SunRed/Marlin-Artillery-M600
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First attempt at refactoring of original servo code. Only adding servo support as a start to keep things simple.

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This commit is contained in:
Gord Christmas 2013-05-16 07:03:01 -07:00
parent b668cb0516
commit dc59f07d24
4 changed files with 396 additions and 308 deletions
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61
Marlin/Configuration.h
View file

@ -2,7 +2,7 @@
#define CONFIGURATION_H
// This configurtion file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//User specified version info of this build to display in [Pronterface, etc] terminal window during startup.
@ -78,7 +78,7 @@
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
//
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
@ -95,7 +95,7 @@
#define TEMP_WINDOW 1 // (degC) Window around target to start the recidency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
@ -121,7 +121,7 @@
#define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current
#define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
@ -132,15 +132,15 @@
// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
#define DEFAULT_Kp 22.2
#define DEFAULT_Ki 1.08
#define DEFAULT_Kd 114
#define DEFAULT_Ki 1.08
#define DEFAULT_Kd 114
// Makergear
// #define DEFAULT_Kp 7.0
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12
// Mendel Parts V9 on 12V
// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
@ -149,11 +149,11 @@
// Bed Temperature Control
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
@ -223,9 +223,9 @@
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
//#define DISABLE_MAX_ENDSTOPS
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
@ -280,13 +280,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
// default settings
// default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for ultimaker
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
@ -307,7 +307,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// EEPROM
// the microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//define this to enable eeprom support
//#define EEPROM_SETTINGS
@ -353,7 +353,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
#define ULTIPANEL
#define NEWPANEL
#endif
#endif
#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
@ -361,7 +361,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#endif
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
@ -381,7 +381,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif
#else //no panel but just lcd
#else //no panel but just lcd
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
@ -389,7 +389,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#else
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif
#endif
#endif
#endif
@ -406,6 +406,23 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
/*********************************************************************\
*
* R/C SERVO support
*
* Sponsored by TrinityLabs, Reworked by codexmas
*
**********************************************************************/
// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
// #define NUM_SERVOS 3
#include "Configuration_adv.h"
#include "thermistortables.h"

446
Marlin/Marlin_main.cpp
View file

@ -3,17 +3,17 @@
/*
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/>.
*/
@ -22,8 +22,8 @@
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
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
@ -40,6 +40,10 @@
#include "language.h"
#include "pins_arduino.h"
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
#include "Servo.h"
#endif
#if DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif
@ -93,11 +97,11 @@
// 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,
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M114 - Output current position to serial port
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
@ -121,6 +125,7 @@
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beepsound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
@ -128,7 +133,7 @@
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - print the current settings (from memory not from eeprom)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
@ -164,11 +169,11 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Extruder offset, only in XY plane
#if EXTRUDERS > 1
float extruder_offset[2][EXTRUDERS] = {
float extruder_offset[2][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
};
};
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
@ -225,6 +230,10 @@ static uint8_t tmp_extruder;
bool Stopped=false;
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
Servo servos[NUM_SERVOS];
#endif
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@ -296,7 +305,7 @@ void setup_killpin()
WRITE(KILL_PIN,HIGH);
#endif
}
void setup_photpin()
{
#ifdef PHOTOGRAPH_PIN
@ -304,7 +313,7 @@ void setup_photpin()
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
#endif
#endif
}
void setup_powerhold()
@ -324,16 +333,35 @@ void setup_powerhold()
void suicide()
{
#ifdef SUICIDE_PIN
#if (SUICIDE_PIN> -1)
#if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
#endif
}
void servo_init()
{
#if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
servos[0].attach(SERVO0_PIN);
#endif
#if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
servos[1].attach(SERVO1_PIN);
#endif
#if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
servos[2].attach(SERVO2_PIN);
#endif
#if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
servos[3].attach(SERVO3_PIN);
#endif
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#endif
}
void setup()
{
setup_killpin();
setup_killpin();
setup_powerhold();
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
@ -370,22 +398,23 @@ void setup()
{
fromsd[i] = false;
}
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
tp_init(); // Initialize temperature loop
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
watchdog_init();
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
lcd_init();
#ifdef CONTROLLERFAN_PIN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#ifdef EXTRUDERFAN_PIN
SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan
#endif
@ -439,14 +468,14 @@ void loop()
lcd_update();
}
void get_command()
{
void get_command()
{
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
serial_char = MYSERIAL.read();
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1) )
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) { //if empty line
comment_mode = false; //for new command
@ -487,7 +516,7 @@ void get_command()
}
//if no errors, continue parsing
}
else
else
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
@ -523,7 +552,7 @@ void get_command()
if(card.saving)
break;
#endif //SDSUPPORT
SERIAL_PROTOCOLLNPGM(MSG_OK);
SERIAL_PROTOCOLLNPGM(MSG_OK);
}
else {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
@ -553,10 +582,10 @@ void get_command()
while( !card.eof() && buflen < BUFSIZE) {
int16_t n=card.get();
serial_char = (char)n;
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
{
if(card.eof()){
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
@ -572,7 +601,7 @@ void get_command()
lcd_setstatus(time);
card.printingHasFinished();
card.checkautostart(true);
}
if(!serial_count)
{
@ -584,7 +613,7 @@ void get_command()
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
// }
// }
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
@ -594,20 +623,20 @@ void get_command()
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif //SDSUPPORT
}
float code_value()
{
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
float code_value()
{
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
long code_value_long()
{
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
long code_value_long()
{
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
bool code_seen(char code)
@ -656,19 +685,19 @@ static void homeaxis(int axis) {
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * home_dir(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
feedrate = homing_feedrate[axis]/2 ;
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(axis);
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
@ -711,7 +740,7 @@ void process_commands()
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
@ -721,30 +750,30 @@ void process_commands()
lcd_update();
}
break;
#ifdef FWRETRACT
#ifdef FWRETRACT
case 10: // G10 retract
if(!retracted)
if(!retracted)
{
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
current_position[Z_AXIS]+=-retract_zlift;
destination[E_AXIS]=current_position[E_AXIS]-retract_length;
destination[E_AXIS]=current_position[E_AXIS]-retract_length;
feedrate=retract_feedrate;
retracted=true;
prepare_move();
}
break;
case 11: // G10 retract_recover
if(!retracted)
if(!retracted)
{
destination[X_AXIS]=current_position[X_AXIS];
destination[Y_AXIS]=current_position[Y_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
destination[Z_AXIS]=current_position[Z_AXIS];
current_position[Z_AXIS]+=retract_zlift;
current_position[E_AXIS]+=-retract_recover_length;
current_position[E_AXIS]+=-retract_recover_length;
feedrate=retract_recover_feedrate;
retracted=false;
prepare_move();
@ -756,34 +785,34 @@ void process_commands()
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
enable_endstops(true);
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
#ifdef QUICK_HOME
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
{
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
feedrate =homing_feedrate[Y_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
@ -795,8 +824,8 @@ void process_commands()
endstops_hit_on_purpose();
}
#endif
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
HOMEAXIS(X);
}
@ -804,14 +833,14 @@ void process_commands()
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
#endif
if(code_seen(axis_codes[X_AXIS]))
if(code_seen(axis_codes[X_AXIS]))
{
if(code_value_long() != 0) {
current_position[X_AXIS]=code_value()+add_homeing[0];
@ -830,11 +859,11 @@ void process_commands()
}
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
@ -850,13 +879,13 @@ void process_commands()
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
if(code_seen(axis_codes[i])) {
if(i == E_AXIS) {
current_position[i] = code_value();
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
current_position[i] = code_value()+add_homeing[i];
current_position[i] = code_value()+add_homeing[i];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
@ -867,7 +896,7 @@ void process_commands()
else if(code_seen('M'))
{
switch( (int)code_value() )
switch( (int)code_value() )
{
#ifdef ULTIPANEL
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
@ -877,7 +906,7 @@ void process_commands()
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize();
previous_millis_cmd = millis();
if (codenum > 0){
@ -900,12 +929,12 @@ void process_commands()
#endif
case 17:
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
break;
#ifdef SDSUPPORT
@ -915,9 +944,9 @@ void process_commands()
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
break;
case 21: // M21 - init SD card
card.initsd();
break;
case 22: //M22 - release SD card
card.release();
@ -957,7 +986,7 @@ void process_commands()
//processed in write to file routine above
//card,saving = false;
break;
case 30: //M30 <filename> Delete File
case 30: //M30 <filename> Delete File
if (card.cardOK){
card.closefile();
starpos = (strchr(strchr_pointer + 4,'*'));
@ -978,7 +1007,7 @@ void process_commands()
}
card.openLogFile(strchr_pointer+5);
break;
#endif //SDSUPPORT
case 31: //M31 take time since the start of the SD print or an M109 command
@ -1035,11 +1064,11 @@ void process_commands()
}
#if (TEMP_0_PIN > -1)
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
@ -1050,20 +1079,20 @@ void process_commands()
#endif
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
SERIAL_PROTOCOLPGM(" B@:");
SERIAL_PROTOCOL(getHeaterPower(-1));
SERIAL_PROTOCOL(getHeaterPower(-1));
SERIAL_PROTOCOLLN("");
return;
break;
case 109:
case 109:
{// M109 - Wait for extruder heater to reach target.
if(setTargetedHotend(109)){
break;
}
LCD_MESSAGEPGM(MSG_HEATING);
LCD_MESSAGEPGM(MSG_HEATING);
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
@ -1071,15 +1100,15 @@ void process_commands()
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
if (code_seen('F'))
if (code_seen('F'))
{
autotemp_factor=code_value();
autotemp_enabled=true;
}
#endif
setWatch();
codenum = millis();
codenum = millis();
/* See if we are heating up or cooling down */
bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
@ -1087,7 +1116,7 @@ void process_commands()
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
@ -1097,9 +1126,9 @@ void process_commands()
if( (millis() - codenum) > 1000UL )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)tmp_extruder);
SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
@ -1107,7 +1136,7 @@ void process_commands()
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( codenum );
}
else
else
{
SERIAL_PROTOCOLLN( "?" );
}
@ -1124,7 +1153,7 @@ void process_commands()
or when current temp falls outside the hysteresis after target temp was reached */
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{
residencyStart = millis();
}
@ -1139,8 +1168,8 @@ void process_commands()
#if TEMP_BED_PIN > -1
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S')) setTargetBed(code_value());
codenum = millis();
while(isHeatingBed())
codenum = millis();
while(isHeatingBed())
{
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
@ -1148,11 +1177,11 @@ void process_commands()
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
}
manage_heater();
manage_inactivity();
@ -1169,7 +1198,7 @@ void process_commands()
fanSpeed=constrain(code_value(),0,255);
}
else {
fanSpeed=255;
fanSpeed=255;
}
break;
case 107: //M107 Fan Off
@ -1184,7 +1213,7 @@ void process_commands()
ValvePressure=constrain(code_value(),0,255);
}
else {
ValvePressure=255;
ValvePressure=255;
}
break;
case 127: //M127 valve closed
@ -1199,7 +1228,7 @@ void process_commands()
EtoPPressure=constrain(code_value(),0,255);
}
else {
EtoPPressure=255;
EtoPPressure=255;
}
break;
case 129: //M129 valve closed
@ -1214,18 +1243,18 @@ void process_commands()
WRITE(PS_ON_PIN, PS_ON_AWAKE);
break;
#endif
case 81: // M81 - ATX Power Off
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif (PS_ON_PIN > -1)
SET_OUTPUT(PS_ON_PIN);
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
break;
case 82:
axis_relative_modes[3] = false;
break;
@ -1234,11 +1263,11 @@ void process_commands()
break;
case 18: //compatibility
case 84: // M84
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else
{
{
bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
if(all_axis)
{
@ -1260,18 +1289,18 @@ void process_commands()
disable_e1();
disable_e2();
}
#endif
#endif
}
}
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value() * 1000;
max_inactive_time = code_value() * 1000;
break;
case 92: // M92
for(int8_t i=0; i < NUM_AXIS; i++)
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
if(code_seen(axis_codes[i]))
{
if(i == 3) { // E
float value = code_value();
@ -1305,16 +1334,16 @@ void process_commands()
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM("Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("E:");
SERIAL_PROTOCOLPGM("E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM("Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM("Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
break;
case 120: // M120
@ -1352,7 +1381,7 @@ void process_commands()
break;
//TODO: update for all axis, use for loop
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
@ -1391,7 +1420,7 @@ void process_commands()
}
break;
case 206: // M206 additional homeing offset
for(int8_t i=0; i < 3; i++)
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
}
@ -1399,47 +1428,47 @@ void process_commands()
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
{
if(code_seen('S'))
if(code_seen('S'))
{
retract_length = code_value() ;
}
if(code_seen('F'))
if(code_seen('F'))
{
retract_feedrate = code_value() ;
}
if(code_seen('Z'))
if(code_seen('Z'))
{
retract_zlift = code_value() ;
}
}break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
{
if(code_seen('S'))
if(code_seen('S'))
{
retract_recover_length = code_value() ;
}
if(code_seen('F'))
if(code_seen('F'))
{
retract_recover_feedrate = code_value() ;
}
}break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if(code_seen('S'))
if(code_seen('S'))
{
int t= code_value() ;
switch(t)
{
case 0: autoretract_enabled=false;retracted=false;break;
case 1: autoretract_enabled=true;retracted=false;break;
default:
default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
}
}
}break;
#endif // FWRETRACT
#if EXTRUDERS > 1
@ -1448,7 +1477,7 @@ void process_commands()
if(setTargetedHotend(218)){
break;
}
if(code_seen('X'))
if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
@ -1458,7 +1487,7 @@ void process_commands()
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
@ -1470,7 +1499,7 @@ void process_commands()
#endif
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
if(code_seen('S'))
{
feedmultiply = code_value() ;
}
@ -1478,13 +1507,44 @@ void process_commands()
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
{
if(code_seen('S'))
if(code_seen('S'))
{
extrudemultiply = code_value() ;
}
}
break;
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = -1;
int servo_position = 0;
if (code_seen('P'))
servo_index = code_value();
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
servos[servo_index].write(servo_position);
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
break;
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
case 300: // M300
{
@ -1509,7 +1569,7 @@ void process_commands()
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
@ -1569,7 +1629,7 @@ void process_commands()
#endif
}
break;
case 302: // allow cold extrudes
{
allow_cold_extrudes(true);
@ -1634,7 +1694,7 @@ void process_commands()
lastpos[Z_AXIS]=current_position[Z_AXIS];
lastpos[E_AXIS]=current_position[E_AXIS];
//retract by E
if(code_seen('E'))
if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
@ -1645,9 +1705,9 @@ void process_commands()
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
//lift Z
if(code_seen('Z'))
if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
@ -1658,9 +1718,9 @@ void process_commands()
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
//move xy
if(code_seen('X'))
if(code_seen('X'))
{
target[X_AXIS]+= code_value();
}
@ -1670,7 +1730,7 @@ void process_commands()
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
#endif
}
if(code_seen('Y'))
if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
@ -1680,9 +1740,9 @@ void process_commands()
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
@ -1693,9 +1753,9 @@ void process_commands()
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
@ -1710,12 +1770,12 @@ void process_commands()
manage_heater();
manage_inactivity();
lcd_update();
#if BEEPER > -1
if(cnt==0)
{
SET_OUTPUT(BEEPER);
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
@ -1723,9 +1783,9 @@ void process_commands()
}
#endif
}
//return to normal
if(code_seen('L'))
if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
@ -1743,7 +1803,7 @@ void process_commands()
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
}
break;
#endif //FILAMENTCHANGEENABLE
#endif //FILAMENTCHANGEENABLE
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#if DIGIPOTSS_PIN > -1
@ -1766,7 +1826,7 @@ void process_commands()
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
#if X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
@ -1800,7 +1860,7 @@ void process_commands()
}
}
else if(code_seen('T'))
else if(code_seen('T'))
{
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
@ -1825,7 +1885,7 @@ void process_commands()
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
@ -1871,14 +1931,14 @@ void ClearToSend()
if(fromsd[bufindr])
return;
#endif //SDSUPPORT
SERIAL_PROTOCOLLNPGM(MSG_OK);
SERIAL_PROTOCOLLNPGM(MSG_OK);
}
void get_coordinates()
{
bool seen[4]={false,false,false,false};
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i]))
if(code_seen(axis_codes[i]))
{
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
seen[i]=true;
@ -1896,23 +1956,23 @@ void get_coordinates()
float echange=destination[E_AXIS]-current_position[E_AXIS];
if(echange<-MIN_RETRACT) //retract
{
if(!retracted)
if(!retracted)
{
destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
//if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
float correctede=-echange-retract_length;
//to generate the additional steps, not the destination is changed, but inversely the current position
current_position[E_AXIS]+=-correctede;
current_position[E_AXIS]+=-correctede;
feedrate=retract_feedrate;
retracted=true;
}
}
else
else
if(echange>MIN_RETRACT) //retract_recover
{
if(retracted)
if(retracted)
{
//current_position[Z_AXIS]+=-retract_zlift;
//if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
@ -1922,7 +1982,7 @@ void get_coordinates()
retracted=false;
}
}
}
#endif //FWRETRACT
}
@ -1940,7 +2000,7 @@ void get_arc_coordinates()
if(code_seen('I')) {
offset[0] = code_value();
}
}
else {
offset[0] = 0.0;
}
@ -1971,7 +2031,7 @@ void prepare_move()
{
clamp_to_software_endstops(destination);
previous_millis_cmd = millis();
previous_millis_cmd = millis();
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@ -1989,7 +2049,7 @@ void prepare_arc_move(char isclockwise) {
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
@ -2008,7 +2068,7 @@ void controllerFan()
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = millis();
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
#if EXTRUDERS > 2
|| !READ(E2_ENABLE_PIN)
@ -2016,12 +2076,12 @@ void controllerFan()
#if EXTRUDER > 1
|| !READ(E1_ENABLE_PIN)
#endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
{
lastMotor = millis(); //... set time to NOW so the fan will turn on
}
if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
}
@ -2041,7 +2101,7 @@ void extruderFan()
if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastExtruderCheck = millis();
if (degHotend(active_extruder) < EXTRUDERFAN_DEC)
{
WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
@ -2054,13 +2114,13 @@ void extruderFan()
}
#endif
void manage_inactivity()
{
if( (millis() - previous_millis_cmd) > max_inactive_time )
if(max_inactive_time)
kill();
void manage_inactivity()
{
if( (millis() - previous_millis_cmd) > max_inactive_time )
if(max_inactive_time)
kill();
if(stepper_inactive_time) {
if( (millis() - previous_millis_cmd) > stepper_inactive_time )
if( (millis() - previous_millis_cmd) > stepper_inactive_time )
{
if(blocks_queued() == false) {
disable_x();
@ -2080,15 +2140,15 @@ void manage_inactivity()
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
#endif
#ifdef EXTRUDER_RUNOUT_PREVENT
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E0_ENABLE_PIN);
enable_e0();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
@ -2112,7 +2172,7 @@ void kill()
disable_e0();
disable_e1();
disable_e2();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
@ -2141,7 +2201,7 @@ void setPwmFrequency(uint8_t pin, int val)
val &= 0x07;
switch(digitalPinToTimer(pin))
{
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
@ -2183,7 +2243,7 @@ void setPwmFrequency(uint8_t pin, int val)
break;
#endif
#if defined(TCCR4A)
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
@ -2192,7 +2252,7 @@ void setPwmFrequency(uint8_t pin, int val)
break;
#endif
#if defined(TCCR5A)
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:

26
Marlin/Servo.h
View file

@ -59,28 +59,34 @@
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define _useTimer5
#define _useTimer1
//#define _useTimer1
#define _useTimer3
#define _useTimer4
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega32U4__)
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
#define _useTimer3
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#else // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _Nbr_16timers } timer16_Sequence_t ;
#endif
#define Servo_VERSION 2 // software version of this library

171
Marlin/pins.h
View file

@ -248,14 +248,14 @@
#define E0_STEP_PIN 28
#define E0_DIR_PIN 27
#define E0_ENABLE_PIN 24
#define TEMP_0_PIN 2
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
#define HEATER_0_PIN 4
#define HEATER_1_PIN -1
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define HEATER_BED_PIN 3 // (bed)
@ -272,25 +272,25 @@
//our RS485 pins
//#define TX_ENABLE_PIN 12
//#define RX_ENABLE_PIN 13
#define BEEPER -1
#define SDCARDDETECT -1
#define BEEPER -1
#define SDCARDDETECT -1
#define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work
#define KILL_PIN -1
//Pins for 4bit LCD Support
#define LCD_PINS_RS 18
//Pins for 4bit LCD Support
#define LCD_PINS_RS 18
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 16
#define LCD_PINS_D5 15
#define LCD_PINS_D5 15
#define LCD_PINS_D6 13
#define LCD_PINS_D7 14
//buttons are directly attached
#define BTN_EN1 11
#define BTN_EN2 10
#define BTN_ENC 12 //the click
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
@ -376,13 +376,18 @@
#else
#define HEATER_1_PIN 9 // EXTRUDER 2 (FAN On Sprinter)
#endif
#define HEATER_2_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 13 // ANALOG NUMBERING
#define TEMP_1_PIN 15 // ANALOG NUMBERING
#define TEMP_2_PIN -1 // ANALOG NUMBERING
#define HEATER_BED_PIN 8 // BED
#define TEMP_BED_PIN 14 // ANALOG NUMBERING
#define SERVO0_PIN 11
#define SERVO1_PIN 6
#define SERVO2_PIN 5
#define SERVO3_PIN 4
#ifdef ULTRA_LCD
#ifdef NEWPANEL
@ -396,13 +401,13 @@
#define BLEN_B 1
#define BLEN_C 2
#define LCD_PINS_RS 16
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
#define LCD_PINS_D5 25
#define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
#ifdef REPRAP_DISCOUNT_SMART_CONTROLLER
#define BEEPER 37
@ -455,21 +460,21 @@
//#define SHIFT_LD 42
//#define SHIFT_OUT 40
//#define SHIFT_EN 17
#define LCD_PINS_RS 16
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
#define LCD_PINS_D5 25
#define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
//bits in the shift register that carry the buttons for:
// left up center down right red
#define BL_LE 7
@ -481,7 +486,7 @@
#define BLEN_B 1
#define BLEN_A 0
#endif
#endif
#endif //ULTRA_LCD
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default (MOTHERBOARD == 3)
@ -526,15 +531,15 @@
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif// MOTHERBOARD == 33 || MOTHERBOARD == 34
// SPI for Max6675 Thermocouple
// SPI for Max6675 Thermocouple
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
// these pins are defined in the SD library if building with SD support
#define MAX_SCK_PIN 52
#define MAX_MISO_PIN 50
#define MAX_MOSI_PIN 51
@ -586,8 +591,8 @@
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define TEMP_1_PIN -1
#define TEMP_2_PIN -1
#define HEATER_BED_PIN -1
#define TEMP_BED_PIN -1
@ -650,14 +655,14 @@
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
#define KILL_PIN -1 //changed @ drakelive 20120830
//our pin for debugging.
#define DEBUG_PIN 0
//our RS485 pins
#define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13
#endif
/****************************************************************************************
@ -673,7 +678,7 @@
#if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64
#undef MOTHERBOARD
#define MOTHERBOARD 6
#define SANGUINOLOLU_V_1_2
#define SANGUINOLOLU_V_1_2
#endif
#if MOTHERBOARD == 6
#define KNOWN_BOARD 1
@ -700,7 +705,7 @@
#define LED_PIN -1
#define FAN_PIN -1
#define FAN_PIN -1
#if FAN_PIN == 12 || FAN_PIN ==13
#define FAN_SOFT_PWM
#endif
@ -779,21 +784,21 @@
#define BTN_ENC 16 //the switch
//not connected to a pin
#define SDCARDDETECT -1
//from the same bit in the RAMPS Newpanel define
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#endif //Newpanel
#endif //Ultipanel
#endif
@ -823,17 +828,17 @@
#define Y_MAX_PIN 28
#define Y_ENABLE_PIN 29
#define Z_STEP_PIN 37
#define Z_STEP_PIN 37
#define Z_DIR_PIN 39
#define Z_MIN_PIN 30
#define Z_MAX_PIN 32
#define Z_ENABLE_PIN 35
#define HEATER_BED_PIN 4
#define TEMP_BED_PIN 10
#define HEATER_BED_PIN 4
#define TEMP_BED_PIN 10
#define HEATER_0_PIN 2
#define TEMP_0_PIN 8
#define TEMP_0_PIN 8
#define HEATER_1_PIN 3
#define TEMP_1_PIN 9
@ -863,24 +868,24 @@
//arduino pin witch triggers an piezzo beeper
#define BEEPER 18
#define LCD_PINS_RS 20
#define LCD_PINS_RS 20
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 16
#define LCD_PINS_D5 21
#define LCD_PINS_D5 21
#define LCD_PINS_D6 5
#define LCD_PINS_D7 6
//buttons are directly attached
#define BTN_EN1 40
#define BTN_EN2 42
#define BTN_ENC 19 //the click
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#define SDCARDDETECT 38
//encoder rotation values
#define encrot0 0
#define encrot1 2
@ -895,14 +900,14 @@
#define SHIFT_LD 42
#define SHIFT_OUT 40
#define SHIFT_EN 17
#define LCD_PINS_RS 16
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 5
#define LCD_PINS_D4 6
#define LCD_PINS_D5 21
#define LCD_PINS_D5 21
#define LCD_PINS_D6 20
#define LCD_PINS_D7 19
//encoder rotation values
#ifndef ULTIMAKERCONTROLLER
#define encrot0 0
@ -929,7 +934,7 @@
#define BLEN_B 1
#define BLEN_A 0
#endif
#endif
#endif //ULTRA_LCD
#endif
@ -960,17 +965,17 @@
#define Y_MAX_PIN 16
#define Y_ENABLE_PIN 29
#define Z_STEP_PIN 37
#define Z_STEP_PIN 37
#define Z_DIR_PIN 39
#define Z_MIN_PIN 19
#define Z_MAX_PIN 18
#define Z_ENABLE_PIN 35
#define HEATER_BED_PIN -1
#define TEMP_BED_PIN -1
#define HEATER_BED_PIN -1
#define TEMP_BED_PIN -1
#define HEATER_0_PIN 2
#define TEMP_0_PIN 8
#define TEMP_0_PIN 8
#define HEATER_1_PIN 1
#define TEMP_1_PIN 1
@ -994,10 +999,10 @@
#define KILL_PIN -1
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define LCD_PINS_RS 24
#define LCD_PINS_RS 24
#define LCD_PINS_ENABLE 22
#define LCD_PINS_D4 36
#define LCD_PINS_D5 34
#define LCD_PINS_D5 34
#define LCD_PINS_D6 32
#define LCD_PINS_D7 30
@ -1019,17 +1024,17 @@
#define X_DIR_PIN 16
#define X_ENABLE_PIN 48
#define X_MIN_PIN 37
#define X_MAX_PIN 36
#define X_MAX_PIN 36
#define Y_STEP_PIN 54
#define Y_DIR_PIN 47
#define Y_DIR_PIN 47
#define Y_ENABLE_PIN 55
#define Y_MIN_PIN 35
#define Y_MAX_PIN 34
#define Y_MAX_PIN 34
#define Z_STEP_PIN 57
#define Z_STEP_PIN 57
#define Z_DIR_PIN 56
#define Z_ENABLE_PIN 62
#define Z_ENABLE_PIN 62
#define Z_MIN_PIN 33
#define Z_MAX_PIN 32
@ -1047,7 +1052,7 @@
#define LED_PIN 13
#define FAN_PIN 7
#define FAN_PIN 7
//additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8
#define PS_ON_PIN 45
@ -1069,10 +1074,10 @@
#define SDSS 53
#define SDCARDDETECT 49
#define BEEPER 44
#define LCD_PINS_RS 19
#define LCD_PINS_RS 19
#define LCD_PINS_ENABLE 42
#define LCD_PINS_D4 18
#define LCD_PINS_D5 38
#define LCD_PINS_D5 38
#define LCD_PINS_D6 41
#define LCD_PINS_D7 40
#define BTN_EN1 11
@ -1256,7 +1261,7 @@
#define LED_PIN -1
#define FAN_PIN -1
#define FAN_PIN -1
#define PS_ON_PIN 14
#define KILL_PIN -1
@ -1295,7 +1300,7 @@
* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25)
* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24)
* RST 9| |32 AREF
* VCC 10| |31 GND
* VCC 10| |31 GND
* GND 11| |30 AVCC
* XTAL2 12| |29 PC7 (D 23)
* XTAL1 13| |28 PC6 (D 22)
@ -1352,7 +1357,7 @@
#define KILL_PIN -1
#define HEATER_0_PIN 4
#define HEATER_1_PIN -1 // 12
#define HEATER_1_PIN -1 // 12
#define HEATER_2_PIN -1 // 13
#define TEMP_0_PIN 0 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN -1 // 1
@ -1414,11 +1419,11 @@
#define KILL_PIN -1
#define HEATER_0_PIN 3 /*DONE PWM on RIGHT connector */
#define HEATER_1_PIN -1
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define HEATER_1_PIN -1
#define HEATER_1_PIN -1
#define HEATER_2_PIN -1
#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING
#define TEMP_1_PIN 1 // ANALOG
#define TEMP_2_PIN -1 // 2
#define HEATER_BED_PIN 4
@ -1466,7 +1471,7 @@
#define Z_MS2_PIN 67
#define HEATER_BED_PIN 3
#define TEMP_BED_PIN 2
#define TEMP_BED_PIN 2
#define HEATER_0_PIN 9
#define TEMP_0_PIN 0
@ -1559,9 +1564,9 @@
#define HEATER_0_PIN 9 // EXTRUDER 1
#define HEATER_1_PIN 8 // EXTRUDER 2 (FAN On Sprinter)
#define HEATER_2_PIN -1
#define HEATER_2_PIN -1
#if TEMP_SENSOR_0 == -1
#if TEMP_SENSOR_0 == -1
#define TEMP_0_PIN 8 // ANALOG NUMBERING
#else
#define TEMP_0_PIN 13 // ANALOG NUMBERING
@ -1580,25 +1585,25 @@
#ifdef NEWPANEL
//arduino pin which triggers an piezzo beeper
#define LCD_PINS_RS 16
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
#define LCD_PINS_D5 25
#define LCD_PINS_D5 25
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
//buttons are directly attached using AUX-2
#define BTN_EN1 59
#define BTN_EN2 64
#define BTN_ENC 43 //the click
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#define SDCARDDETECT -1 // Ramps does not use this port
//encoder rotation values
#define encrot0 0
#define encrot1 2
@ -1614,7 +1619,7 @@
#endif
//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN,
#if EXTRUDERS > 1
#define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN,
#else