreSettings();
  857. }
  858. break;
  859. case 501: // Read settings from EEPROM
  860. {
  861. RetrieveSettings();
  862. }
  863. break;
  864. case 502: // Revert to default settings
  865. {
  866. RetrieveSettings(true);
  867. }
  868. break;
  869. }
  870. }
  871. else
  872. {
  873. SERIAL_ECHO_START;
  874. SERIAL_ECHOPGM("Unknown command:\"");
  875. SERIAL_ECHO(cmdbuffer[bufindr]);
  876. SERIAL_ECHOLNPGM("\"");
  877. }
  878. ClearToSend();
  879. }
  880. void FlushSerialRequestResend()
  881. {
  882. //char cmdbuffer[bufindr][100]="Resend:";
  883. Serial.flush();
  884. SERIAL_PROTOCOLPGM("Resend:");
  885. SERIAL_PROTOCOLLN(gcode_LastN + 1);
  886. ClearToSend();
  887. }
  888. void ClearToSend()
  889. {
  890. previous_millis_cmd = millis();
  891. #ifdef SDSUPPORT
  892. if(fromsd[bufindr])
  893. return;
  894. #endif //SDSUPPORT
  895. SERIAL_PROTOCOLLNPGM("ok");
  896. }
  897. inline void get_coordinates()
  898. {
  899. for(int8_t i=0; i < NUM_AXIS; i++) {
  900. if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
  901. else destination[i] = current_position[i]; //Are these else lines really needed?
  902. }
  903. if(code_seen('F')) {
  904. next_feedrate = code_value();
  905. if(next_feedrate > 0.0) feedrate = next_feedrate;
  906. }
  907. }
  908. inline void get_arc_coordinates()
  909. {
  910. get_coordinates();
  911. if(code_seen('I')) offset[0] = code_value();
  912. if(code_seen('J')) offset[1] = code_value();
  913. }
  914. void prepare_move()
  915. {
  916. plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
  917. for(int8_t i=0; i < NUM_AXIS; i++) {
  918. current_position[i] = destination[i];
  919. }
  920. }
  921. void prepare_arc_move(char isclockwise) {
  922. float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
  923. // Trace the arc
  924. mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
  925. // As far as the parser is concerned, the position is now == target. In reality the
  926. // motion control system might still be processing the action and the real tool position
  927. // in any intermediate location.
  928. for(int8_t i=0; i < NUM_AXIS; i++) {
  929. current_position[i] = destination[i];
  930. }
  931. }
  932. void manage_inactivity(byte debug)
  933. {
  934. if( (millis()-previous_millis_cmd) > max_inactive_time )
  935. if(max_inactive_time)
  936. kill();
  937. if( (millis()-previous_millis_cmd) > stepper_inactive_time )
  938. if(stepper_inactive_time)
  939. {
  940. disable_x();
  941. disable_y();
  942. disable_z();
  943. disable_e();
  944. }
  945. check_axes_activity();
  946. }
  947. void kill()
  948. {
  949. disable_heater();
  950. disable_x();
  951. disable_y();
  952. disable_z();
  953. disable_e();
  954. if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
  955. SERIAL_ERROR_START;
  956. SERIAL_ERRORLNPGM("Printer halted. kill() called !!");
  957. LCD_MESSAGEPGM("KILLED. ");
  958. while(1); // Wait for reset
  959. }