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/*
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
*/
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#include "Marlin.h"
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#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "motion_control.h"
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#include "cardreader.h"
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#include "watchdog.h"
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#include "EEPROMwrite.h"
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#define VERSION_STRING "1.0.0 RC1"
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// 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>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// 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
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// M17 - Enable/Power all stepper motors
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// M18 - Disable all stepper motors; same as M84
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// 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
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// M30 - Output time since last M109 or SD card start to serial
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// 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
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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// 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
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// M206 - set additional homeing offset
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// M220 - set speed factor override percentage S:factor in percent
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// M240 - Trigger a camera to take a photograph
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes
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// M400 - Finish all moves
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// M500 - stores paramters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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// M503 - print the current settings (from memory not from eeprom)
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//Stepper Movement Variables
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//===========================================================================
//=============================imported variables============================
//===========================================================================
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//===========================================================================
//=============================public variables=============================
//===========================================================================
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#ifdef SDSUPPORT
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CardReader card;
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#endif
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float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 200->2
int saved_feedmultiply;
volatile bool feedmultiplychanged=false;
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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float add_homeing[3]={0,0,0};
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uint8_t active_extruder = 0;
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bool stop_heating_wait=false;
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//===========================================================================
//=============================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;
static bool relative_mode = false; //Determines Absolute or Relative Coordinates
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.
static uint8_t fanpwm=0;
static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
static bool fromsd[BUFSIZE];
static int bufindr = 0;
static int bufindw = 0;
static int buflen = 0;
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//static int i = 0;
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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
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const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
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//static float tt = 0;
//static float bt = 0;
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//Inactivity shutdown variables
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static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
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static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
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static unsigned long starttime=0;
static unsigned long stoptime=0;
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static uint8_t tmp_extruder;
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//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
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void get_arc_coordinates();
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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;
}
}
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//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
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void enquecommand(const char *cmd)
{
if(buflen < BUFSIZE)
{
//this is dangerous if a mixing of serial and this happsens
strcpy(&(cmdbuffer[bufindw][0]),cmd);
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SERIAL_ECHO_START;
SERIAL_ECHOPGM("enqueing \"");
SERIAL_ECHO(cmdbuffer[bufindw]);
SERIAL_ECHOLNPGM("\"");
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bufindw= (bufindw + 1)%BUFSIZE;
buflen += 1;
}
}
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void setup_photpin()
{
#ifdef PHOTOGRAPH_PIN
#if (PHOTOGRAPH_PIN > -1)
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#endif
}
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void setup_powerhold()
{
#ifdef SUICIDE_PIN
#if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#endif
}
void suicide()
{
#ifdef SUICIDE_PIN
#if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
#endif
}
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void setup()
{
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setup_powerhold();
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SERIAL.begin(BAUDRATE);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(VERSION_STRING);
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SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:");
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SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(" PlannerBufferBytes:");
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
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for(int8_t i = 0; i < BUFSIZE; i++)
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{
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fromsd[i] = false;
}
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EEPROM_RetrieveSettings(); // loads data from EEPROM if available
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for(int8_t i=0; i < NUM_AXIS; i++)
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{
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axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
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tp_init(); // Initialize temperature loop
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plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
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wd_init();
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setup_photpin();
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}
void loop()
{
if(buflen<3)
get_command();
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#ifdef SDSUPPORT
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card.checkautostart(false);
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#endif
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if(buflen)
{
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#ifdef SDSUPPORT
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if(card.saving)
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{
if(strstr(cmdbuffer[bufindr],"M29") == NULL)
{
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card.write_command(cmdbuffer[bufindr]);
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SERIAL_PROTOCOLLNPGM("ok");
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}
else
{
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card.closefile();
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SERIAL_PROTOCOLLNPGM("Done saving file.");
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}
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}
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else
{
process_commands();
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}
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#else
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process_commands();
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#endif //SDSUPPORT
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buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
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checkHitEndstops();
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LCD_STATUS;
}
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void get_command()
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{
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while( SERIAL.available() > 0 && buflen < BUFSIZE) {
serial_char = SERIAL.read();
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = false;
if(strstr(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(cmdbuffer[bufindw], "M110") == NULL) ) {
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SERIAL_ERROR_START;
SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
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//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(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) {
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SERIAL_ERROR_START;
SERIAL_ERRORPGM("checksum mismatch, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
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FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
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SERIAL_ERROR_START;
SERIAL_ERRORPGM("No Checksum with line number, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
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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((strstr(cmdbuffer[bufindw], "*") != NULL))
{
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SERIAL_ERROR_START;
SERIAL_ERRORPGM("No Line Number with checksum, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
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serial_count = 0;
return;
}
}
if((strstr(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:
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#ifdef SDSUPPORT
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if(card.saving)
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break;
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#endif //SDSUPPORT
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SERIAL_PROTOCOLLNPGM("ok");
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break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
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;
}
}
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#ifdef SDSUPPORT
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if(!card.sdprinting || serial_count!=0){
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return;
}
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while( !card.eof() && buflen < BUFSIZE) {
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int16_t n=card.get();
serial_char = (char)n;
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
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{
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if(card.eof()){
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SERIAL_PROTOCOLLNPGM("Done printing file");
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stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
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sprintf(time,"%i min, %i sec",min,sec);
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SERIAL_ECHO_START;
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SERIAL_ECHOLN(time);
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LCD_MESSAGE(time);
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card.printingHasFinished();
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card.checkautostart(true);
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}
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if(serial_char=='\n')
comment_mode = false; //for new command
if(!serial_count)
{
return; //if empty line
}
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
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}
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serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
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#endif //SDSUPPORT
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}
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float code_value()
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{
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return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
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long code_value_long()
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{
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return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
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bool code_seen(char code_string[]) //Return True if the string was found
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{
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return (strstr(cmdbuffer[bufindr], code_string) != NULL);
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}
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bool code_seen(char code)
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{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
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#define HOMEAXIS(LETTER) \
if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
{ \
current_position[LETTER##_AXIS] = 0; \
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
feedrate = homing_feedrate[LETTER##_AXIS]; \
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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\
current_position[LETTER##_AXIS] = 0;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
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destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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\
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destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
2011-11-06 23:13:19 +01:00
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
feedrate = 0.0;\
2011-11-13 19:58:09 +01:00
st_synchronize();\
2011-11-20 14:50:08 +01:00
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
2011-11-13 19:58:09 +01:00
endstops_hit_on_purpose();\
2011-11-06 23:13:19 +01:00
}
2011-11-06 12:39:00 +01:00
2012-02-05 12:42:15 +01:00
void process_commands()
2011-11-06 12:39:00 +01:00
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
//ClearToSend();
return;
//break;
case 2: // G2 - CW ARC
get_arc_coordinates();
prepare_arc_move(true);
return;
case 3: // G3 - CCW ARC
get_arc_coordinates();
prepare_arc_move(false);
return;
case 4: // G4 dwell
2011-11-09 20:27:15 +01:00
LCD_MESSAGEPGM("DWELL...");
2011-11-06 12:39:00 +01:00
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
2011-11-26 09:03:12 +01:00
st_synchronize();
2012-02-08 18:28:54 +01:00
codenum += millis(); // keep track of when we started waiting
2011-12-09 13:39:00 +01:00
previous_millis_cmd = millis();
2012-02-08 18:28:54 +01:00
while(millis() < codenum ){
2011-11-06 12:39:00 +01:00
manage_heater();
}
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
2011-12-04 20:17:21 +01:00
enable_endstops(true);
2011-11-06 23:21:12 +01:00
for(int8_t i=0; i < NUM_AXIS; i++) {
2011-11-06 12:39:00 +01:00
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])));
2011-12-04 09:02:09 +01:00
#ifdef QUICK_HOME
2011-11-29 22:06:31 +01:00
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{
2011-12-07 20:54:34 +01:00
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
2011-12-12 19:34:37 +01:00
2011-11-29 22:06:31 +01:00
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
2011-12-07 20:54:34 +01:00
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];
2011-11-29 22:06:31 +01:00
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
2011-12-07 20:54:34 +01:00
prepare_move();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
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];
feedrate = 0.0;
st_synchronize();
plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
endstops_hit_on_purpose();
2011-11-29 22:06:31 +01:00
}
2011-12-04 09:02:09 +01:00
#endif
2011-11-29 22:06:31 +01:00
2011-11-06 19:23:08 +01:00
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
2011-11-06 23:13:19 +01:00
HOMEAXIS(X);
2011-11-06 12:39:00 +01:00
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
2011-11-06 23:13:19 +01:00
HOMEAXIS(Y);
2011-11-06 12:39:00 +01:00
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
2011-11-06 23:13:19 +01:00
HOMEAXIS(Z);
2011-12-07 20:54:34 +01:00
}
if(code_seen(axis_codes[X_AXIS]))
{
current_position[0]=code_value()+add_homeing[0];
}
if(code_seen(axis_codes[Y_AXIS])) {
2011-12-12 20:43:47 +01:00
current_position[1]=code_value()+add_homeing[1];
2011-12-07 20:54:34 +01:00
}
if(code_seen(axis_codes[Z_AXIS])) {
current_position[2]=code_value()+add_homeing[2];
}
2011-12-04 20:17:21 +01:00
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
2011-11-27 17:27:17 +01:00
2011-11-06 12:39:00 +01:00
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
2011-11-13 19:58:09 +01:00
endstops_hit_on_purpose();
2011-11-06 12:39:00 +01:00
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
2011-11-25 13:43:06 +01:00
if(!code_seen(axis_codes[E_AXIS]))
2011-11-06 12:39:00 +01:00
st_synchronize();
2011-11-06 23:21:12 +01:00
for(int8_t i=0; i < NUM_AXIS; i++) {
2011-11-25 13:43:06 +01:00
if(code_seen(axis_codes[i])) {
2011-11-27 17:27:17 +01:00
current_position[i] = code_value()+add_homeing[i];
2011-11-25 13:43:06 +01:00
if(i == E_AXIS) {
2011-12-12 20:43:47 +01:00
current_position[i] = code_value();
2011-11-25 13:43:06 +01:00
plan_set_e_position(current_position[E_AXIS]);
}
else {
2011-12-12 20:43:47 +01:00
current_position[i] = code_value()+add_homeing[i];
2011-11-25 13:43:06 +01:00
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
2011-11-06 12:39:00 +01:00
}
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
2011-11-26 09:03:12 +01:00
case 17:
2011-11-19 18:22:22 +01:00
LCD_MESSAGEPGM("No move.");
enable_x();
enable_y();
enable_z();
2011-12-06 05:33:33 +01:00
enable_e0();
enable_e1();
enable_e2();
2011-11-19 18:22:22 +01:00
break;
2011-11-06 12:39:00 +01:00
2011-12-06 05:33:33 +01:00
#ifdef SDSUPPORT
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case 20: // M20 - list SD card
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLLNPGM("Begin file list");
2011-11-06 22:48:15 +01:00
card.ls();
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLLNPGM("End file list");
2011-11-06 12:39:00 +01:00
break;
case 21: // M21 - init SD card
2011-11-06 22:48:15 +01:00
2011-11-06 21:39:53 +01:00
card.initsd();
2011-11-09 20:27:15 +01:00
2011-11-06 12:39:00 +01:00
break;
case 22: //M22 - release SD card
2011-11-06 22:48:15 +01:00
card.release();
2011-11-06 12:39:00 +01:00
break;
case 23: //M23 - Select file
2011-11-06 22:48:15 +01:00
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
2011-11-19 13:13:34 +01:00
card.openFile(strchr_pointer + 4,true);
2011-11-06 12:39:00 +01:00
break;
case 24: //M24 - Start SD print
2011-11-06 22:48:15 +01:00
card.startFileprint();
starttime=millis();
2011-11-06 12:39:00 +01:00
break;
case 25: //M25 - Pause SD print
2011-11-06 22:48:15 +01:00
card.pauseSDPrint();
2011-11-06 12:39:00 +01:00
break;
case 26: //M26 - Set SD index
2011-12-06 05:33:33 +01:00
if(card.cardOK && code_seen('S')) {
2011-11-06 22:48:15 +01:00
card.setIndex(code_value_long());
2011-11-06 12:39:00 +01:00
}
break;
case 27: //M27 - Get SD status
2011-11-06 22:48:15 +01:00
card.getStatus();
2011-11-06 12:39:00 +01:00
break;
case 28: //M28 - Start SD write
2011-11-06 22:48:15 +01:00
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos-1) = '\0';
2011-11-06 12:39:00 +01:00
}
2011-11-19 13:13:34 +01:00
card.openFile(strchr_pointer+4,false);
2011-11-06 12:39:00 +01:00
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
2011-11-06 22:48:15 +01:00
//card,saving = false;
2011-11-06 12:39:00 +01:00
break;
2011-12-06 05:33:33 +01:00
#endif //SDSUPPORT
2011-11-06 19:23:08 +01:00
2011-11-06 17:33:09 +01:00
case 30: //M30 take time since the start of the SD print or an M109 command
2011-12-06 05:33:33 +01:00
{
2011-11-06 17:33:09 +01:00
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
2011-11-07 22:33:13 +01:00
sprintf(time,"%i min, %i sec",min,sec);
2011-11-09 20:27:15 +01:00
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
2011-11-06 17:33:09 +01:00
LCD_MESSAGE(time);
2011-12-04 09:48:53 +01:00
autotempShutdown();
2011-12-06 05:33:33 +01:00
}
break;
2011-11-06 19:23:08 +01:00
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
2011-11-06 12:39:00 +01:00
{
2011-11-06 19:23:08 +01:00
int pin_number = code_value();
2011-11-06 23:21:12 +01:00
for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
2011-11-06 12:39:00 +01:00
{
2011-11-06 19:23:08 +01:00
if (sensitive_pins[i] == pin_number)
2011-11-06 12:39:00 +01:00
{
2011-11-06 19:23:08 +01:00
pin_number = -1;
break;
2011-11-06 12:39:00 +01:00
}
}
2011-11-06 19:23:08 +01:00
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
2011-11-06 12:39:00 +01:00
}
2011-11-06 19:23:08 +01:00
}
break;
case 104: // M104
2011-11-26 17:33:25 +01:00
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("M104 Invalid extruder ");
SERIAL_ECHOLN(tmp_extruder);
break;
}
}
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
2011-11-06 19:23:08 +01:00
setWatch();
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());
break;
2011-11-20 14:50:08 +01:00
case 105 : // M105
2011-12-12 19:34:37 +01:00
tmp_extruder = active_extruder;
2011-11-26 17:33:25 +01:00
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("M105 Invalid extruder ");
SERIAL_ECHOLN(tmp_extruder);
break;
}
}
2011-12-06 05:33:33 +01:00
#if (TEMP_0_PIN > -1)
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLPGM("ok T:");
2011-12-06 05:33:33 +01:00
SERIAL_PROTOCOL(degHotend(tmp_extruder));
2012-02-08 18:28:54 +01:00
#if TEMP_BED_PIN > -1
2011-11-12 20:37:28 +01:00
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL(degBed());
2011-12-06 05:33:33 +01:00
#endif //TEMP_BED_PIN
2011-11-12 20:37:28 +01:00
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("No thermistors - no temp");
2011-12-12 19:34:37 +01:00
#endif
#ifdef PIDTEMP
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
2011-11-12 20:37:28 +01:00
#endif
SERIAL_PROTOCOLLN("");
2011-11-06 19:23:08 +01:00
return;
2011-11-06 12:39:00 +01:00
break;
2011-11-06 19:23:08 +01:00
case 109:
{// M109 - Wait for extruder heater to reach target.
2011-11-26 17:33:25 +01:00
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("M109 Invalid extruder ");
SERIAL_ECHOLN(tmp_extruder);
break;
}
}
LCD_MESSAGEPGM("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('G')) 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 */
2011-12-06 05:33:33 +01:00
while((residencyStart == -1) ||
2012-02-08 18:28:54 +01:00
(residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
2011-11-26 17:33:25 +01:00
#else
2011-12-12 19:34:37 +01:00
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
2011-11-26 17:33:25 +01:00
#endif //TEMP_RESIDENCY_TIME
2012-02-08 18:28:54 +01:00
if((millis() - codenum) > 1000 )
2011-12-06 05:33:33 +01:00
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
2011-12-12 19:34:37 +01:00
SERIAL_PROTOCOL( degHotend(tmp_extruder) );
2011-12-06 05:33:33 +01:00
SERIAL_PROTOCOLPGM(" E:");
2011-12-12 20:43:47 +01:00
SERIAL_PROTOCOL( (int)tmp_extruder );
2011-12-12 19:34:37 +01:00
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
2012-02-08 18:28:54 +01:00
codenum = TEMP_RESIDENCY_TIME - ((millis() - residencyStart) / 1000);
2011-12-12 19:34:37 +01:00
SERIAL_PROTOCOLLN( codenum );
}
else
{
SERIAL_PROTOCOLLN( "?" );
}
2012-01-22 12:25:56 +01:00
#else
SERIAL_PROTOCOLLN("");
2011-12-12 19:34:37 +01:00
#endif
2011-12-06 05:33:33 +01:00
codenum = millis();
}
manage_heater();
LCD_STATUS;
2011-12-11 22:18:50 +01:00
if(stop_heating_wait) break;
2011-11-06 19:23:08 +01:00
#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 */
2011-11-26 17:33:25 +01:00
if ((residencyStart == -1 && target_direction && !isHeatingHotend(tmp_extruder)) ||
(residencyStart == -1 && !target_direction && !isCoolingHotend(tmp_extruder)) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
2011-11-06 19:23:08 +01:00
{
residencyStart = millis();
}
#endif //TEMP_RESIDENCY_TIME
}
2011-11-09 20:27:15 +01:00
LCD_MESSAGEPGM("Heating done.");
2011-11-06 19:23:08 +01:00
starttime=millis();
2011-12-09 13:39:00 +01:00
previous_millis_cmd = millis();
2011-11-06 19:23:08 +01:00
}
break;
2011-12-06 05:33:33 +01:00
case 190: // M190 - Wait for bed heater to reach target.
#if TEMP_BED_PIN > -1
2011-11-09 20:27:15 +01:00
LCD_MESSAGEPGM("Bed Heating.");
2011-11-06 19:23:08 +01:00
if (code_seen('S')) setTargetBed(code_value());
codenum = millis();
while(isHeatingBed())
{
2012-02-08 18:28:54 +01:00
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
2011-11-06 19:23:08 +01:00
{
2011-12-12 19:34:37 +01:00
float tt=degHotend(active_extruder);
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLPGM("T:");
2011-12-06 05:33:33 +01:00
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
2011-12-12 20:43:47 +01:00
SERIAL_PROTOCOL( (int)active_extruder );
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLPGM(" B:");
2011-12-06 05:33:33 +01:00
SERIAL_PROTOCOLLN(degBed());
2011-11-06 19:23:08 +01:00
codenum = millis();
}
manage_heater();
}
2011-11-09 20:27:15 +01:00
LCD_MESSAGEPGM("Bed done.");
2011-12-09 13:39:00 +01:00
previous_millis_cmd = millis();
2011-11-06 19:23:08 +01:00
#endif
break;
#if FAN_PIN > -1
2011-11-06 12:39:00 +01:00
case 106: //M106 Fan On
if (code_seen('S')){
WRITE(FAN_PIN,HIGH);
fanpwm=constrain(code_value(),0,255);
analogWrite(FAN_PIN, fanpwm);
}
else {
WRITE(FAN_PIN,HIGH);
fanpwm=255;
analogWrite(FAN_PIN, fanpwm);
}
break;
case 107: //M107 Fan Off
WRITE(FAN_PIN,LOW);
analogWrite(FAN_PIN, 0);
break;
2011-11-06 19:23:08 +01:00
#endif //FAN_PIN
#if (PS_ON_PIN > -1)
2011-11-06 12:39:00 +01:00
case 80: // M80 - ATX Power On
SET_OUTPUT(PS_ON_PIN); //GND
break;
2012-01-15 17:06:10 +01:00
#endif
2011-11-06 12:39:00 +01:00
case 81: // M81 - ATX Power Off
2012-01-15 18:31:21 +01:00
2012-01-15 17:06:10 +01:00
#if (SUICIDE_PIN >-1)
2012-01-15 18:31:21 +01:00
st_synchronize();
2012-01-15 17:06:10 +01:00
suicide();
#else
#if (PS_ON_PIN > -1)
SET_INPUT(PS_ON_PIN); //Floating
#endif
#endif
2011-11-06 12:39:00 +01:00
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
2011-11-06 19:23:08 +01:00
case 18: //compatibility
2011-11-20 14:50:08 +01:00
case 84: // M84
2011-11-06 12:39:00 +01:00
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
2011-11-06 19:23:08 +01:00
else
{
2011-12-09 12:51:08 +01:00
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)
{
2012-02-08 18:28:54 +01:00
st_synchronize();
2011-12-06 05:33:33 +01:00
disable_e0();
disable_e1();
disable_e2();
2011-11-28 21:49:54 +01:00
finishAndDisableSteppers();
}
2011-12-09 12:51:08 +01:00
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
2011-12-15 11:59:07 +01:00
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
2011-12-12 20:43:47 +01:00
if(code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
}
2011-12-09 12:51:08 +01:00
#endif
LCD_MESSAGEPGM("Partial Release");
}
2011-11-06 12:39:00 +01:00
}
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value() * 1000;
break;
case 92: // M92
2011-11-06 23:21:12 +01:00
for(int8_t i=0; i < NUM_AXIS; i++)
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{
if(code_seen(axis_codes[i]))
axis_steps_per_unit[i] = code_value();
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}
break;
case 115: // M115
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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\n");
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break;
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case 117: // M117 display message
LCD_MESSAGE(cmdbuffer[bufindr]+5);
break;
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case 114: // M114
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SERIAL_PROTOCOLPGM("X:");
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SERIAL_PROTOCOL(current_position[X_AXIS]);
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SERIAL_PROTOCOLPGM("Y:");
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SERIAL_PROTOCOL(current_position[Y_AXIS]);
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SERIAL_PROTOCOLPGM("Z:");
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SERIAL_PROTOCOL(current_position[Z_AXIS]);
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SERIAL_PROTOCOLPGM("E:");
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SERIAL_PROTOCOL(current_position[E_AXIS]);
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SERIAL_PROTOCOLPGM(" 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]);
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SERIAL_PROTOCOLLN("");
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break;
case 119: // M119
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#if (X_MIN_PIN > -1)
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SERIAL_PROTOCOLPGM("x_min:");
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SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
#if (X_MAX_PIN > -1)
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SERIAL_PROTOCOLPGM("x_max:");
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SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
#if (Y_MIN_PIN > -1)
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SERIAL_PROTOCOLPGM("y_min:");
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SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
#if (Y_MAX_PIN > -1)
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SERIAL_PROTOCOLPGM("y_max:");
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SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
#if (Z_MIN_PIN > -1)
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SERIAL_PROTOCOLPGM("z_min:");
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SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
#if (Z_MAX_PIN > -1)
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SERIAL_PROTOCOLPGM("z_max:");
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SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
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#endif
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SERIAL_PROTOCOLLN("");
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break;
//TODO: update for all axis, use for loop
case 201: // M201
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for(int8_t i=0; i < NUM_AXIS; i++)
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{
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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];
}
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}
break;
2011-11-06 19:23:08 +01:00
#if 0 // Not used for Sprinter/grbl gen6
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case 202: // M202
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for(int8_t i=0; i < NUM_AXIS; i++) {
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if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
2011-11-06 19:23:08 +01:00
#endif
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case 203: // M203 max feedrate mm/sec
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for(int8_t i=0; i < NUM_AXIS; i++) {
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if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
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}
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;
2011-11-06 19:23:08 +01:00
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
{
2011-11-25 22:32:26 +01:00
if(code_seen('S')) minimumfeedrate = code_value();
if(code_seen('T')) mintravelfeedrate = code_value();
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if(code_seen('B')) minsegmenttime = code_value() ;
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if(code_seen('X')) max_xy_jerk = code_value() ;
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if(code_seen('Z')) max_z_jerk = code_value() ;
2011-11-06 19:23:08 +01:00
}
break;
2011-11-27 17:27:17 +01:00
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;
2011-11-06 19:23:08 +01:00
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
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{
2011-11-06 19:23:08 +01:00
feedmultiply = code_value() ;
feedmultiplychanged=true;
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}
2011-11-06 19:23:08 +01:00
}
break;
2011-12-22 12:11:39 +01:00
2011-11-06 19:23:08 +01:00
#ifdef PIDTEMP
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case 301: // M301
2011-11-13 21:43:26 +01:00
{
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("ok 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("");
}
2011-11-06 12:39:00 +01:00
break;
2011-11-06 19:23:08 +01:00
#endif //PIDTEMP
2011-12-22 12:11:39 +01:00
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;
2011-12-09 15:09:52 +01:00
case 302: // finish all moves
{
allow_cold_extrudes(true);
}
break;
2011-11-13 19:58:09 +01:00
case 400: // finish all moves
{
st_synchronize();
}
break;
2011-11-06 19:23:08 +01:00
case 500: // Store settings in EEPROM
{
2011-12-04 22:26:42 +01:00
EEPROM_StoreSettings();
2011-11-06 19:23:08 +01:00
}
break;
case 501: // Read settings from EEPROM
{
2011-12-04 22:26:42 +01:00
EEPROM_RetrieveSettings();
2011-11-06 19:23:08 +01:00
}
break;
case 502: // Revert to default settings
{
2011-12-04 22:26:42 +01:00
EEPROM_RetrieveSettings(true);
}
break;
case 503: // print settings currently in memory
{
EEPROM_printSettings();
2011-11-06 19:23:08 +01:00
}
break;
2011-11-06 12:39:00 +01:00
}
}
2011-12-06 05:33:33 +01:00
else if(code_seen('T'))
{
2011-11-26 17:33:25 +01:00
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("T");
SERIAL_ECHO(tmp_extruder);
SERIAL_ECHOLN("Invalid extruder");
}
else {
active_extruder = tmp_extruder;
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SERIAL_ECHO_START;
SERIAL_ECHO("Active Extruder: ");
SERIAL_PROTOCOLLN((int)active_extruder);
2011-11-26 17:33:25 +01:00
}
}
2011-12-06 05:33:33 +01:00
2011-11-06 19:23:08 +01:00
else
{
2011-11-09 20:27:15 +01:00
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Unknown command:\"");
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
2011-11-06 12:39:00 +01:00
}
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
2012-02-09 19:27:45 +01:00
SERIAL.flush();
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SERIAL_PROTOCOLPGM("Resend:");
SERIAL_PROTOCOLLN(gcode_LastN + 1);
2011-11-06 12:39:00 +01:00
ClearToSend();
}
void ClearToSend()
{
previous_millis_cmd = millis();
2011-11-06 19:23:08 +01:00
#ifdef SDSUPPORT
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if(fromsd[bufindr])
return;
2011-11-06 19:23:08 +01:00
#endif //SDSUPPORT
2011-11-09 20:27:15 +01:00
SERIAL_PROTOCOLLNPGM("ok");
2011-11-06 12:39:00 +01:00
}
2012-02-05 12:42:15 +01:00
void get_coordinates()
2011-11-15 22:50:43 +01:00
{
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];
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;
}
}
2012-02-05 12:42:15 +01:00
void get_arc_coordinates()
2011-11-15 22:50:43 +01:00
{
get_coordinates();
if(code_seen('I')) offset[0] = code_value();
if(code_seen('J')) offset[1] = code_value();
}
2011-11-06 12:39:00 +01:00
2011-11-15 22:50:43 +01:00
void prepare_move()
{
2011-12-09 13:39:00 +01:00
2011-11-19 21:32:47 +01:00
if (min_software_endstops) {
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
}
if (max_software_endstops) {
if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
}
2011-11-27 21:12:55 +01:00
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
2011-11-15 22:50:43 +01:00
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
2011-12-09 13:39:00 +01:00
previous_millis_cmd = millis();
2011-11-15 22:50:43 +01:00
}
2011-11-06 12:39:00 +01:00
void prepare_arc_move(char isclockwise) {
2011-11-06 19:37:12 +01:00
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
2011-11-06 12:39:00 +01:00
// Trace the arc
2011-11-27 21:12:55 +01:00
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
2011-11-06 12:39:00 +01:00
// 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.
2011-11-06 23:21:12 +01:00
for(int8_t i=0; i < NUM_AXIS; i++) {
2011-11-06 19:37:12 +01:00
current_position[i] = destination[i];
2011-11-06 12:39:00 +01:00
}
2011-12-09 13:39:00 +01:00
previous_millis_cmd = millis();
2011-11-06 12:39:00 +01:00
}
2011-11-06 19:23:08 +01:00
void manage_inactivity(byte debug)
{
2012-02-08 18:28:54 +01:00
if( (millis() - previous_millis_cmd) > max_inactive_time )
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if(max_inactive_time)
kill();
2011-12-09 15:09:52 +01:00
if(stepper_inactive_time)
2012-02-08 18:28:54 +01:00
if( (millis() - last_stepperdisabled_time) > stepper_inactive_time )
2011-12-09 15:09:52 +01:00
{
if(previous_millis_cmd>last_stepperdisabled_time)
last_stepperdisabled_time=previous_millis_cmd;
else
{
2011-12-11 15:42:56 +01:00
if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
2011-12-09 15:09:52 +01:00
last_stepperdisabled_time=millis();
2011-11-06 19:23:08 +01:00
}
2011-12-09 15:09:52 +01:00
}
2011-12-09 13:39:00 +01:00
#ifdef EXTRUDER_RUNOUT_PREVENT
2012-02-08 18:28:54 +01:00
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
2011-12-09 13:39:00 +01:00
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
2011-12-15 11:59:07 +01:00
bool oldstatus=READ(E0_ENABLE_PIN);
enable_e0();
2011-12-09 13:39:00 +01:00
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
2011-12-09 13:56:28 +01:00
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],
2011-12-09 14:07:32 +01:00
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
2011-12-09 13:39:00 +01:00
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
previous_millis_cmd=millis();
2011-12-11 15:42:56 +01:00
//enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
st_synchronize();
2011-12-15 11:59:07 +01:00
WRITE(E0_ENABLE_PIN,oldstatus);
2011-12-09 13:39:00 +01:00
}
#endif
2011-11-06 12:39:00 +01:00
check_axes_activity();
}
2011-11-06 14:03:41 +01:00
2011-11-06 15:10:29 +01:00
void kill()
{
2011-12-12 19:34:37 +01:00
cli(); // Stop interrupts
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disable_heater();
disable_x();
disable_y();
disable_z();
2011-12-06 05:33:33 +01:00
disable_e0();
disable_e1();
disable_e2();
2011-11-06 15:10:29 +01:00
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
2011-11-09 20:27:15 +01:00
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Printer halted. kill() called !!");
LCD_MESSAGEPGM("KILLED. ");
2012-01-15 17:06:10 +01:00
suicide();
2011-11-06 15:10:29 +01:00
while(1); // Wait for reset
}