From f0aee4101a21ed2607e6e2d43622252f78b42818 Mon Sep 17 00:00:00 2001
From: whosawhatsis <whosawhatsis@gmail.com>
Date: Fri, 8 Mar 2013 13:41:49 -0800
Subject: [PATCH 1/8] regenerated thermistor table 7
Generated with createTemperatureLookup.py. The old table crapped out at
270C, which was a problem for polycarbonate.
---
Marlin/thermistortables.h | 112 +++++++++++++++++++-------------------
1 file changed, 57 insertions(+), 55 deletions(-)
diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h
index 76ea32b7ba..f8839b096d 100644
--- a/Marlin/thermistortables.h
+++ b/Marlin/thermistortables.h
@@ -254,61 +254,63 @@ const short temptable_6[][2] PROGMEM = {
#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORHEATER_2 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
const short temptable_7[][2] PROGMEM = {
- {1*OVERSAMPLENR, 500},
- {46*OVERSAMPLENR, 270}, //top rating 300C
- {50*OVERSAMPLENR, 265},
- {54*OVERSAMPLENR, 260},
- {58*OVERSAMPLENR, 255},
- {62*OVERSAMPLENR, 250},
- {67*OVERSAMPLENR, 245},
- {72*OVERSAMPLENR, 240},
- {79*OVERSAMPLENR, 235},
- {85*OVERSAMPLENR, 230},
- {91*OVERSAMPLENR, 225},
- {99*OVERSAMPLENR, 220},
- {107*OVERSAMPLENR, 215},
- {116*OVERSAMPLENR, 210},
- {126*OVERSAMPLENR, 205},
- {136*OVERSAMPLENR, 200},
- {149*OVERSAMPLENR, 195},
- {160*OVERSAMPLENR, 190},
- {175*OVERSAMPLENR, 185},
- {191*OVERSAMPLENR, 180},
- {209*OVERSAMPLENR, 175},
- {224*OVERSAMPLENR, 170},
- {246*OVERSAMPLENR, 165},
- {267*OVERSAMPLENR, 160},
- {293*OVERSAMPLENR, 155},
- {316*OVERSAMPLENR, 150},
- {340*OVERSAMPLENR, 145},
- {364*OVERSAMPLENR, 140},
- {396*OVERSAMPLENR, 135},
- {425*OVERSAMPLENR, 130},
- {460*OVERSAMPLENR, 125},
- {489*OVERSAMPLENR, 120},
- {526*OVERSAMPLENR, 115},
- {558*OVERSAMPLENR, 110},
- {591*OVERSAMPLENR, 105},
- {628*OVERSAMPLENR, 100},
- {660*OVERSAMPLENR, 95},
- {696*OVERSAMPLENR, 90},
- {733*OVERSAMPLENR, 85},
- {761*OVERSAMPLENR, 80},
- {794*OVERSAMPLENR, 75},
- {819*OVERSAMPLENR, 70},
- {847*OVERSAMPLENR, 65},
- {870*OVERSAMPLENR, 60},
- {892*OVERSAMPLENR, 55},
- {911*OVERSAMPLENR, 50},
- {929*OVERSAMPLENR, 45},
- {944*OVERSAMPLENR, 40},
- {959*OVERSAMPLENR, 35},
- {971*OVERSAMPLENR, 30},
- {981*OVERSAMPLENR, 25},
- {989*OVERSAMPLENR, 20},
- {994*OVERSAMPLENR, 15},
- {1001*OVERSAMPLENR, 10},
- {1005*OVERSAMPLENR, 5},
+ {1*OVERSAMPLENR, 941},
+ {19*OVERSAMPLENR, 362},
+ {37*OVERSAMPLENR, 299}, //top rating 300C
+ {55*OVERSAMPLENR, 266},
+ {73*OVERSAMPLENR, 245},
+ {91*OVERSAMPLENR, 229},
+ {109*OVERSAMPLENR, 216},
+ {127*OVERSAMPLENR, 206},
+ {145*OVERSAMPLENR, 197},
+ {163*OVERSAMPLENR, 190},
+ {181*OVERSAMPLENR, 183},
+ {199*OVERSAMPLENR, 177},
+ {217*OVERSAMPLENR, 171},
+ {235*OVERSAMPLENR, 166},
+ {253*OVERSAMPLENR, 162},
+ {271*OVERSAMPLENR, 157},
+ {289*OVERSAMPLENR, 153},
+ {307*OVERSAMPLENR, 149},
+ {325*OVERSAMPLENR, 146},
+ {343*OVERSAMPLENR, 142},
+ {361*OVERSAMPLENR, 139},
+ {379*OVERSAMPLENR, 135},
+ {397*OVERSAMPLENR, 132},
+ {415*OVERSAMPLENR, 129},
+ {433*OVERSAMPLENR, 126},
+ {451*OVERSAMPLENR, 123},
+ {469*OVERSAMPLENR, 121},
+ {487*OVERSAMPLENR, 118},
+ {505*OVERSAMPLENR, 115},
+ {523*OVERSAMPLENR, 112},
+ {541*OVERSAMPLENR, 110},
+ {559*OVERSAMPLENR, 107},
+ {577*OVERSAMPLENR, 105},
+ {595*OVERSAMPLENR, 102},
+ {613*OVERSAMPLENR, 99},
+ {631*OVERSAMPLENR, 97},
+ {649*OVERSAMPLENR, 94},
+ {667*OVERSAMPLENR, 92},
+ {685*OVERSAMPLENR, 89},
+ {703*OVERSAMPLENR, 86},
+ {721*OVERSAMPLENR, 84},
+ {739*OVERSAMPLENR, 81},
+ {757*OVERSAMPLENR, 78},
+ {775*OVERSAMPLENR, 75},
+ {793*OVERSAMPLENR, 72},
+ {811*OVERSAMPLENR, 69},
+ {829*OVERSAMPLENR, 66},
+ {847*OVERSAMPLENR, 62},
+ {865*OVERSAMPLENR, 59},
+ {883*OVERSAMPLENR, 55},
+ {901*OVERSAMPLENR, 51},
+ {919*OVERSAMPLENR, 46},
+ {937*OVERSAMPLENR, 41},
+ {955*OVERSAMPLENR, 35},
+ {973*OVERSAMPLENR, 27},
+ {991*OVERSAMPLENR, 17},
+ {1009*OVERSAMPLENR, 1}
{1023*OVERSAMPLENR, 0} //to allow internal 0 degrees C
};
#endif
From 6a61a3c0b4365d4d0887dbbff94d38e452cbe4c7 Mon Sep 17 00:00:00 2001
From: whosawhatsis <whosawhatsis@gmail.com>
Date: Fri, 8 Mar 2013 16:15:49 -0800
Subject: [PATCH 2/8] missing comma in last commit
---
Marlin/thermistortables.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h
index f8839b096d..e3d28ba285 100644
--- a/Marlin/thermistortables.h
+++ b/Marlin/thermistortables.h
@@ -310,7 +310,7 @@ const short temptable_7[][2] PROGMEM = {
{955*OVERSAMPLENR, 35},
{973*OVERSAMPLENR, 27},
{991*OVERSAMPLENR, 17},
- {1009*OVERSAMPLENR, 1}
+ {1009*OVERSAMPLENR, 1},
{1023*OVERSAMPLENR, 0} //to allow internal 0 degrees C
};
#endif
From 7c47e7162d725c61764e43e2817878f55cecdd2a Mon Sep 17 00:00:00 2001
From: Ryan Turner <ryan.e.t@gmail.com>
Date: Mon, 18 Mar 2013 22:53:37 -0500
Subject: [PATCH 3/8] Adding Maker's Tool Works heated bed thermistor
---
Marlin/thermistortables.h | 78 +++++++++++++++++++++++++++++++++++++++
1 file changed, 78 insertions(+)
diff --git a/Marlin/thermistortables.h b/Marlin/thermistortables.h
index 76ea32b7ba..8496ae1be8 100644
--- a/Marlin/thermistortables.h
+++ b/Marlin/thermistortables.h
@@ -554,6 +554,84 @@ const short temptable_55[][2] PROGMEM = {
};
#endif
+#if (THERMISTORHEATER_0 == 60) || (THERMISTORHEATER_1 == 60) || (THERMISTORHEATER_2 == 60) || (THERMISTORBED == 60) // Maker's Tool Works Kapton Bed Thermister
+const short temptable_60[][2] PROGMEM = {
+ {51*OVERSAMPLENR, 272},
+ {61*OVERSAMPLENR, 258},
+ {71*OVERSAMPLENR, 247},
+ {81*OVERSAMPLENR, 237},
+ {91*OVERSAMPLENR, 229},
+ {101*OVERSAMPLENR, 221},
+ {131*OVERSAMPLENR, 204},
+ {161*OVERSAMPLENR, 190},
+ {191*OVERSAMPLENR, 179},
+ {231*OVERSAMPLENR, 167},
+ {271*OVERSAMPLENR, 157},
+ {311*OVERSAMPLENR, 148},
+ {351*OVERSAMPLENR, 140},
+ {381*OVERSAMPLENR, 135},
+ {411*OVERSAMPLENR, 130},
+ {441*OVERSAMPLENR, 125},
+ {451*OVERSAMPLENR, 123},
+ {461*OVERSAMPLENR, 122},
+ {471*OVERSAMPLENR, 120},
+ {481*OVERSAMPLENR, 119},
+ {491*OVERSAMPLENR, 117},
+ {501*OVERSAMPLENR, 116},
+ {511*OVERSAMPLENR, 114},
+ {521*OVERSAMPLENR, 113},
+ {531*OVERSAMPLENR, 111},
+ {541*OVERSAMPLENR, 110},
+ {551*OVERSAMPLENR, 108},
+ {561*OVERSAMPLENR, 107},
+ {571*OVERSAMPLENR, 105},
+ {581*OVERSAMPLENR, 104},
+ {591*OVERSAMPLENR, 102},
+ {601*OVERSAMPLENR, 101},
+ {611*OVERSAMPLENR, 100},
+ {621*OVERSAMPLENR, 98},
+ {631*OVERSAMPLENR, 97},
+ {641*OVERSAMPLENR, 95},
+ {651*OVERSAMPLENR, 94},
+ {661*OVERSAMPLENR, 92},
+ {671*OVERSAMPLENR, 91},
+ {681*OVERSAMPLENR, 90},
+ {691*OVERSAMPLENR, 88},
+ {701*OVERSAMPLENR, 87},
+ {711*OVERSAMPLENR, 85},
+ {721*OVERSAMPLENR, 84},
+ {731*OVERSAMPLENR, 82},
+ {741*OVERSAMPLENR, 81},
+ {751*OVERSAMPLENR, 79},
+ {761*OVERSAMPLENR, 77},
+ {771*OVERSAMPLENR, 76},
+ {781*OVERSAMPLENR, 74},
+ {791*OVERSAMPLENR, 72},
+ {801*OVERSAMPLENR, 71},
+ {811*OVERSAMPLENR, 69},
+ {821*OVERSAMPLENR, 67},
+ {831*OVERSAMPLENR, 65},
+ {841*OVERSAMPLENR, 63},
+ {851*OVERSAMPLENR, 62},
+ {861*OVERSAMPLENR, 60},
+ {871*OVERSAMPLENR, 57},
+ {881*OVERSAMPLENR, 55},
+ {891*OVERSAMPLENR, 53},
+ {901*OVERSAMPLENR, 51},
+ {911*OVERSAMPLENR, 48},
+ {921*OVERSAMPLENR, 45},
+ {931*OVERSAMPLENR, 42},
+ {941*OVERSAMPLENR, 39},
+ {951*OVERSAMPLENR, 36},
+ {961*OVERSAMPLENR, 32},
+ {981*OVERSAMPLENR, 23},
+ {991*OVERSAMPLENR, 17},
+ {1001*OVERSAMPLENR, 9},
+ {1008*OVERSAMPLENR, 0},
+};
+#endif
+
+
#define _TT_NAME(_N) temptable_ ## _N
#define TT_NAME(_N) _TT_NAME(_N)
From d2b00fe48627eb9b5c3b78720c3faa83cbc69e6a Mon Sep 17 00:00:00 2001
From: blddk <michael.andresen@gmail.com>
Date: Fri, 22 Mar 2013 18:28:16 +0100
Subject: [PATCH 4/8] Removed html and added rumba
Found some unwanted html at the bottom of the file which caused it to not be able to compile.
Also added rumba as machine.
---
Marlin/language.h | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/Marlin/language.h b/Marlin/language.h
index d17f6f6670..51d40a2848 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -26,6 +26,9 @@
#if MOTHERBOARD == 7 || MOTHERBOARD == 71
#define MACHINE_NAME "Ultimaker"
#define FIRMWARE_URL "http://firmware.ultimaker.com"
+#elif MOTHERBOARD == 80
+ #define MACHINE_NAME "Rumba"
+ #define FIRMWARE_URL "https://github.com/ErikZalm/Marlin/"
#else
#define MACHINE_NAME "Mendel"
#define FIRMWARE_URL "http://www.mendel-parts.com"
@@ -1461,5 +1464,4 @@
#define MSG_ERR_LONG_EXTRUDE_STOP " liian pitka pursotus estetty"
#endif
-#endif // ifndef LANGUAGE_H
-</pre></body></html>
\ No newline at end of file
+#endif // ifndef LANGUAGE_H
From 91bea433328568e6da2659141a37a926689aa9b4 Mon Sep 17 00:00:00 2001
From: blddk <michael.andresen@gmail.com>
Date: Fri, 22 Mar 2013 18:29:47 +0100
Subject: [PATCH 5/8] Added rumba pinout
---
Marlin/pins.h | 87 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 87 insertions(+)
diff --git a/Marlin/pins.h b/Marlin/pins.h
index f1babfa705..6191ed2882 100644
--- a/Marlin/pins.h
+++ b/Marlin/pins.h
@@ -979,6 +979,93 @@
#endif
+
+/****************************************************************************************
+* RUMBA pin assignment
+*
+****************************************************************************************/
+#if MOTHERBOARD == 80
+#define KNOWN_BOARD 1
+
+#ifndef __AVR_ATmega2560__
+ #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN 17
+#define X_DIR_PIN 16
+#define X_ENABLE_PIN 48
+#define X_MIN_PIN 37
+#define X_MAX_PIN 36
+
+#define Y_STEP_PIN 54
+#define Y_DIR_PIN 47
+#define Y_ENABLE_PIN 55
+#define Y_MIN_PIN 35
+#define Y_MAX_PIN 34
+
+#define Z_STEP_PIN 57
+#define Z_DIR_PIN 56
+#define Z_ENABLE_PIN 62
+#define Z_MIN_PIN 33
+#define Z_MAX_PIN 32
+
+#define E0_STEP_PIN 23
+#define E0_DIR_PIN 22
+#define E0_ENABLE_PIN 24
+
+#define E1_STEP_PIN 26
+#define E1_DIR_PIN 25
+#define E1_ENABLE_PIN 27
+
+#define E2_STEP_PIN 29
+#define E2_DIR_PIN 28
+#define E2_ENABLE_PIN 39
+
+#define LED_PIN 13
+
+#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
+#define KILL_PIN 46
+
+#define HEATER_0_PIN 2 // EXTRUDER 1
+#define HEATER_1_PIN 3 // EXTRUDER 2
+#define HEATER_2_PIN 6 // EXTRUDER 3
+//optional FAN1 can be used as 4th heater output: #define HEATER_3_PIN 8 // EXTRUDER 4
+#define HEATER_BED_PIN 9 // BED
+
+#define TEMP_0_PIN 15 // ANALOG NUMBERING
+#define TEMP_1_PIN 14 // ANALOG NUMBERING
+#define TEMP_2_PIN 13 // ANALOG NUMBERING
+//optional for extruder 4 or chamber: #define TEMP_2_PIN 12 // ANALOG NUMBERING
+#define TEMP_BED_PIN 11 // ANALOG NUMBERING
+
+#define SDPOWER -1
+#define SDSS 53
+#define SDCARDDETECT 49
+#define BEEPER 44
+#define LCD_PINS_RS 19
+#define LCD_PINS_ENABLE 42
+#define LCD_PINS_D4 18
+#define LCD_PINS_D5 38
+#define LCD_PINS_D6 41
+#define LCD_PINS_D7 40
+#define BTN_EN1 11
+#define BTN_EN2 12
+#define BTN_ENC 43
+//encoder rotation values
+#define BLEN_C 2
+#define BLEN_B 1
+#define BLEN_A 0
+#define encrot0 0
+#define encrot1 2
+#define encrot2 3
+#define encrot3 1
+
+#endif //MOTHERBOARD==80
+
+
/****************************************************************************************
* Teensylu 0.7 / Printrboard pin assignments (AT90USB1286)
* Requires the Teensyduino software with Teensy++ 2.0 selected in Arduino IDE!
From 72419f69a91b13faab3c62dd62a918a6f5e3fc23 Mon Sep 17 00:00:00 2001
From: blddk <michael.andresen@gmail.com>
Date: Fri, 22 Mar 2013 18:41:54 +0100
Subject: [PATCH 6/8] Added rumba
---
Marlin/Configuration.h | 1 +
1 file changed, 1 insertion(+)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 8031272db6..54929bac3d 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -38,6 +38,7 @@
// 7 = Ultimaker
// 71 = Ultimaker (Older electronics. Pre 1.5.4. This is rare)
// 8 = Teensylu
+// 80 = Rumba
// 81 = Printrboard (AT90USB1286)
// 82 = Brainwave (AT90USB646)
// 9 = Gen3+
From e5a853a3d01732633b99156b3466013a1b4016c7 Mon Sep 17 00:00:00 2001
From: blddk <michael.andresen@gmail.com>
Date: Fri, 22 Mar 2013 18:49:05 +0100
Subject: [PATCH 7/8] Added automated extruder fan function
---
Marlin/Marlin_main.cpp | 4285 ++++++++++++++++++++--------------------
1 file changed, 2157 insertions(+), 2128 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 3725546171..fa3681ec73 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1,2132 +1,2161 @@
-/* -*- c++ -*- */
-
-/*
- Reprap firmware based on Sprinter and grbl.
- Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
-/*
- This firmware is a mashup between Sprinter and grbl.
- (https://github.com/kliment/Sprinter)
- (https://github.com/simen/grbl/tree)
-
- It has preliminary support for Matthew Roberts advance algorithm
- http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- */
-
-#include "Marlin.h"
-
-#include "ultralcd.h"
-#include "planner.h"
-#include "stepper.h"
-#include "temperature.h"
-#include "motion_control.h"
-#include "cardreader.h"
-#include "watchdog.h"
-#include "ConfigurationStore.h"
-#include "language.h"
-#include "pins_arduino.h"
-
-#if DIGIPOTSS_PIN > -1
-#include <SPI.h>
-#endif
-
-#define VERSION_STRING "1.0.0"
-
-// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
-// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
-
-//Implemented Codes
-//-------------------
-// G0 -> G1
-// G1 - Coordinated Movement X Y Z E
-// G2 - CW ARC
-// G3 - CCW ARC
-// G4 - Dwell S<seconds> or P<milliseconds>
-// G10 - retract filament according to settings of M207
-// G11 - retract recover filament according to settings of M208
-// G28 - Home all Axis
-// G90 - Use Absolute Coordinates
-// G91 - Use Relative Coordinates
-// G92 - Set current position to cordinates given
-
-//RepRap M Codes
-// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
-// M1 - Same as M0
-// M104 - Set extruder target temp
-// M105 - Read current temp
-// M106 - Fan on
-// M107 - Fan off
-// M109 - Wait for extruder current temp to reach target temp.
-// M114 - Display current position
-
-//Custom M Codes
-// M17 - Enable/Power all stepper motors
-// M18 - Disable all stepper motors; same as M84
-// M20 - List SD card
-// M21 - Init SD card
-// M22 - Release SD card
-// M23 - Select SD file (M23 filename.g)
-// M24 - Start/resume SD print
-// M25 - Pause SD print
-// M26 - Set SD position in bytes (M26 S12345)
-// M27 - Report SD print status
-// M28 - Start SD write (M28 filename.g)
-// M29 - Stop SD write
-// M30 - Delete file from SD (M30 filename.g)
-// M31 - Output time since last M109 or SD card start to serial
-// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
-// M80 - Turn on Power Supply
-// M81 - Turn off Power Supply
-// M82 - Set E codes absolute (default)
-// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
-// M84 - Disable steppers until next move,
-// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
-// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
-// M92 - Set axis_steps_per_unit - same syntax as G92
-// M114 - Output current position to serial port
-// M115 - Capabilities string
-// M117 - display message
-// M119 - Output Endstop status to serial port
-// M140 - Set bed target temp
-// M190 - Wait for bed current temp to reach target temp.
-// M200 - Set filament diameter
-// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
-// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
-// M206 - set additional homeing offset
-// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
-// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
-// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
-// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
-// M220 S<factor in percent>- set speed factor override percentage
-// M221 S<factor in percent>- set extrude factor override percentage
-// M240 - Trigger a camera to take a photograph
-// M301 - Set PID parameters P I and D
-// M302 - Allow cold extrudes
-// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
-// M304 - Set bed PID parameters P I and D
-// M400 - Finish all moves
-// M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
-// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
-// M503 - print the current settings (from memory not from eeprom)
-// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
-// M907 - Set digital trimpot motor current using axis codes.
-// M908 - Control digital trimpot directly.
-// M350 - Set microstepping mode.
-// M351 - Toggle MS1 MS2 pins directly.
-// M999 - Restart after being stopped by error
-
-//Stepper Movement Variables
-
-//===========================================================================
-//=============================imported variables============================
-//===========================================================================
-
-
-//===========================================================================
-//=============================public variables=============================
-//===========================================================================
-#ifdef SDSUPPORT
-CardReader card;
-#endif
-float homing_feedrate[] = HOMING_FEEDRATE;
-bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
-int feedmultiply=100; //100->1 200->2
-int saved_feedmultiply;
-int extrudemultiply=100; //100->1 200->2
-float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
-float add_homeing[3]={0,0,0};
-float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
-// Extruder offset, only in XY plane
+/* -*- c++ -*- */
+
+/*
+ Reprap firmware based on Sprinter and grbl.
+ Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ This firmware is a mashup between Sprinter and grbl.
+ (https://github.com/kliment/Sprinter)
+ (https://github.com/simen/grbl/tree)
+
+ It has preliminary support for Matthew Roberts advance algorithm
+ http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+ */
+
+#include "Marlin.h"
+
+#include "ultralcd.h"
+#include "planner.h"
+#include "stepper.h"
+#include "temperature.h"
+#include "motion_control.h"
+#include "cardreader.h"
+#include "watchdog.h"
+#include "ConfigurationStore.h"
+#include "language.h"
+#include "pins_arduino.h"
+
+#if DIGIPOTSS_PIN > -1
+#include <SPI.h>
+#endif
+
+#define VERSION_STRING "1.0.0"
+
+// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
+// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
+
+//Implemented Codes
+//-------------------
+// G0 -> G1
+// G1 - Coordinated Movement X Y Z E
+// G2 - CW ARC
+// G3 - CCW ARC
+// G4 - Dwell S<seconds> or P<milliseconds>
+// G10 - retract filament according to settings of M207
+// G11 - retract recover filament according to settings of M208
+// G28 - Home all Axis
+// G90 - Use Absolute Coordinates
+// G91 - Use Relative Coordinates
+// G92 - Set current position to cordinates given
+
+//RepRap M Codes
+// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
+// M1 - Same as M0
+// M104 - Set extruder target temp
+// M105 - Read current temp
+// M106 - Fan on
+// M107 - Fan off
+// M109 - Wait for extruder current temp to reach target temp.
+// M114 - Display current position
+
+//Custom M Codes
+// M17 - Enable/Power all stepper motors
+// M18 - Disable all stepper motors; same as M84
+// M20 - List SD card
+// M21 - Init SD card
+// M22 - Release SD card
+// M23 - Select SD file (M23 filename.g)
+// M24 - Start/resume SD print
+// M25 - Pause SD print
+// M26 - Set SD position in bytes (M26 S12345)
+// M27 - Report SD print status
+// M28 - Start SD write (M28 filename.g)
+// M29 - Stop SD write
+// M30 - Delete file from SD (M30 filename.g)
+// M31 - Output time since last M109 or SD card start to serial
+// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
+// M80 - Turn on Power Supply
+// M81 - Turn off Power Supply
+// M82 - Set E codes absolute (default)
+// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
+// M84 - Disable steppers until next move,
+// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
+// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+// M92 - Set axis_steps_per_unit - same syntax as G92
+// M114 - Output current position to serial port
+// M115 - Capabilities string
+// M117 - display message
+// M119 - Output Endstop status to serial port
+// M140 - Set bed target temp
+// M190 - Wait for bed current temp to reach target temp.
+// M200 - Set filament diameter
+// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
+// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
+// M206 - set additional homeing offset
+// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+// M220 S<factor in percent>- set speed factor override percentage
+// M221 S<factor in percent>- set extrude factor override percentage
+// M240 - Trigger a camera to take a photograph
+// M301 - Set PID parameters P I and D
+// M302 - Allow cold extrudes
+// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+// M304 - Set bed PID parameters P I and D
+// M400 - Finish all moves
+// M500 - stores paramters in EEPROM
+// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
+// M503 - print the current settings (from memory not from eeprom)
+// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+// M907 - Set digital trimpot motor current using axis codes.
+// M908 - Control digital trimpot directly.
+// M350 - Set microstepping mode.
+// M351 - Toggle MS1 MS2 pins directly.
+// M999 - Restart after being stopped by error
+
+//Stepper Movement Variables
+
+//===========================================================================
+//=============================imported variables============================
+//===========================================================================
+
+
+//===========================================================================
+//=============================public variables=============================
+//===========================================================================
+#ifdef SDSUPPORT
+CardReader card;
+#endif
+float homing_feedrate[] = HOMING_FEEDRATE;
+bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
+int feedmultiply=100; //100->1 200->2
+int saved_feedmultiply;
+int extrudemultiply=100; //100->1 200->2
+float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
+float add_homeing[3]={0,0,0};
+float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
+float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+// Extruder offset, only in XY plane
#if EXTRUDERS > 1
-float extruder_offset[2][EXTRUDERS] = {
-#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
- EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
-#endif
+float extruder_offset[2][EXTRUDERS] = {
+#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
+ EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
+#endif
};
-#endif
-uint8_t active_extruder = 0;
-int fanSpeed=0;
-
-#ifdef FWRETRACT
- bool autoretract_enabled=true;
- bool retracted=false;
- float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
- float retract_recover_length=0, retract_recover_feedrate=8*60;
-#endif
-
-//===========================================================================
-//=============================private variables=============================
-//===========================================================================
-const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
-static float offset[3] = {0.0, 0.0, 0.0};
-static bool home_all_axis = true;
-static float feedrate = 1500.0, next_feedrate, saved_feedrate;
-static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
-
-static bool relative_mode = false; //Determines Absolute or Relative Coordinates
-
-static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
-static bool fromsd[BUFSIZE];
-static int bufindr = 0;
-static int bufindw = 0;
-static int buflen = 0;
-//static int i = 0;
-static char serial_char;
-static int serial_count = 0;
-static boolean comment_mode = false;
-static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
-
-const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
-
-//static float tt = 0;
-//static float bt = 0;
-
-//Inactivity shutdown variables
-static unsigned long previous_millis_cmd = 0;
-static unsigned long max_inactive_time = 0;
-static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
-
-unsigned long starttime=0;
-unsigned long stoptime=0;
-
-static uint8_t tmp_extruder;
-
-
-bool Stopped=false;
-
-//===========================================================================
-//=============================ROUTINES=============================
-//===========================================================================
-
-void get_arc_coordinates();
-bool setTargetedHotend(int code);
-
-void serial_echopair_P(const char *s_P, float v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char *s_P, double v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
-void serial_echopair_P(const char *s_P, unsigned long v)
- { serialprintPGM(s_P); SERIAL_ECHO(v); }
-
-extern "C"{
- extern unsigned int __bss_end;
- extern unsigned int __heap_start;
- extern void *__brkval;
-
- int freeMemory() {
- int free_memory;
-
- if((int)__brkval == 0)
- free_memory = ((int)&free_memory) - ((int)&__bss_end);
- else
- free_memory = ((int)&free_memory) - ((int)__brkval);
-
- return free_memory;
- }
-}
-
-//adds an command to the main command buffer
-//thats really done in a non-safe way.
-//needs overworking someday
-void enquecommand(const char *cmd)
-{
- if(buflen < BUFSIZE)
- {
- //this is dangerous if a mixing of serial and this happsens
- strcpy(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("enqueing \"");
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
-}
-
-void enquecommand_P(const char *cmd)
-{
- if(buflen < BUFSIZE)
- {
- //this is dangerous if a mixing of serial and this happsens
- strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("enqueing \"");
- SERIAL_ECHO(cmdbuffer[bufindw]);
- SERIAL_ECHOLNPGM("\"");
- bufindw= (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
-}
-
-void setup_killpin()
-{
- #if( KILL_PIN>-1 )
- pinMode(KILL_PIN,INPUT);
- WRITE(KILL_PIN,HIGH);
- #endif
-}
-
-void setup_photpin()
-{
- #ifdef PHOTOGRAPH_PIN
- #if (PHOTOGRAPH_PIN > -1)
- SET_OUTPUT(PHOTOGRAPH_PIN);
- WRITE(PHOTOGRAPH_PIN, LOW);
- #endif
- #endif
-}
-
-void setup_powerhold()
-{
- #ifdef SUICIDE_PIN
- #if (SUICIDE_PIN> -1)
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, HIGH);
- #endif
- #endif
- #if (PS_ON_PIN > -1)
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- #endif
-}
-
-void suicide()
-{
- #ifdef SUICIDE_PIN
- #if (SUICIDE_PIN> -1)
- SET_OUTPUT(SUICIDE_PIN);
- WRITE(SUICIDE_PIN, LOW);
- #endif
- #endif
-}
-
-void setup()
-{
- setup_killpin();
- setup_powerhold();
- MYSERIAL.begin(BAUDRATE);
- SERIAL_PROTOCOLLNPGM("start");
- SERIAL_ECHO_START;
-
- // Check startup - does nothing if bootloader sets MCUSR to 0
- byte mcu = MCUSR;
- if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
- if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
- if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
- if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
- if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
- MCUSR=0;
-
- SERIAL_ECHOPGM(MSG_MARLIN);
- SERIAL_ECHOLNPGM(VERSION_STRING);
- #ifdef STRING_VERSION_CONFIG_H
- #ifdef STRING_CONFIG_H_AUTHOR
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
- SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
- SERIAL_ECHOPGM(MSG_AUTHOR);
- SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
- SERIAL_ECHOPGM("Compiled: ");
- SERIAL_ECHOLNPGM(__DATE__);
- #endif
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_FREE_MEMORY);
- SERIAL_ECHO(freeMemory());
- SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
- SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
- for(int8_t i = 0; i < BUFSIZE; i++)
- {
- fromsd[i] = false;
- }
-
- Config_RetrieveSettings(); // loads data from EEPROM if available
-
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
- }
-
-
- tp_init(); // Initialize temperature loop
- plan_init(); // Initialize planner;
- watchdog_init();
- st_init(); // Initialize stepper, this enables interrupts!
- setup_photpin();
-
- lcd_init();
-}
-
-
-void loop()
-{
- if(buflen < (BUFSIZE-1))
- get_command();
- #ifdef SDSUPPORT
- card.checkautostart(false);
- #endif
- if(buflen)
- {
- #ifdef SDSUPPORT
- if(card.saving)
- {
- if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
- {
- card.write_command(cmdbuffer[bufindr]);
- SERIAL_PROTOCOLLNPGM(MSG_OK);
- }
- else
- {
- card.closefile();
- SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
- }
- }
- else
- {
- process_commands();
- }
- #else
- process_commands();
- #endif //SDSUPPORT
- buflen = (buflen-1);
- bufindr = (bufindr + 1)%BUFSIZE;
- }
- //check heater every n milliseconds
- manage_heater();
- manage_inactivity();
- checkHitEndstops();
- lcd_update();
-}
-
-void get_command()
-{
- while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
- serial_char = MYSERIAL.read();
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1) )
- {
- if(!serial_count) { //if empty line
- comment_mode = false; //for new command
- return;
- }
- cmdbuffer[bufindw][serial_count] = 0; //terminate string
- if(!comment_mode){
- comment_mode = false; //for new command
- fromsd[bufindw] = false;
- if(strchr(cmdbuffer[bufindw], 'N') != NULL)
- {
- strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
- gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
- if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
- SERIAL_ERRORLN(gcode_LastN);
- //Serial.println(gcode_N);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
-
- if(strchr(cmdbuffer[bufindw], '*') != NULL)
- {
- byte checksum = 0;
- byte count = 0;
- while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
- strchr_pointer = strchr(cmdbuffer[bufindw], '*');
-
- if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
- //if no errors, continue parsing
- }
- else
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- FlushSerialRequestResend();
- serial_count = 0;
- return;
- }
-
- gcode_LastN = gcode_N;
- //if no errors, continue parsing
- }
- else // if we don't receive 'N' but still see '*'
- {
- if((strchr(cmdbuffer[bufindw], '*') != NULL))
- {
- SERIAL_ERROR_START;
- SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
- SERIAL_ERRORLN(gcode_LastN);
- serial_count = 0;
- return;
- }
- }
- if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
- strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
- switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
- case 0:
- case 1:
- case 2:
- case 3:
- if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
- #ifdef SDSUPPORT
- if(card.saving)
- break;
- #endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
- }
- else {
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
- break;
- default:
- break;
- }
-
- }
- bufindw = (bufindw + 1)%BUFSIZE;
- buflen += 1;
- }
- serial_count = 0; //clear buffer
- }
- else
- {
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
- }
- }
- #ifdef SDSUPPORT
- if(!card.sdprinting || serial_count!=0){
- return;
- }
- while( !card.eof() && buflen < BUFSIZE) {
- int16_t n=card.get();
- serial_char = (char)n;
- if(serial_char == '\n' ||
- serial_char == '\r' ||
- (serial_char == ':' && comment_mode == false) ||
- serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
- {
- if(card.eof()){
- SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int hours, minutes;
- minutes=(t/60)%60;
- hours=t/60/60;
- sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- card.printingHasFinished();
- card.checkautostart(true);
-
- }
- if(!serial_count)
- {
- comment_mode = false; //for new command
- return; //if empty line
- }
- cmdbuffer[bufindw][serial_count] = 0; //terminate string
-// if(!comment_mode){
- fromsd[bufindw] = true;
- buflen += 1;
- bufindw = (bufindw + 1)%BUFSIZE;
-// }
- comment_mode = false; //for new command
- serial_count = 0; //clear buffer
- }
- else
- {
- if(serial_char == ';') comment_mode = true;
- if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
- }
- }
-
- #endif //SDSUPPORT
-
-}
-
-
-float code_value()
-{
- return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
-}
-
-long code_value_long()
-{
- return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
-}
-
-bool code_seen(char code)
-{
- strchr_pointer = strchr(cmdbuffer[bufindr], code);
- return (strchr_pointer != NULL); //Return True if a character was found
-}
-
-#define DEFINE_PGM_READ_ANY(type, reader) \
- static inline type pgm_read_any(const type *p) \
- { return pgm_read_##reader##_near(p); }
-
-DEFINE_PGM_READ_ANY(float, float);
-DEFINE_PGM_READ_ANY(signed char, byte);
-
-#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
-static const PROGMEM type array##_P[3] = \
- { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
-static inline type array(int axis) \
- { return pgm_read_any(&array##_P[axis]); }
-
-XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
-XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
-XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
-XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
-XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
-
-static void axis_is_at_home(int axis) {
- current_position[axis] = base_home_pos(axis) + add_homeing[axis];
- min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
- max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
-}
-
-static void homeaxis(int axis) {
-#define HOMEAXIS_DO(LETTER) \
- ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
-
- if (axis==X_AXIS ? HOMEAXIS_DO(X) :
- axis==Y_AXIS ? HOMEAXIS_DO(Y) :
- axis==Z_AXIS ? HOMEAXIS_DO(Z) :
- 0) {
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
- feedrate = homing_feedrate[axis];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- current_position[axis] = 0;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[axis] = -home_retract_mm(axis) * home_dir(axis);
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
- feedrate = homing_feedrate[axis]/2 ;
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- axis_is_at_home(axis);
- destination[axis] = current_position[axis];
- feedrate = 0.0;
- endstops_hit_on_purpose();
- }
-}
-#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
-
-void process_commands()
-{
- unsigned long codenum; //throw away variable
- char *starpos = NULL;
-
- if(code_seen('G'))
- {
- switch((int)code_value())
- {
- case 0: // G0 -> G1
- case 1: // G1
- if(Stopped == false) {
- get_coordinates(); // For X Y Z E F
- prepare_move();
- //ClearToSend();
- return;
- }
- //break;
- case 2: // G2 - CW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(true);
- return;
- }
- case 3: // G3 - CCW ARC
- if(Stopped == false) {
- get_arc_coordinates();
- prepare_arc_move(false);
- return;
- }
- case 4: // G4 dwell
- LCD_MESSAGEPGM(MSG_DWELL);
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
- st_synchronize();
- codenum += millis(); // keep track of when we started waiting
- previous_millis_cmd = millis();
- while(millis() < codenum ){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- break;
- #ifdef FWRETRACT
- case 10: // G10 retract
- if(!retracted)
- {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- current_position[Z_AXIS]+=-retract_zlift;
- destination[E_AXIS]=current_position[E_AXIS]-retract_length;
- feedrate=retract_feedrate;
- retracted=true;
- prepare_move();
- }
-
- break;
- case 11: // G10 retract_recover
- if(!retracted)
- {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
-
- current_position[Z_AXIS]+=retract_zlift;
- current_position[E_AXIS]+=-retract_recover_length;
- feedrate=retract_recover_feedrate;
- retracted=false;
- prepare_move();
- }
- break;
- #endif //FWRETRACT
- case 28: //G28 Home all Axis one at a time
- saved_feedrate = feedrate;
- saved_feedmultiply = feedmultiply;
- feedmultiply = 100;
- previous_millis_cmd = millis();
-
- enable_endstops(true);
-
- for(int8_t i=0; i < NUM_AXIS; i++) {
- destination[i] = current_position[i];
- }
- feedrate = 0.0;
- home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
-
- #if Z_HOME_DIR > 0 // If homing away from BED do Z first
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- HOMEAXIS(Z);
- }
- #endif
-
- #ifdef QUICK_HOME
- if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
- {
- current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
-
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
- feedrate = homing_feedrate[X_AXIS];
- if(homing_feedrate[Y_AXIS]<feedrate)
- feedrate =homing_feedrate[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- st_synchronize();
-
- axis_is_at_home(X_AXIS);
- axis_is_at_home(Y_AXIS);
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = current_position[X_AXIS];
- destination[Y_AXIS] = current_position[Y_AXIS];
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- feedrate = 0.0;
- st_synchronize();
- endstops_hit_on_purpose();
- }
- #endif
-
- if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
- {
- HOMEAXIS(X);
- }
-
- if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
- HOMEAXIS(Y);
- }
-
- #if Z_HOME_DIR < 0 // If homing towards BED do Z last
- if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
- HOMEAXIS(Z);
- }
- #endif
-
- if(code_seen(axis_codes[X_AXIS]))
- {
- if(code_value_long() != 0) {
- current_position[X_AXIS]=code_value()+add_homeing[0];
- }
- }
-
- if(code_seen(axis_codes[Y_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Y_AXIS]=code_value()+add_homeing[1];
- }
- }
-
- if(code_seen(axis_codes[Z_AXIS])) {
- if(code_value_long() != 0) {
- current_position[Z_AXIS]=code_value()+add_homeing[2];
- }
- }
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
-
- #ifdef ENDSTOPS_ONLY_FOR_HOMING
- enable_endstops(false);
- #endif
-
- feedrate = saved_feedrate;
- feedmultiply = saved_feedmultiply;
- previous_millis_cmd = millis();
- endstops_hit_on_purpose();
- break;
- case 90: // G90
- relative_mode = false;
- break;
- case 91: // G91
- relative_mode = true;
- break;
- case 92: // G92
- if(!code_seen(axis_codes[E_AXIS]))
- st_synchronize();
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) {
- if(i == E_AXIS) {
- current_position[i] = code_value();
- plan_set_e_position(current_position[E_AXIS]);
- }
- else {
- current_position[i] = code_value()+add_homeing[i];
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- }
- }
- }
- break;
- }
- }
-
- else if(code_seen('M'))
- {
- switch( (int)code_value() )
- {
-#ifdef ULTIPANEL
- case 0: // M0 - Unconditional stop - Wait for user button press on LCD
- case 1: // M1 - Conditional stop - Wait for user button press on LCD
- {
- LCD_MESSAGEPGM(MSG_USERWAIT);
- codenum = 0;
- if(code_seen('P')) codenum = code_value(); // milliseconds to wait
- if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
-
- st_synchronize();
- previous_millis_cmd = millis();
- if (codenum > 0){
- codenum += millis(); // keep track of when we started waiting
- while(millis() < codenum && !LCD_CLICKED){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }else{
- while(!LCD_CLICKED){
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- }
- LCD_MESSAGEPGM(MSG_RESUMING);
- }
- break;
-#endif
- case 17:
- LCD_MESSAGEPGM(MSG_NO_MOVE);
- enable_x();
- enable_y();
- enable_z();
- enable_e0();
- enable_e1();
- enable_e2();
- break;
-
-#ifdef SDSUPPORT
- case 20: // M20 - list SD card
- SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
- card.ls();
- SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
- break;
- case 21: // M21 - init SD card
-
- card.initsd();
-
- break;
- case 22: //M22 - release SD card
- card.release();
-
- break;
- case 23: //M23 - Select file
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos!=NULL)
- *(starpos-1)='\0';
- card.openFile(strchr_pointer + 4,true);
- break;
- case 24: //M24 - Start SD print
- card.startFileprint();
- starttime=millis();
- break;
- case 25: //M25 - Pause SD print
- card.pauseSDPrint();
- break;
- case 26: //M26 - Set SD index
- if(card.cardOK && code_seen('S')) {
- card.setIndex(code_value_long());
- }
- break;
- case 27: //M27 - Get SD status
- card.getStatus();
- break;
- case 28: //M28 - Start SD write
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos-1) = '\0';
- }
- card.openFile(strchr_pointer+4,false);
- break;
- case 29: //M29 - Stop SD write
- //processed in write to file routine above
- //card,saving = false;
- break;
- case 30: //M30 <filename> Delete File
- if (card.cardOK){
- card.closefile();
- starpos = (strchr(strchr_pointer + 4,'*'));
- if(starpos != NULL){
- char* npos = strchr(cmdbuffer[bufindr], 'N');
- strchr_pointer = strchr(npos,' ') + 1;
- *(starpos-1) = '\0';
- }
- card.removeFile(strchr_pointer + 4);
- }
- break;
-
-#endif //SDSUPPORT
-
- case 31: //M31 take time since the start of the SD print or an M109 command
- {
- stoptime=millis();
- char time[30];
- unsigned long t=(stoptime-starttime)/1000;
- int sec,min;
- min=t/60;
- sec=t%60;
- sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
- SERIAL_ECHO_START;
- SERIAL_ECHOLN(time);
- lcd_setstatus(time);
- autotempShutdown();
- }
- break;
- case 42: //M42 -Change pin status via gcode
- if (code_seen('S'))
- {
- int pin_status = code_value();
- int pin_number = LED_PIN;
- if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
- pin_number = code_value();
- for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
- {
- if (sensitive_pins[i] == pin_number)
- {
- pin_number = -1;
- break;
- }
- }
- if (pin_number > -1)
- {
- pinMode(pin_number, OUTPUT);
- digitalWrite(pin_number, pin_status);
- analogWrite(pin_number, pin_status);
- }
- }
- break;
- case 104: // M104
- if(setTargetedHotend(104)){
- break;
- }
- if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
- setWatch();
- break;
- case 140: // M140 set bed temp
- if (code_seen('S')) setTargetBed(code_value());
- break;
- case 105 : // M105
- if(setTargetedHotend(105)){
- break;
- }
- #if (TEMP_0_PIN > -1)
- SERIAL_PROTOCOLPGM("ok T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
- #if TEMP_BED_PIN > -1
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLPGM(" /");
- SERIAL_PROTOCOL_F(degTargetBed(),1);
- #endif //TEMP_BED_PIN
- #else
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
- #endif
-
- SERIAL_PROTOCOLPGM(" @:");
- SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
-
- SERIAL_PROTOCOLPGM(" B@:");
- SERIAL_PROTOCOL(getHeaterPower(-1));
-
- SERIAL_PROTOCOLLN("");
- return;
- break;
- case 109:
- {// M109 - Wait for extruder heater to reach target.
- if(setTargetedHotend(109)){
- break;
- }
- LCD_MESSAGEPGM(MSG_HEATING);
- #ifdef AUTOTEMP
- autotemp_enabled=false;
- #endif
- if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
- #ifdef AUTOTEMP
- if (code_seen('S')) autotemp_min=code_value();
- if (code_seen('B')) autotemp_max=code_value();
- if (code_seen('F'))
- {
- autotemp_factor=code_value();
- autotemp_enabled=true;
- }
- #endif
-
- setWatch();
- codenum = millis();
-
- /* See if we are heating up or cooling down */
- bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
-
- #ifdef TEMP_RESIDENCY_TIME
- long residencyStart;
- residencyStart = -1;
- /* continue to loop until we have reached the target temp
- _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
- while((residencyStart == -1) ||
- (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
- #else
- while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
- #endif //TEMP_RESIDENCY_TIME
- if( (millis() - codenum) > 1000UL )
- { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)tmp_extruder);
- #ifdef TEMP_RESIDENCY_TIME
- SERIAL_PROTOCOLPGM(" W:");
- if(residencyStart > -1)
- {
- codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
- SERIAL_PROTOCOLLN( codenum );
- }
- else
- {
- SERIAL_PROTOCOLLN( "?" );
- }
- #else
- SERIAL_PROTOCOLLN("");
- #endif
- codenum = millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- #ifdef TEMP_RESIDENCY_TIME
- /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
- or when current temp falls outside the hysteresis after target temp was reached */
- if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
- (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
- (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
- {
- residencyStart = millis();
- }
- #endif //TEMP_RESIDENCY_TIME
- }
- LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
- starttime=millis();
- previous_millis_cmd = millis();
- }
- break;
- case 190: // M190 - Wait for bed heater to reach target.
- #if TEMP_BED_PIN > -1
- LCD_MESSAGEPGM(MSG_BED_HEATING);
- if (code_seen('S')) setTargetBed(code_value());
- codenum = millis();
- while(isHeatingBed())
- {
- if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
- {
- float tt=degHotend(active_extruder);
- SERIAL_PROTOCOLPGM("T:");
- SERIAL_PROTOCOL(tt);
- SERIAL_PROTOCOLPGM(" E:");
- SERIAL_PROTOCOL((int)active_extruder);
- SERIAL_PROTOCOLPGM(" B:");
- SERIAL_PROTOCOL_F(degBed(),1);
- SERIAL_PROTOCOLLN("");
- codenum = millis();
- }
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
- LCD_MESSAGEPGM(MSG_BED_DONE);
- previous_millis_cmd = millis();
- #endif
- break;
-
- #if FAN_PIN > -1
- case 106: //M106 Fan On
- if (code_seen('S')){
- fanSpeed=constrain(code_value(),0,255);
- }
- else {
- fanSpeed=255;
- }
- break;
- case 107: //M107 Fan Off
- fanSpeed = 0;
- break;
- #endif //FAN_PIN
-
- #if (PS_ON_PIN > -1)
- case 80: // M80 - ATX Power On
- SET_OUTPUT(PS_ON_PIN); //GND
- WRITE(PS_ON_PIN, PS_ON_AWAKE);
- break;
- #endif
-
- case 81: // M81 - ATX Power Off
-
- #if defined SUICIDE_PIN && SUICIDE_PIN > -1
- st_synchronize();
- suicide();
- #elif (PS_ON_PIN > -1)
- SET_OUTPUT(PS_ON_PIN);
- WRITE(PS_ON_PIN, PS_ON_ASLEEP);
- #endif
- break;
-
- case 82:
- axis_relative_modes[3] = false;
- break;
- case 83:
- axis_relative_modes[3] = true;
- break;
- case 18: //compatibility
- case 84: // M84
- if(code_seen('S')){
- stepper_inactive_time = code_value() * 1000;
- }
- else
- {
- bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
- if(all_axis)
- {
- st_synchronize();
- disable_e0();
- disable_e1();
- disable_e2();
- finishAndDisableSteppers();
- }
- else
- {
- st_synchronize();
- if(code_seen('X')) disable_x();
- if(code_seen('Y')) disable_y();
- if(code_seen('Z')) disable_z();
- #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
- if(code_seen('E')) {
- disable_e0();
- disable_e1();
- disable_e2();
- }
- #endif
- }
- }
- break;
- case 85: // M85
- code_seen('S');
- max_inactive_time = code_value() * 1000;
- break;
- case 92: // M92
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- if(i == 3) { // E
- float value = code_value();
- if(value < 20.0) {
- float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
- max_e_jerk *= factor;
- max_feedrate[i] *= factor;
- axis_steps_per_sqr_second[i] *= factor;
- }
- axis_steps_per_unit[i] = value;
- }
- else {
- axis_steps_per_unit[i] = code_value();
- }
- }
- }
- break;
- case 115: // M115
- SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
- break;
- case 117: // M117 display message
- starpos = (strchr(strchr_pointer + 5,'*'));
- if(starpos!=NULL)
- *(starpos-1)='\0';
- lcd_setstatus(strchr_pointer + 5);
- break;
- case 114: // M114
- SERIAL_PROTOCOLPGM("X:");
- SERIAL_PROTOCOL(current_position[X_AXIS]);
- SERIAL_PROTOCOLPGM("Y:");
- SERIAL_PROTOCOL(current_position[Y_AXIS]);
- SERIAL_PROTOCOLPGM("Z:");
- SERIAL_PROTOCOL(current_position[Z_AXIS]);
- SERIAL_PROTOCOLPGM("E:");
- SERIAL_PROTOCOL(current_position[E_AXIS]);
-
- SERIAL_PROTOCOLPGM(MSG_COUNT_X);
- SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
- SERIAL_PROTOCOLPGM("Y:");
- SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
- SERIAL_PROTOCOLPGM("Z:");
- SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
-
- SERIAL_PROTOCOLLN("");
- break;
- case 120: // M120
- enable_endstops(false) ;
- break;
- case 121: // M121
- enable_endstops(true) ;
- break;
- case 119: // M119
- SERIAL_PROTOCOLLN(MSG_M119_REPORT);
- #if (X_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_X_MIN);
- SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (X_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_X_MAX);
- SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Y_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Y_MIN);
- SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Y_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Y_MAX);
- SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Z_MIN_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Z_MIN);
- SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- #if (Z_MAX_PIN > -1)
- SERIAL_PROTOCOLPGM(MSG_Z_MAX);
- SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
- #endif
- break;
- //TODO: update for all axis, use for loop
- case 201: // M201
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- if(code_seen(axis_codes[i]))
- {
- max_acceleration_units_per_sq_second[i] = code_value();
- axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- }
- break;
- #if 0 // Not used for Sprinter/grbl gen6
- case 202: // M202
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
- }
- break;
- #endif
- case 203: // M203 max feedrate mm/sec
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
- }
- break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
- {
- if(code_seen('S')) acceleration = code_value() ;
- if(code_seen('T')) retract_acceleration = code_value() ;
- }
- break;
- case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
- {
- if(code_seen('S')) minimumfeedrate = code_value();
- if(code_seen('T')) mintravelfeedrate = code_value();
- if(code_seen('B')) minsegmenttime = code_value() ;
- if(code_seen('X')) max_xy_jerk = code_value() ;
- if(code_seen('Z')) max_z_jerk = code_value() ;
- if(code_seen('E')) max_e_jerk = code_value() ;
- }
- break;
- case 206: // M206 additional homeing offset
- for(int8_t i=0; i < 3; i++)
- {
- if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
- }
- break;
- #ifdef FWRETRACT
- case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
- {
- if(code_seen('S'))
- {
- retract_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_feedrate = code_value() ;
- }
- if(code_seen('Z'))
- {
- retract_zlift = code_value() ;
- }
- }break;
- case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
- {
- if(code_seen('S'))
- {
- retract_recover_length = code_value() ;
- }
- if(code_seen('F'))
- {
- retract_recover_feedrate = code_value() ;
- }
- }break;
- case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
- {
- if(code_seen('S'))
- {
- int t= code_value() ;
- switch(t)
- {
- case 0: autoretract_enabled=false;retracted=false;break;
- case 1: autoretract_enabled=true;retracted=false;break;
- default:
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(cmdbuffer[bufindr]);
- SERIAL_ECHOLNPGM("\"");
- }
- }
-
- }break;
- #endif // FWRETRACT
- #if EXTRUDERS > 1
- case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
- {
- if(setTargetedHotend(218)){
- break;
- }
- if(code_seen('X'))
- {
- extruder_offset[X_AXIS][tmp_extruder] = code_value();
- }
- if(code_seen('Y'))
- {
- extruder_offset[Y_AXIS][tmp_extruder] = code_value();
- }
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
- for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
- {
- SERIAL_ECHO(" ");
- SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
- SERIAL_ECHO(",");
- SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
- }
- SERIAL_ECHOLN("");
- }break;
- #endif
- case 220: // M220 S<factor in percent>- set speed factor override percentage
- {
- if(code_seen('S'))
- {
- feedmultiply = code_value() ;
- }
- }
- break;
- case 221: // M221 S<factor in percent>- set extrude factor override percentage
- {
- if(code_seen('S'))
- {
- extrudemultiply = code_value() ;
- }
- }
- break;
-
- #ifdef PIDTEMP
- case 301: // M301
- {
- if(code_seen('P')) Kp = code_value();
- if(code_seen('I')) Ki = code_value()*PID_dT;
- if(code_seen('D')) Kd = code_value()/PID_dT;
- #ifdef PID_ADD_EXTRUSION_RATE
- if(code_seen('C')) Kc = code_value();
- #endif
- updatePID();
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(Kp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(Ki/PID_dT);
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(Kd*PID_dT);
- #ifdef PID_ADD_EXTRUSION_RATE
- SERIAL_PROTOCOL(" c:");
- SERIAL_PROTOCOL(Kc*PID_dT);
- #endif
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- #ifdef PIDTEMPBED
- case 304: // M304
- {
- if(code_seen('P')) bedKp = code_value();
- if(code_seen('I')) bedKi = code_value()*PID_dT;
- if(code_seen('D')) bedKd = code_value()/PID_dT;
- updatePID();
- SERIAL_PROTOCOL(MSG_OK);
- SERIAL_PROTOCOL(" p:");
- SERIAL_PROTOCOL(bedKp);
- SERIAL_PROTOCOL(" i:");
- SERIAL_PROTOCOL(bedKi/PID_dT);
- SERIAL_PROTOCOL(" d:");
- SERIAL_PROTOCOL(bedKd*PID_dT);
- SERIAL_PROTOCOLLN("");
- }
- break;
- #endif //PIDTEMP
- case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
- {
- #ifdef PHOTOGRAPH_PIN
- #if (PHOTOGRAPH_PIN > -1)
- const uint8_t NUM_PULSES=16;
- const float PULSE_LENGTH=0.01524;
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- delay(7.33);
- for(int i=0; i < NUM_PULSES; i++) {
- WRITE(PHOTOGRAPH_PIN, HIGH);
- _delay_ms(PULSE_LENGTH);
- WRITE(PHOTOGRAPH_PIN, LOW);
- _delay_ms(PULSE_LENGTH);
- }
- #endif
- #endif
- }
- break;
-
- case 302: // allow cold extrudes
- {
- allow_cold_extrudes(true);
- }
- break;
- case 303: // M303 PID autotune
- {
- float temp = 150.0;
- int e=0;
- int c=5;
- if (code_seen('E')) e=code_value();
- if (e<0)
- temp=70;
- if (code_seen('S')) temp=code_value();
- if (code_seen('C')) c=code_value();
- PID_autotune(temp, e, c);
- }
- break;
- case 400: // M400 finish all moves
- {
- st_synchronize();
- }
- break;
- case 500: // M500 Store settings in EEPROM
- {
- Config_StoreSettings();
- }
- break;
- case 501: // M501 Read settings from EEPROM
- {
- Config_RetrieveSettings();
- }
- break;
- case 502: // M502 Revert to default settings
- {
- Config_ResetDefault();
- }
- break;
- case 503: // M503 print settings currently in memory
- {
- Config_PrintSettings();
- }
- break;
- #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
- case 540:
- {
- if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
- }
- break;
- #endif
- #ifdef FILAMENTCHANGEENABLE
- case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
- {
- float target[4];
- float lastpos[4];
- target[X_AXIS]=current_position[X_AXIS];
- target[Y_AXIS]=current_position[Y_AXIS];
- target[Z_AXIS]=current_position[Z_AXIS];
- target[E_AXIS]=current_position[E_AXIS];
- lastpos[X_AXIS]=current_position[X_AXIS];
- lastpos[Y_AXIS]=current_position[Y_AXIS];
- lastpos[Z_AXIS]=current_position[Z_AXIS];
- lastpos[E_AXIS]=current_position[E_AXIS];
- //retract by E
- if(code_seen('E'))
- {
- target[E_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FIRSTRETRACT
- target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
- #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'))
- {
- target[Z_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_ZADD
- target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
- #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'))
- {
- target[X_AXIS]+= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_XPOS
- target[X_AXIS]= FILAMENTCHANGE_XPOS ;
- #endif
- }
- if(code_seen('Y'))
- {
- target[Y_AXIS]= code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_YPOS
- 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();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FINALRETRACT
- 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
- disable_e0();
- disable_e1();
- disable_e2();
- delay(100);
- LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
- uint8_t cnt=0;
- while(!LCD_CLICKED){
- cnt++;
- manage_heater();
- manage_inactivity();
- lcd_update();
-
- #if BEEPER > -1
- if(cnt==0)
- {
- SET_OUTPUT(BEEPER);
-
- WRITE(BEEPER,HIGH);
- delay(3);
- WRITE(BEEPER,LOW);
- delay(3);
- }
- #endif
- }
-
- //return to normal
- if(code_seen('L'))
- {
- target[E_AXIS]+= -code_value();
- }
- else
- {
- #ifdef FILAMENTCHANGE_FINALRETRACT
- target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
- #endif
- }
- current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
- plan_set_e_position(current_position[E_AXIS]);
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
- plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
- }
- break;
- #endif //FILAMENTCHANGEENABLE
- case 907: // M907 Set digital trimpot motor current using axis codes.
- {
- #if DIGIPOTSS_PIN > -1
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
- if(code_seen('B')) digipot_current(4,code_value());
- if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
- #endif
- }
- case 908: // M908 Control digital trimpot directly.
- {
- #if DIGIPOTSS_PIN > -1
- uint8_t channel,current;
- if(code_seen('P')) channel=code_value();
- if(code_seen('S')) current=code_value();
- digitalPotWrite(channel, current);
- #endif
- }
- break;
- case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
- {
- #if X_MS1_PIN > -1
- if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
- if(code_seen('B')) microstep_mode(4,code_value());
- microstep_readings();
- #endif
- }
- break;
- case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
- {
- #if X_MS1_PIN > -1
- if(code_seen('S')) switch((int)code_value())
- {
- case 1:
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
- if(code_seen('B')) microstep_ms(4,code_value(),-1);
- break;
- case 2:
- for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
- if(code_seen('B')) microstep_ms(4,-1,code_value());
- break;
- }
- microstep_readings();
- #endif
- }
- break;
- case 999: // M999: Restart after being stopped
- Stopped = false;
- lcd_reset_alert_level();
- gcode_LastN = Stopped_gcode_LastN;
- FlushSerialRequestResend();
- break;
- }
- }
-
- else if(code_seen('T'))
- {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- SERIAL_ECHO("T");
- SERIAL_ECHO(tmp_extruder);
- SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
- }
- else {
- boolean make_move = false;
- if(code_seen('F')) {
- make_move = true;
- next_feedrate = code_value();
- if(next_feedrate > 0.0) {
- feedrate = next_feedrate;
- }
- }
- #if EXTRUDERS > 1
- if(tmp_extruder != active_extruder) {
- // Save current position to return to after applying extruder offset
- memcpy(destination, current_position, sizeof(destination));
- // Offset extruder (only by XY)
- int i;
- for(i = 0; i < 2; i++) {
- current_position[i] = current_position[i] -
- extruder_offset[i][active_extruder] +
- extruder_offset[i][tmp_extruder];
- }
- // Set the new active extruder and position
- active_extruder = tmp_extruder;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- // Move to the old position if 'F' was in the parameters
- if(make_move && Stopped == false) {
- prepare_move();
- }
+#endif
+uint8_t active_extruder = 0;
+int fanSpeed=0;
+
+#ifdef FWRETRACT
+ bool autoretract_enabled=true;
+ bool retracted=false;
+ float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
+ float retract_recover_length=0, retract_recover_feedrate=8*60;
+#endif
+
+//===========================================================================
+//=============================private variables=============================
+//===========================================================================
+const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
+static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
+static float offset[3] = {0.0, 0.0, 0.0};
+static bool home_all_axis = true;
+static float feedrate = 1500.0, next_feedrate, saved_feedrate;
+static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
+
+static bool relative_mode = false; //Determines Absolute or Relative Coordinates
+
+static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
+static bool fromsd[BUFSIZE];
+static int bufindr = 0;
+static int bufindw = 0;
+static int buflen = 0;
+//static int i = 0;
+static char serial_char;
+static int serial_count = 0;
+static boolean comment_mode = false;
+static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
+
+const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
+
+//static float tt = 0;
+//static float bt = 0;
+
+//Inactivity shutdown variables
+static unsigned long previous_millis_cmd = 0;
+static unsigned long max_inactive_time = 0;
+static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
+
+unsigned long starttime=0;
+unsigned long stoptime=0;
+
+static uint8_t tmp_extruder;
+
+
+bool Stopped=false;
+
+//===========================================================================
+//=============================ROUTINES=============================
+//===========================================================================
+
+void get_arc_coordinates();
+bool setTargetedHotend(int code);
+
+void serial_echopair_P(const char *s_P, float v)
+ { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char *s_P, double v)
+ { serialprintPGM(s_P); SERIAL_ECHO(v); }
+void serial_echopair_P(const char *s_P, unsigned long v)
+ { serialprintPGM(s_P); SERIAL_ECHO(v); }
+
+extern "C"{
+ extern unsigned int __bss_end;
+ extern unsigned int __heap_start;
+ extern void *__brkval;
+
+ int freeMemory() {
+ int free_memory;
+
+ if((int)__brkval == 0)
+ free_memory = ((int)&free_memory) - ((int)&__bss_end);
+ else
+ free_memory = ((int)&free_memory) - ((int)__brkval);
+
+ return free_memory;
+ }
+}
+
+//adds an command to the main command buffer
+//thats really done in a non-safe way.
+//needs overworking someday
+void enquecommand(const char *cmd)
+{
+ if(buflen < BUFSIZE)
+ {
+ //this is dangerous if a mixing of serial and this happsens
+ strcpy(&(cmdbuffer[bufindw][0]),cmd);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM("enqueing \"");
+ SERIAL_ECHO(cmdbuffer[bufindw]);
+ SERIAL_ECHOLNPGM("\"");
+ bufindw= (bufindw + 1)%BUFSIZE;
+ buflen += 1;
+ }
+}
+
+void enquecommand_P(const char *cmd)
+{
+ if(buflen < BUFSIZE)
+ {
+ //this is dangerous if a mixing of serial and this happsens
+ strcpy_P(&(cmdbuffer[bufindw][0]),cmd);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM("enqueing \"");
+ SERIAL_ECHO(cmdbuffer[bufindw]);
+ SERIAL_ECHOLNPGM("\"");
+ bufindw= (bufindw + 1)%BUFSIZE;
+ buflen += 1;
+ }
+}
+
+void setup_killpin()
+{
+ #if( KILL_PIN>-1 )
+ pinMode(KILL_PIN,INPUT);
+ WRITE(KILL_PIN,HIGH);
+ #endif
+}
+
+void setup_photpin()
+{
+ #ifdef PHOTOGRAPH_PIN
+ #if (PHOTOGRAPH_PIN > -1)
+ SET_OUTPUT(PHOTOGRAPH_PIN);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ #endif
+ #endif
+}
+
+void setup_powerhold()
+{
+ #ifdef SUICIDE_PIN
+ #if (SUICIDE_PIN> -1)
+ SET_OUTPUT(SUICIDE_PIN);
+ WRITE(SUICIDE_PIN, HIGH);
+ #endif
+ #endif
+ #if (PS_ON_PIN > -1)
+ SET_OUTPUT(PS_ON_PIN);
+ WRITE(PS_ON_PIN, PS_ON_AWAKE);
+ #endif
+}
+
+void suicide()
+{
+ #ifdef SUICIDE_PIN
+ #if (SUICIDE_PIN> -1)
+ SET_OUTPUT(SUICIDE_PIN);
+ WRITE(SUICIDE_PIN, LOW);
+ #endif
+ #endif
+}
+
+void setup()
+{
+ setup_killpin();
+ setup_powerhold();
+ MYSERIAL.begin(BAUDRATE);
+ SERIAL_PROTOCOLLNPGM("start");
+ SERIAL_ECHO_START;
+
+ // Check startup - does nothing if bootloader sets MCUSR to 0
+ byte mcu = MCUSR;
+ if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
+ if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
+ if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
+ if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
+ if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
+ MCUSR=0;
+
+ SERIAL_ECHOPGM(MSG_MARLIN);
+ SERIAL_ECHOLNPGM(VERSION_STRING);
+ #ifdef STRING_VERSION_CONFIG_H
+ #ifdef STRING_CONFIG_H_AUTHOR
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
+ SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
+ SERIAL_ECHOPGM(MSG_AUTHOR);
+ SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
+ SERIAL_ECHOPGM("Compiled: ");
+ SERIAL_ECHOLNPGM(__DATE__);
+ #endif
+ #endif
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_FREE_MEMORY);
+ SERIAL_ECHO(freeMemory());
+ SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
+ SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
+ for(int8_t i = 0; i < BUFSIZE; i++)
+ {
+ fromsd[i] = false;
+ }
+
+ Config_RetrieveSettings(); // loads data from EEPROM if available
+
+ for(int8_t i=0; i < NUM_AXIS; i++)
+ {
+ axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ }
+
+
+ tp_init(); // Initialize temperature loop
+ plan_init(); // Initialize planner;
+ watchdog_init();
+ st_init(); // Initialize stepper, this enables interrupts!
+ setup_photpin();
+
+ lcd_init();
+
+ #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
+}
+
+
+void loop()
+{
+ if(buflen < (BUFSIZE-1))
+ get_command();
+ #ifdef SDSUPPORT
+ card.checkautostart(false);
+ #endif
+ if(buflen)
+ {
+ #ifdef SDSUPPORT
+ if(card.saving)
+ {
+ if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
+ {
+ card.write_command(cmdbuffer[bufindr]);
+ SERIAL_PROTOCOLLNPGM(MSG_OK);
+ }
+ else
+ {
+ card.closefile();
+ SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
+ }
}
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
- SERIAL_PROTOCOLLN((int)active_extruder);
- }
- }
-
- else
- {
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
- SERIAL_ECHO(cmdbuffer[bufindr]);
- SERIAL_ECHOLNPGM("\"");
- }
-
- ClearToSend();
-}
-
-void FlushSerialRequestResend()
-{
- //char cmdbuffer[bufindr][100]="Resend:";
- MYSERIAL.flush();
- SERIAL_PROTOCOLPGM(MSG_RESEND);
- SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ClearToSend();
-}
-
-void ClearToSend()
-{
- previous_millis_cmd = millis();
- #ifdef SDSUPPORT
- if(fromsd[bufindr])
- return;
- #endif //SDSUPPORT
- SERIAL_PROTOCOLLNPGM(MSG_OK);
-}
-
-void get_coordinates()
-{
- bool seen[4]={false,false,false,false};
- for(int8_t i=0; i < NUM_AXIS; i++) {
- if(code_seen(axis_codes[i]))
- {
- destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
- seen[i]=true;
- }
- else destination[i] = current_position[i]; //Are these else lines really needed?
- }
- if(code_seen('F')) {
- next_feedrate = code_value();
- if(next_feedrate > 0.0) feedrate = next_feedrate;
- }
- #ifdef FWRETRACT
- if(autoretract_enabled)
- if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
- {
- float echange=destination[E_AXIS]-current_position[E_AXIS];
- if(echange<-MIN_RETRACT) //retract
- {
- if(!retracted)
- {
-
- destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
- //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
- float correctede=-echange-retract_length;
- //to generate the additional steps, not the destination is changed, but inversely the current position
- current_position[E_AXIS]+=-correctede;
- feedrate=retract_feedrate;
- retracted=true;
- }
-
- }
- else
- if(echange>MIN_RETRACT) //retract_recover
- {
- if(retracted)
- {
- //current_position[Z_AXIS]+=-retract_zlift;
- //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
- float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
- current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
- feedrate=retract_recover_feedrate;
- retracted=false;
- }
- }
-
- }
- #endif //FWRETRACT
-}
-
-void get_arc_coordinates()
-{
-#ifdef SF_ARC_FIX
- bool relative_mode_backup = relative_mode;
- relative_mode = true;
-#endif
- get_coordinates();
-#ifdef SF_ARC_FIX
- relative_mode=relative_mode_backup;
-#endif
-
- if(code_seen('I')) {
- offset[0] = code_value();
- }
- else {
- offset[0] = 0.0;
- }
- if(code_seen('J')) {
- offset[1] = code_value();
- }
- else {
- offset[1] = 0.0;
- }
-}
-
-void clamp_to_software_endstops(float target[3])
-{
- if (min_software_endstops) {
- if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
- if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
- if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
- }
-
- if (max_software_endstops) {
- if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
- if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
- if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
- }
-}
-
-void prepare_move()
-{
- clamp_to_software_endstops(destination);
-
- previous_millis_cmd = millis();
- // Do not use feedmultiply for E or Z only moves
- if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
- }
- else {
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
- }
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
-}
-
-void prepare_arc_move(char isclockwise) {
- float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
-
- // Trace the arc
- mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
-
- // As far as the parser is concerned, the position is now == target. In reality the
- // motion control system might still be processing the action and the real tool position
- // in any intermediate location.
- for(int8_t i=0; i < NUM_AXIS; i++) {
- current_position[i] = destination[i];
- }
- previous_millis_cmd = millis();
-}
-
-#ifdef CONTROLLERFAN_PIN
-unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
-unsigned long lastMotorCheck = 0;
-
-void controllerFan()
-{
- if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
- {
- lastMotorCheck = millis();
-
- if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
- #if EXTRUDERS > 2
- || !READ(E2_ENABLE_PIN)
- #endif
- #if EXTRUDER > 1
- || !READ(E2_ENABLE_PIN)
- #endif
- || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
- {
- lastMotor = millis(); //... set time to NOW so the fan will turn on
- }
-
- if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
- {
- WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
- }
- else
- {
- WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
- }
- }
-}
-#endif
-
-void manage_inactivity()
-{
- if( (millis() - previous_millis_cmd) > max_inactive_time )
- if(max_inactive_time)
- kill();
- if(stepper_inactive_time) {
- if( (millis() - previous_millis_cmd) > stepper_inactive_time )
- {
- if(blocks_queued() == false) {
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
- }
- }
- }
- #if( KILL_PIN>-1 )
- if( 0 == READ(KILL_PIN) )
- kill();
- #endif
- #ifdef CONTROLLERFAN_PIN
- controllerFan(); //Check if fan should be turned on to cool stepper drivers down
- #endif
- #ifdef EXTRUDER_RUNOUT_PREVENT
- if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
- if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
- {
- bool oldstatus=READ(E0_ENABLE_PIN);
- enable_e0();
- float oldepos=current_position[E_AXIS];
- float oldedes=destination[E_AXIS];
- plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
- current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
- EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
- current_position[E_AXIS]=oldepos;
- destination[E_AXIS]=oldedes;
- plan_set_e_position(oldepos);
- previous_millis_cmd=millis();
- st_synchronize();
- WRITE(E0_ENABLE_PIN,oldstatus);
- }
- #endif
- check_axes_activity();
-}
-
-void kill()
-{
- cli(); // Stop interrupts
- disable_heater();
-
- disable_x();
- disable_y();
- disable_z();
- disable_e0();
- disable_e1();
- disable_e2();
-
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
- LCD_ALERTMESSAGEPGM(MSG_KILLED);
- suicide();
- while(1) { /* Intentionally left empty */ } // Wait for reset
-}
-
-void Stop()
-{
- disable_heater();
- if(Stopped == false) {
- Stopped = true;
- Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
- LCD_MESSAGEPGM(MSG_STOPPED);
- }
-}
-
-bool IsStopped() { return Stopped; };
-
-#ifdef FAST_PWM_FAN
-void setPwmFrequency(uint8_t pin, int val)
-{
- val &= 0x07;
- switch(digitalPinToTimer(pin))
- {
-
- #if defined(TCCR0A)
- case TIMER0A:
- case TIMER0B:
-// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
-// TCCR0B |= val;
- break;
- #endif
-
- #if defined(TCCR1A)
- case TIMER1A:
- case TIMER1B:
-// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
-// TCCR1B |= val;
- break;
- #endif
-
- #if defined(TCCR2)
- case TIMER2:
- case TIMER2:
- TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
- TCCR2 |= val;
- break;
- #endif
-
- #if defined(TCCR2A)
- case TIMER2A:
- case TIMER2B:
- TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
- TCCR2B |= val;
- break;
- #endif
-
- #if defined(TCCR3A)
- case TIMER3A:
- case TIMER3B:
- case TIMER3C:
- TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
- TCCR3B |= val;
- break;
- #endif
-
- #if defined(TCCR4A)
- case TIMER4A:
- case TIMER4B:
- case TIMER4C:
- TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
- TCCR4B |= val;
- break;
- #endif
-
- #if defined(TCCR5A)
- case TIMER5A:
- case TIMER5B:
- case TIMER5C:
- TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
- TCCR5B |= val;
- break;
- #endif
-
- }
-}
-#endif //FAST_PWM_FAN
-
-bool setTargetedHotend(int code){
- tmp_extruder = active_extruder;
- if(code_seen('T')) {
- tmp_extruder = code_value();
- if(tmp_extruder >= EXTRUDERS) {
- SERIAL_ECHO_START;
- switch(code){
- case 104:
- SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
- break;
- case 105:
- SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
- break;
- case 109:
- SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
- break;
- case 218:
- SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
- break;
- }
- SERIAL_ECHOLN(tmp_extruder);
- return true;
- }
- }
- return false;
+ else
+ {
+ process_commands();
+ }
+ #else
+ process_commands();
+ #endif //SDSUPPORT
+ buflen = (buflen-1);
+ bufindr = (bufindr + 1)%BUFSIZE;
+ }
+ //check heater every n milliseconds
+ manage_heater();
+ manage_inactivity();
+ checkHitEndstops();
+ lcd_update();
+}
+
+void get_command()
+{
+ while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
+ serial_char = MYSERIAL.read();
+ if(serial_char == '\n' ||
+ serial_char == '\r' ||
+ (serial_char == ':' && comment_mode == false) ||
+ serial_count >= (MAX_CMD_SIZE - 1) )
+ {
+ if(!serial_count) { //if empty line
+ comment_mode = false; //for new command
+ return;
+ }
+ cmdbuffer[bufindw][serial_count] = 0; //terminate string
+ if(!comment_mode){
+ comment_mode = false; //for new command
+ fromsd[bufindw] = false;
+ if(strchr(cmdbuffer[bufindw], 'N') != NULL)
+ {
+ strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
+ gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
+ if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
+ SERIAL_ERRORLN(gcode_LastN);
+ //Serial.println(gcode_N);
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+
+ if(strchr(cmdbuffer[bufindw], '*') != NULL)
+ {
+ byte checksum = 0;
+ byte count = 0;
+ while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
+ strchr_pointer = strchr(cmdbuffer[bufindw], '*');
+
+ if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
+ SERIAL_ERRORLN(gcode_LastN);
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+ //if no errors, continue parsing
+ }
+ else
+ {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
+ SERIAL_ERRORLN(gcode_LastN);
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+
+ gcode_LastN = gcode_N;
+ //if no errors, continue parsing
+ }
+ else // if we don't receive 'N' but still see '*'
+ {
+ if((strchr(cmdbuffer[bufindw], '*') != NULL))
+ {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
+ SERIAL_ERRORLN(gcode_LastN);
+ serial_count = 0;
+ return;
+ }
+ }
+ if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
+ strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
+ switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
+ case 0:
+ case 1:
+ case 2:
+ case 3:
+ if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
+ #ifdef SDSUPPORT
+ if(card.saving)
+ break;
+ #endif //SDSUPPORT
+ SERIAL_PROTOCOLLNPGM(MSG_OK);
+ }
+ else {
+ SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+ LCD_MESSAGEPGM(MSG_STOPPED);
+ }
+ break;
+ default:
+ break;
+ }
+
+ }
+ bufindw = (bufindw + 1)%BUFSIZE;
+ buflen += 1;
+ }
+ serial_count = 0; //clear buffer
+ }
+ else
+ {
+ if(serial_char == ';') comment_mode = true;
+ if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
+ }
+ }
+ #ifdef SDSUPPORT
+ if(!card.sdprinting || serial_count!=0){
+ return;
+ }
+ while( !card.eof() && buflen < BUFSIZE) {
+ int16_t n=card.get();
+ serial_char = (char)n;
+ if(serial_char == '\n' ||
+ serial_char == '\r' ||
+ (serial_char == ':' && comment_mode == false) ||
+ serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
+ {
+ if(card.eof()){
+ SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
+ stoptime=millis();
+ char time[30];
+ unsigned long t=(stoptime-starttime)/1000;
+ int hours, minutes;
+ minutes=(t/60)%60;
+ hours=t/60/60;
+ sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLN(time);
+ lcd_setstatus(time);
+ card.printingHasFinished();
+ card.checkautostart(true);
+
+ }
+ if(!serial_count)
+ {
+ comment_mode = false; //for new command
+ return; //if empty line
+ }
+ cmdbuffer[bufindw][serial_count] = 0; //terminate string
+// if(!comment_mode){
+ fromsd[bufindw] = true;
+ buflen += 1;
+ bufindw = (bufindw + 1)%BUFSIZE;
+// }
+ comment_mode = false; //for new command
+ serial_count = 0; //clear buffer
+ }
+ else
+ {
+ if(serial_char == ';') comment_mode = true;
+ if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
+ }
+ }
+
+ #endif //SDSUPPORT
+
+}
+
+
+float code_value()
+{
+ return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
+}
+
+long code_value_long()
+{
+ return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
+}
+
+bool code_seen(char code)
+{
+ strchr_pointer = strchr(cmdbuffer[bufindr], code);
+ return (strchr_pointer != NULL); //Return True if a character was found
+}
+
+#define DEFINE_PGM_READ_ANY(type, reader) \
+ static inline type pgm_read_any(const type *p) \
+ { return pgm_read_##reader##_near(p); }
+
+DEFINE_PGM_READ_ANY(float, float);
+DEFINE_PGM_READ_ANY(signed char, byte);
+
+#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
+static const PROGMEM type array##_P[3] = \
+ { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
+static inline type array(int axis) \
+ { return pgm_read_any(&array##_P[axis]); }
+
+XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
+XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
+XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
+XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
+XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
+XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
+
+static void axis_is_at_home(int axis) {
+ current_position[axis] = base_home_pos(axis) + add_homeing[axis];
+ min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
+ max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
+}
+
+static void homeaxis(int axis) {
+#define HOMEAXIS_DO(LETTER) \
+ ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
+
+ if (axis==X_AXIS ? HOMEAXIS_DO(X) :
+ axis==Y_AXIS ? HOMEAXIS_DO(Y) :
+ axis==Z_AXIS ? HOMEAXIS_DO(Z) :
+ 0) {
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
+ feedrate = homing_feedrate[axis];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ current_position[axis] = 0;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = -home_retract_mm(axis) * home_dir(axis);
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
+ feedrate = homing_feedrate[axis]/2 ;
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ axis_is_at_home(axis);
+ destination[axis] = current_position[axis];
+ feedrate = 0.0;
+ endstops_hit_on_purpose();
+ }
+}
+#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
+
+void process_commands()
+{
+ unsigned long codenum; //throw away variable
+ char *starpos = NULL;
+
+ if(code_seen('G'))
+ {
+ switch((int)code_value())
+ {
+ case 0: // G0 -> G1
+ case 1: // G1
+ if(Stopped == false) {
+ get_coordinates(); // For X Y Z E F
+ prepare_move();
+ //ClearToSend();
+ return;
+ }
+ //break;
+ case 2: // G2 - CW ARC
+ if(Stopped == false) {
+ get_arc_coordinates();
+ prepare_arc_move(true);
+ return;
+ }
+ case 3: // G3 - CCW ARC
+ if(Stopped == false) {
+ get_arc_coordinates();
+ prepare_arc_move(false);
+ return;
+ }
+ case 4: // G4 dwell
+ LCD_MESSAGEPGM(MSG_DWELL);
+ codenum = 0;
+ if(code_seen('P')) codenum = code_value(); // milliseconds to wait
+ if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
+
+ st_synchronize();
+ codenum += millis(); // keep track of when we started waiting
+ previous_millis_cmd = millis();
+ while(millis() < codenum ){
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ }
+ break;
+ #ifdef FWRETRACT
+ case 10: // G10 retract
+ if(!retracted)
+ {
+ destination[X_AXIS]=current_position[X_AXIS];
+ destination[Y_AXIS]=current_position[Y_AXIS];
+ destination[Z_AXIS]=current_position[Z_AXIS];
+ current_position[Z_AXIS]+=-retract_zlift;
+ destination[E_AXIS]=current_position[E_AXIS]-retract_length;
+ feedrate=retract_feedrate;
+ retracted=true;
+ prepare_move();
+ }
+
+ break;
+ case 11: // G10 retract_recover
+ if(!retracted)
+ {
+ destination[X_AXIS]=current_position[X_AXIS];
+ destination[Y_AXIS]=current_position[Y_AXIS];
+ destination[Z_AXIS]=current_position[Z_AXIS];
+
+ current_position[Z_AXIS]+=retract_zlift;
+ current_position[E_AXIS]+=-retract_recover_length;
+ feedrate=retract_recover_feedrate;
+ retracted=false;
+ prepare_move();
+ }
+ break;
+ #endif //FWRETRACT
+ case 28: //G28 Home all Axis one at a time
+ saved_feedrate = feedrate;
+ saved_feedmultiply = feedmultiply;
+ feedmultiply = 100;
+ previous_millis_cmd = millis();
+
+ enable_endstops(true);
+
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ destination[i] = current_position[i];
+ }
+ feedrate = 0.0;
+ home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
+
+ #if Z_HOME_DIR > 0 // If homing away from BED do Z first
+ if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
+ HOMEAXIS(Z);
+ }
+ #endif
+
+ #ifdef QUICK_HOME
+ if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
+ {
+ current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
+
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+ feedrate = homing_feedrate[X_AXIS];
+ if(homing_feedrate[Y_AXIS]<feedrate)
+ feedrate =homing_feedrate[Y_AXIS];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ st_synchronize();
+
+ axis_is_at_home(X_AXIS);
+ axis_is_at_home(Y_AXIS);
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[X_AXIS] = current_position[X_AXIS];
+ destination[Y_AXIS] = current_position[Y_AXIS];
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ feedrate = 0.0;
+ st_synchronize();
+ endstops_hit_on_purpose();
+ }
+ #endif
+
+ if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
+ {
+ HOMEAXIS(X);
+ }
+
+ if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
+ HOMEAXIS(Y);
+ }
+
+ #if Z_HOME_DIR < 0 // If homing towards BED do Z last
+ if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
+ HOMEAXIS(Z);
+ }
+ #endif
+
+ if(code_seen(axis_codes[X_AXIS]))
+ {
+ if(code_value_long() != 0) {
+ current_position[X_AXIS]=code_value()+add_homeing[0];
+ }
+ }
+
+ if(code_seen(axis_codes[Y_AXIS])) {
+ if(code_value_long() != 0) {
+ current_position[Y_AXIS]=code_value()+add_homeing[1];
+ }
+ }
+
+ if(code_seen(axis_codes[Z_AXIS])) {
+ if(code_value_long() != 0) {
+ current_position[Z_AXIS]=code_value()+add_homeing[2];
+ }
+ }
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+ #endif
+
+ feedrate = saved_feedrate;
+ feedmultiply = saved_feedmultiply;
+ previous_millis_cmd = millis();
+ endstops_hit_on_purpose();
+ break;
+ case 90: // G90
+ relative_mode = false;
+ break;
+ case 91: // G91
+ relative_mode = true;
+ break;
+ case 92: // G92
+ if(!code_seen(axis_codes[E_AXIS]))
+ st_synchronize();
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if(code_seen(axis_codes[i])) {
+ if(i == E_AXIS) {
+ current_position[i] = code_value();
+ plan_set_e_position(current_position[E_AXIS]);
+ }
+ else {
+ current_position[i] = code_value()+add_homeing[i];
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ }
+ }
+ }
+ break;
+ }
+ }
+
+ else if(code_seen('M'))
+ {
+ switch( (int)code_value() )
+ {
+#ifdef ULTIPANEL
+ case 0: // M0 - Unconditional stop - Wait for user button press on LCD
+ case 1: // M1 - Conditional stop - Wait for user button press on LCD
+ {
+ LCD_MESSAGEPGM(MSG_USERWAIT);
+ codenum = 0;
+ if(code_seen('P')) codenum = code_value(); // milliseconds to wait
+ if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
+
+ st_synchronize();
+ previous_millis_cmd = millis();
+ if (codenum > 0){
+ codenum += millis(); // keep track of when we started waiting
+ while(millis() < codenum && !LCD_CLICKED){
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ }
+ }else{
+ while(!LCD_CLICKED){
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ }
+ }
+ LCD_MESSAGEPGM(MSG_RESUMING);
+ }
+ break;
+#endif
+ case 17:
+ LCD_MESSAGEPGM(MSG_NO_MOVE);
+ enable_x();
+ enable_y();
+ enable_z();
+ enable_e0();
+ enable_e1();
+ enable_e2();
+ break;
+
+#ifdef SDSUPPORT
+ case 20: // M20 - list SD card
+ SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
+ card.ls();
+ SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
+ break;
+ case 21: // M21 - init SD card
+
+ card.initsd();
+
+ break;
+ case 22: //M22 - release SD card
+ card.release();
+
+ break;
+ case 23: //M23 - Select file
+ starpos = (strchr(strchr_pointer + 4,'*'));
+ if(starpos!=NULL)
+ *(starpos-1)='\0';
+ card.openFile(strchr_pointer + 4,true);
+ break;
+ case 24: //M24 - Start SD print
+ card.startFileprint();
+ starttime=millis();
+ break;
+ case 25: //M25 - Pause SD print
+ card.pauseSDPrint();
+ break;
+ case 26: //M26 - Set SD index
+ if(card.cardOK && code_seen('S')) {
+ card.setIndex(code_value_long());
+ }
+ break;
+ case 27: //M27 - Get SD status
+ card.getStatus();
+ break;
+ case 28: //M28 - Start SD write
+ starpos = (strchr(strchr_pointer + 4,'*'));
+ if(starpos != NULL){
+ char* npos = strchr(cmdbuffer[bufindr], 'N');
+ strchr_pointer = strchr(npos,' ') + 1;
+ *(starpos-1) = '\0';
+ }
+ card.openFile(strchr_pointer+4,false);
+ break;
+ case 29: //M29 - Stop SD write
+ //processed in write to file routine above
+ //card,saving = false;
+ break;
+ case 30: //M30 <filename> Delete File
+ if (card.cardOK){
+ card.closefile();
+ starpos = (strchr(strchr_pointer + 4,'*'));
+ if(starpos != NULL){
+ char* npos = strchr(cmdbuffer[bufindr], 'N');
+ strchr_pointer = strchr(npos,' ') + 1;
+ *(starpos-1) = '\0';
+ }
+ card.removeFile(strchr_pointer + 4);
+ }
+ break;
+
+#endif //SDSUPPORT
+
+ case 31: //M31 take time since the start of the SD print or an M109 command
+ {
+ stoptime=millis();
+ char time[30];
+ unsigned long t=(stoptime-starttime)/1000;
+ int sec,min;
+ min=t/60;
+ sec=t%60;
+ sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLN(time);
+ lcd_setstatus(time);
+ autotempShutdown();
+ }
+ break;
+ case 42: //M42 -Change pin status via gcode
+ if (code_seen('S'))
+ {
+ int pin_status = code_value();
+ int pin_number = LED_PIN;
+ if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
+ pin_number = code_value();
+ for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
+ {
+ if (sensitive_pins[i] == pin_number)
+ {
+ pin_number = -1;
+ break;
+ }
+ }
+ if (pin_number > -1)
+ {
+ pinMode(pin_number, OUTPUT);
+ digitalWrite(pin_number, pin_status);
+ analogWrite(pin_number, pin_status);
+ }
+ }
+ break;
+ case 104: // M104
+ if(setTargetedHotend(104)){
+ break;
+ }
+ if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
+ setWatch();
+ break;
+ case 140: // M140 set bed temp
+ if (code_seen('S')) setTargetBed(code_value());
+ break;
+ case 105 : // M105
+ if(setTargetedHotend(105)){
+ break;
+ }
+ #if (TEMP_0_PIN > -1)
+ SERIAL_PROTOCOLPGM("ok T:");
+ SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
+ SERIAL_PROTOCOLPGM(" /");
+ SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
+ #if TEMP_BED_PIN > -1
+ SERIAL_PROTOCOLPGM(" B:");
+ SERIAL_PROTOCOL_F(degBed(),1);
+ SERIAL_PROTOCOLPGM(" /");
+ SERIAL_PROTOCOL_F(degTargetBed(),1);
+ #endif //TEMP_BED_PIN
+ #else
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
+ #endif
+
+ SERIAL_PROTOCOLPGM(" @:");
+ SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
+
+ SERIAL_PROTOCOLPGM(" B@:");
+ SERIAL_PROTOCOL(getHeaterPower(-1));
+
+ SERIAL_PROTOCOLLN("");
+ return;
+ break;
+ case 109:
+ {// M109 - Wait for extruder heater to reach target.
+ if(setTargetedHotend(109)){
+ break;
+ }
+ LCD_MESSAGEPGM(MSG_HEATING);
+ #ifdef AUTOTEMP
+ autotemp_enabled=false;
+ #endif
+ if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
+ #ifdef AUTOTEMP
+ if (code_seen('S')) autotemp_min=code_value();
+ if (code_seen('B')) autotemp_max=code_value();
+ if (code_seen('F'))
+ {
+ autotemp_factor=code_value();
+ autotemp_enabled=true;
+ }
+ #endif
+
+ setWatch();
+ codenum = millis();
+
+ /* See if we are heating up or cooling down */
+ bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
+
+ #ifdef TEMP_RESIDENCY_TIME
+ long residencyStart;
+ residencyStart = -1;
+ /* continue to loop until we have reached the target temp
+ _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
+ while((residencyStart == -1) ||
+ (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
+ #else
+ while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
+ #endif //TEMP_RESIDENCY_TIME
+ if( (millis() - codenum) > 1000UL )
+ { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
+ SERIAL_PROTOCOLPGM("T:");
+ SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
+ SERIAL_PROTOCOLPGM(" E:");
+ SERIAL_PROTOCOL((int)tmp_extruder);
+ #ifdef TEMP_RESIDENCY_TIME
+ SERIAL_PROTOCOLPGM(" W:");
+ if(residencyStart > -1)
+ {
+ codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
+ SERIAL_PROTOCOLLN( codenum );
+ }
+ else
+ {
+ SERIAL_PROTOCOLLN( "?" );
+ }
+ #else
+ SERIAL_PROTOCOLLN("");
+ #endif
+ codenum = millis();
+ }
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ #ifdef TEMP_RESIDENCY_TIME
+ /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
+ or when current temp falls outside the hysteresis after target temp was reached */
+ if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
+ (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
+ (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
+ {
+ residencyStart = millis();
+ }
+ #endif //TEMP_RESIDENCY_TIME
+ }
+ LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
+ starttime=millis();
+ previous_millis_cmd = millis();
+ }
+ break;
+ case 190: // M190 - Wait for bed heater to reach target.
+ #if TEMP_BED_PIN > -1
+ LCD_MESSAGEPGM(MSG_BED_HEATING);
+ if (code_seen('S')) setTargetBed(code_value());
+ codenum = millis();
+ while(isHeatingBed())
+ {
+ if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
+ {
+ float tt=degHotend(active_extruder);
+ SERIAL_PROTOCOLPGM("T:");
+ SERIAL_PROTOCOL(tt);
+ SERIAL_PROTOCOLPGM(" E:");
+ SERIAL_PROTOCOL((int)active_extruder);
+ SERIAL_PROTOCOLPGM(" B:");
+ SERIAL_PROTOCOL_F(degBed(),1);
+ SERIAL_PROTOCOLLN("");
+ codenum = millis();
+ }
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+ }
+ LCD_MESSAGEPGM(MSG_BED_DONE);
+ previous_millis_cmd = millis();
+ #endif
+ break;
+
+ #if FAN_PIN > -1
+ case 106: //M106 Fan On
+ if (code_seen('S')){
+ fanSpeed=constrain(code_value(),0,255);
+ }
+ else {
+ fanSpeed=255;
+ }
+ break;
+ case 107: //M107 Fan Off
+ fanSpeed = 0;
+ break;
+ #endif //FAN_PIN
+
+ #if (PS_ON_PIN > -1)
+ case 80: // M80 - ATX Power On
+ SET_OUTPUT(PS_ON_PIN); //GND
+ WRITE(PS_ON_PIN, PS_ON_AWAKE);
+ break;
+ #endif
+
+ case 81: // M81 - ATX Power Off
+
+ #if defined SUICIDE_PIN && SUICIDE_PIN > -1
+ st_synchronize();
+ suicide();
+ #elif (PS_ON_PIN > -1)
+ SET_OUTPUT(PS_ON_PIN);
+ WRITE(PS_ON_PIN, PS_ON_ASLEEP);
+ #endif
+ break;
+
+ case 82:
+ axis_relative_modes[3] = false;
+ break;
+ case 83:
+ axis_relative_modes[3] = true;
+ break;
+ case 18: //compatibility
+ case 84: // M84
+ if(code_seen('S')){
+ stepper_inactive_time = code_value() * 1000;
+ }
+ else
+ {
+ bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
+ if(all_axis)
+ {
+ st_synchronize();
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ finishAndDisableSteppers();
+ }
+ else
+ {
+ st_synchronize();
+ if(code_seen('X')) disable_x();
+ if(code_seen('Y')) disable_y();
+ if(code_seen('Z')) disable_z();
+ #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
+ if(code_seen('E')) {
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ }
+ #endif
+ }
+ }
+ break;
+ case 85: // M85
+ code_seen('S');
+ max_inactive_time = code_value() * 1000;
+ break;
+ case 92: // M92
+ for(int8_t i=0; i < NUM_AXIS; i++)
+ {
+ if(code_seen(axis_codes[i]))
+ {
+ if(i == 3) { // E
+ float value = code_value();
+ if(value < 20.0) {
+ float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
+ max_e_jerk *= factor;
+ max_feedrate[i] *= factor;
+ axis_steps_per_sqr_second[i] *= factor;
+ }
+ axis_steps_per_unit[i] = value;
+ }
+ else {
+ axis_steps_per_unit[i] = code_value();
+ }
+ }
+ }
+ break;
+ case 115: // M115
+ SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
+ break;
+ case 117: // M117 display message
+ starpos = (strchr(strchr_pointer + 5,'*'));
+ if(starpos!=NULL)
+ *(starpos-1)='\0';
+ lcd_setstatus(strchr_pointer + 5);
+ break;
+ case 114: // M114
+ SERIAL_PROTOCOLPGM("X:");
+ SERIAL_PROTOCOL(current_position[X_AXIS]);
+ SERIAL_PROTOCOLPGM("Y:");
+ SERIAL_PROTOCOL(current_position[Y_AXIS]);
+ SERIAL_PROTOCOLPGM("Z:");
+ SERIAL_PROTOCOL(current_position[Z_AXIS]);
+ SERIAL_PROTOCOLPGM("E:");
+ SERIAL_PROTOCOL(current_position[E_AXIS]);
+
+ SERIAL_PROTOCOLPGM(MSG_COUNT_X);
+ SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
+ SERIAL_PROTOCOLPGM("Y:");
+ SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
+ SERIAL_PROTOCOLPGM("Z:");
+ SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
+
+ SERIAL_PROTOCOLLN("");
+ break;
+ case 120: // M120
+ enable_endstops(false) ;
+ break;
+ case 121: // M121
+ enable_endstops(true) ;
+ break;
+ case 119: // M119
+ SERIAL_PROTOCOLLN(MSG_M119_REPORT);
+ #if (X_MIN_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_X_MIN);
+ SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if (X_MAX_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_X_MAX);
+ SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if (Y_MIN_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_Y_MIN);
+ SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if (Y_MAX_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_Y_MAX);
+ SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if (Z_MIN_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_Z_MIN);
+ SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ #if (Z_MAX_PIN > -1)
+ SERIAL_PROTOCOLPGM(MSG_Z_MAX);
+ SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
+ #endif
+ break;
+ //TODO: update for all axis, use for loop
+ case 201: // M201
+ for(int8_t i=0; i < NUM_AXIS; i++)
+ {
+ if(code_seen(axis_codes[i]))
+ {
+ max_acceleration_units_per_sq_second[i] = code_value();
+ axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+ }
+ }
+ break;
+ #if 0 // Not used for Sprinter/grbl gen6
+ case 202: // M202
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+ }
+ break;
+ #endif
+ case 203: // M203 max feedrate mm/sec
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
+ }
+ break;
+ case 204: // M204 acclereration S normal moves T filmanent only moves
+ {
+ if(code_seen('S')) acceleration = code_value() ;
+ if(code_seen('T')) retract_acceleration = code_value() ;
+ }
+ break;
+ case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+ {
+ if(code_seen('S')) minimumfeedrate = code_value();
+ if(code_seen('T')) mintravelfeedrate = code_value();
+ if(code_seen('B')) minsegmenttime = code_value() ;
+ if(code_seen('X')) max_xy_jerk = code_value() ;
+ if(code_seen('Z')) max_z_jerk = code_value() ;
+ if(code_seen('E')) max_e_jerk = code_value() ;
+ }
+ break;
+ case 206: // M206 additional homeing offset
+ for(int8_t i=0; i < 3; i++)
+ {
+ if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
+ }
+ break;
+ #ifdef FWRETRACT
+ case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
+ {
+ if(code_seen('S'))
+ {
+ retract_length = code_value() ;
+ }
+ if(code_seen('F'))
+ {
+ retract_feedrate = code_value() ;
+ }
+ if(code_seen('Z'))
+ {
+ retract_zlift = code_value() ;
+ }
+ }break;
+ case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+ {
+ if(code_seen('S'))
+ {
+ retract_recover_length = code_value() ;
+ }
+ if(code_seen('F'))
+ {
+ retract_recover_feedrate = code_value() ;
+ }
+ }break;
+ case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+ {
+ if(code_seen('S'))
+ {
+ int t= code_value() ;
+ switch(t)
+ {
+ case 0: autoretract_enabled=false;retracted=false;break;
+ case 1: autoretract_enabled=true;retracted=false;break;
+ default:
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
+ SERIAL_ECHO(cmdbuffer[bufindr]);
+ SERIAL_ECHOLNPGM("\"");
+ }
+ }
+
+ }break;
+ #endif // FWRETRACT
+ #if EXTRUDERS > 1
+ case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+ {
+ if(setTargetedHotend(218)){
+ break;
+ }
+ if(code_seen('X'))
+ {
+ extruder_offset[X_AXIS][tmp_extruder] = code_value();
+ }
+ if(code_seen('Y'))
+ {
+ extruder_offset[Y_AXIS][tmp_extruder] = code_value();
+ }
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
+ for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
+ {
+ SERIAL_ECHO(" ");
+ SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
+ SERIAL_ECHO(",");
+ SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
+ }
+ SERIAL_ECHOLN("");
+ }break;
+ #endif
+ case 220: // M220 S<factor in percent>- set speed factor override percentage
+ {
+ if(code_seen('S'))
+ {
+ feedmultiply = code_value() ;
+ }
+ }
+ break;
+ case 221: // M221 S<factor in percent>- set extrude factor override percentage
+ {
+ if(code_seen('S'))
+ {
+ extrudemultiply = code_value() ;
+ }
+ }
+ break;
+
+ #ifdef PIDTEMP
+ case 301: // M301
+ {
+ if(code_seen('P')) Kp = code_value();
+ if(code_seen('I')) Ki = code_value()*PID_dT;
+ if(code_seen('D')) Kd = code_value()/PID_dT;
+ #ifdef PID_ADD_EXTRUSION_RATE
+ if(code_seen('C')) Kc = code_value();
+ #endif
+ updatePID();
+ SERIAL_PROTOCOL(MSG_OK);
+ SERIAL_PROTOCOL(" p:");
+ SERIAL_PROTOCOL(Kp);
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(Ki/PID_dT);
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(Kd*PID_dT);
+ #ifdef PID_ADD_EXTRUSION_RATE
+ SERIAL_PROTOCOL(" c:");
+ SERIAL_PROTOCOL(Kc*PID_dT);
+ #endif
+ SERIAL_PROTOCOLLN("");
+ }
+ break;
+ #endif //PIDTEMP
+ #ifdef PIDTEMPBED
+ case 304: // M304
+ {
+ if(code_seen('P')) bedKp = code_value();
+ if(code_seen('I')) bedKi = code_value()*PID_dT;
+ if(code_seen('D')) bedKd = code_value()/PID_dT;
+ updatePID();
+ SERIAL_PROTOCOL(MSG_OK);
+ SERIAL_PROTOCOL(" p:");
+ SERIAL_PROTOCOL(bedKp);
+ SERIAL_PROTOCOL(" i:");
+ SERIAL_PROTOCOL(bedKi/PID_dT);
+ SERIAL_PROTOCOL(" d:");
+ SERIAL_PROTOCOL(bedKd*PID_dT);
+ SERIAL_PROTOCOLLN("");
+ }
+ break;
+ #endif //PIDTEMP
+ case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
+ {
+ #ifdef PHOTOGRAPH_PIN
+ #if (PHOTOGRAPH_PIN > -1)
+ const uint8_t NUM_PULSES=16;
+ const float PULSE_LENGTH=0.01524;
+ for(int i=0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+ delay(7.33);
+ for(int i=0; i < NUM_PULSES; i++) {
+ WRITE(PHOTOGRAPH_PIN, HIGH);
+ _delay_ms(PULSE_LENGTH);
+ WRITE(PHOTOGRAPH_PIN, LOW);
+ _delay_ms(PULSE_LENGTH);
+ }
+ #endif
+ #endif
+ }
+ break;
+
+ case 302: // allow cold extrudes
+ {
+ allow_cold_extrudes(true);
+ }
+ break;
+ case 303: // M303 PID autotune
+ {
+ float temp = 150.0;
+ int e=0;
+ int c=5;
+ if (code_seen('E')) e=code_value();
+ if (e<0)
+ temp=70;
+ if (code_seen('S')) temp=code_value();
+ if (code_seen('C')) c=code_value();
+ PID_autotune(temp, e, c);
+ }
+ break;
+ case 400: // M400 finish all moves
+ {
+ st_synchronize();
+ }
+ break;
+ case 500: // M500 Store settings in EEPROM
+ {
+ Config_StoreSettings();
+ }
+ break;
+ case 501: // M501 Read settings from EEPROM
+ {
+ Config_RetrieveSettings();
+ }
+ break;
+ case 502: // M502 Revert to default settings
+ {
+ Config_ResetDefault();
+ }
+ break;
+ case 503: // M503 print settings currently in memory
+ {
+ Config_PrintSettings();
+ }
+ break;
+ #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
+ case 540:
+ {
+ if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
+ }
+ break;
+ #endif
+ #ifdef FILAMENTCHANGEENABLE
+ case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+ {
+ float target[4];
+ float lastpos[4];
+ target[X_AXIS]=current_position[X_AXIS];
+ target[Y_AXIS]=current_position[Y_AXIS];
+ target[Z_AXIS]=current_position[Z_AXIS];
+ target[E_AXIS]=current_position[E_AXIS];
+ lastpos[X_AXIS]=current_position[X_AXIS];
+ lastpos[Y_AXIS]=current_position[Y_AXIS];
+ lastpos[Z_AXIS]=current_position[Z_AXIS];
+ lastpos[E_AXIS]=current_position[E_AXIS];
+ //retract by E
+ if(code_seen('E'))
+ {
+ target[E_AXIS]+= code_value();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_FIRSTRETRACT
+ target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
+ #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'))
+ {
+ target[Z_AXIS]+= code_value();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_ZADD
+ target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
+ #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'))
+ {
+ target[X_AXIS]+= code_value();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_XPOS
+ target[X_AXIS]= FILAMENTCHANGE_XPOS ;
+ #endif
+ }
+ if(code_seen('Y'))
+ {
+ target[Y_AXIS]= code_value();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_YPOS
+ 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();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_FINALRETRACT
+ 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
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ delay(100);
+ LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
+ uint8_t cnt=0;
+ while(!LCD_CLICKED){
+ cnt++;
+ manage_heater();
+ manage_inactivity();
+ lcd_update();
+
+ #if BEEPER > -1
+ if(cnt==0)
+ {
+ SET_OUTPUT(BEEPER);
+
+ WRITE(BEEPER,HIGH);
+ delay(3);
+ WRITE(BEEPER,LOW);
+ delay(3);
+ }
+ #endif
+ }
+
+ //return to normal
+ if(code_seen('L'))
+ {
+ target[E_AXIS]+= -code_value();
+ }
+ else
+ {
+ #ifdef FILAMENTCHANGE_FINALRETRACT
+ target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
+ #endif
+ }
+ current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
+ plan_set_e_position(current_position[E_AXIS]);
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
+ plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
+ }
+ break;
+ #endif //FILAMENTCHANGEENABLE
+ case 907: // M907 Set digital trimpot motor current using axis codes.
+ {
+ #if DIGIPOTSS_PIN > -1
+ for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
+ if(code_seen('B')) digipot_current(4,code_value());
+ if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
+ #endif
+ }
+ case 908: // M908 Control digital trimpot directly.
+ {
+ #if DIGIPOTSS_PIN > -1
+ uint8_t channel,current;
+ if(code_seen('P')) channel=code_value();
+ if(code_seen('S')) current=code_value();
+ digitalPotWrite(channel, current);
+ #endif
+ }
+ break;
+ case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+ {
+ #if X_MS1_PIN > -1
+ if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
+ for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
+ if(code_seen('B')) microstep_mode(4,code_value());
+ microstep_readings();
+ #endif
+ }
+ break;
+ case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
+ {
+ #if X_MS1_PIN > -1
+ if(code_seen('S')) switch((int)code_value())
+ {
+ case 1:
+ for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
+ if(code_seen('B')) microstep_ms(4,code_value(),-1);
+ break;
+ case 2:
+ for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
+ if(code_seen('B')) microstep_ms(4,-1,code_value());
+ break;
+ }
+ microstep_readings();
+ #endif
+ }
+ break;
+ case 999: // M999: Restart after being stopped
+ Stopped = false;
+ lcd_reset_alert_level();
+ gcode_LastN = Stopped_gcode_LastN;
+ FlushSerialRequestResend();
+ break;
+ }
+ }
+
+ else if(code_seen('T'))
+ {
+ tmp_extruder = code_value();
+ if(tmp_extruder >= EXTRUDERS) {
+ SERIAL_ECHO_START;
+ SERIAL_ECHO("T");
+ SERIAL_ECHO(tmp_extruder);
+ SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
+ }
+ else {
+ boolean make_move = false;
+ if(code_seen('F')) {
+ make_move = true;
+ next_feedrate = code_value();
+ if(next_feedrate > 0.0) {
+ feedrate = next_feedrate;
+ }
+ }
+ #if EXTRUDERS > 1
+ if(tmp_extruder != active_extruder) {
+ // Save current position to return to after applying extruder offset
+ memcpy(destination, current_position, sizeof(destination));
+ // Offset extruder (only by XY)
+ int i;
+ for(i = 0; i < 2; i++) {
+ current_position[i] = current_position[i] -
+ extruder_offset[i][active_extruder] +
+ extruder_offset[i][tmp_extruder];
+ }
+ // Set the new active extruder and position
+ active_extruder = tmp_extruder;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ // Move to the old position if 'F' was in the parameters
+ if(make_move && Stopped == false) {
+ prepare_move();
+ }
+ }
+ #endif
+ SERIAL_ECHO_START;
+ SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
+ SERIAL_PROTOCOLLN((int)active_extruder);
+ }
+ }
+
+ else
+ {
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
+ SERIAL_ECHO(cmdbuffer[bufindr]);
+ SERIAL_ECHOLNPGM("\"");
+ }
+
+ ClearToSend();
+}
+
+void FlushSerialRequestResend()
+{
+ //char cmdbuffer[bufindr][100]="Resend:";
+ MYSERIAL.flush();
+ SERIAL_PROTOCOLPGM(MSG_RESEND);
+ SERIAL_PROTOCOLLN(gcode_LastN + 1);
+ ClearToSend();
+}
+
+void ClearToSend()
+{
+ previous_millis_cmd = millis();
+ #ifdef SDSUPPORT
+ if(fromsd[bufindr])
+ return;
+ #endif //SDSUPPORT
+ SERIAL_PROTOCOLLNPGM(MSG_OK);
+}
+
+void get_coordinates()
+{
+ bool seen[4]={false,false,false,false};
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ if(code_seen(axis_codes[i]))
+ {
+ destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
+ seen[i]=true;
+ }
+ else destination[i] = current_position[i]; //Are these else lines really needed?
+ }
+ if(code_seen('F')) {
+ next_feedrate = code_value();
+ if(next_feedrate > 0.0) feedrate = next_feedrate;
+ }
+ #ifdef FWRETRACT
+ if(autoretract_enabled)
+ if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
+ {
+ float echange=destination[E_AXIS]-current_position[E_AXIS];
+ if(echange<-MIN_RETRACT) //retract
+ {
+ if(!retracted)
+ {
+
+ destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
+ //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
+ float correctede=-echange-retract_length;
+ //to generate the additional steps, not the destination is changed, but inversely the current position
+ current_position[E_AXIS]+=-correctede;
+ feedrate=retract_feedrate;
+ retracted=true;
+ }
+
+ }
+ else
+ if(echange>MIN_RETRACT) //retract_recover
+ {
+ if(retracted)
+ {
+ //current_position[Z_AXIS]+=-retract_zlift;
+ //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
+ float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
+ current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
+ feedrate=retract_recover_feedrate;
+ retracted=false;
+ }
+ }
+
+ }
+ #endif //FWRETRACT
+}
+
+void get_arc_coordinates()
+{
+#ifdef SF_ARC_FIX
+ bool relative_mode_backup = relative_mode;
+ relative_mode = true;
+#endif
+ get_coordinates();
+#ifdef SF_ARC_FIX
+ relative_mode=relative_mode_backup;
+#endif
+
+ if(code_seen('I')) {
+ offset[0] = code_value();
+ }
+ else {
+ offset[0] = 0.0;
+ }
+ if(code_seen('J')) {
+ offset[1] = code_value();
+ }
+ else {
+ offset[1] = 0.0;
+ }
+}
+
+void clamp_to_software_endstops(float target[3])
+{
+ if (min_software_endstops) {
+ if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
+ if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
+ if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
+ }
+
+ if (max_software_endstops) {
+ if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
+ if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
+ if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
+ }
+}
+
+void prepare_move()
+{
+ clamp_to_software_endstops(destination);
+
+ previous_millis_cmd = millis();
+ // Do not use feedmultiply for E or Z only moves
+ if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
+ }
+ else {
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
+ }
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ current_position[i] = destination[i];
+ }
+}
+
+void prepare_arc_move(char isclockwise) {
+ float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
+
+ // Trace the arc
+ mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
+
+ // As far as the parser is concerned, the position is now == target. In reality the
+ // motion control system might still be processing the action and the real tool position
+ // in any intermediate location.
+ for(int8_t i=0; i < NUM_AXIS; i++) {
+ current_position[i] = destination[i];
+ }
+ previous_millis_cmd = millis();
+}
+
+#ifdef CONTROLLERFAN_PIN
+unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
+unsigned long lastMotorCheck = 0;
+
+void controllerFan()
+{
+ if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
+ {
+ lastMotorCheck = millis();
+
+ if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
+ #if EXTRUDERS > 2
+ || !READ(E2_ENABLE_PIN)
+ #endif
+ #if EXTRUDER > 1
+ || !READ(E2_ENABLE_PIN)
+ #endif
+ || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
+ {
+ lastMotor = millis(); //... set time to NOW so the fan will turn on
+ }
+
+ if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
+ {
+ WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
+ }
+ else
+ {
+ WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
+ }
+ }
+}
+#endif
+
+#ifdef EXTRUDERFAN_PIN
+unsigned long lastExtruderCheck = 0;
+
+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
+ }
+ else
+ {
+ WRITE(EXTRUDERFAN_PIN, HIGH); //... turn the fan on
+ }
+ }
+}
+#endif
+
+void manage_inactivity()
+{
+ if( (millis() - previous_millis_cmd) > max_inactive_time )
+ if(max_inactive_time)
+ kill();
+ if(stepper_inactive_time) {
+ if( (millis() - previous_millis_cmd) > stepper_inactive_time )
+ {
+ if(blocks_queued() == false) {
+ disable_x();
+ disable_y();
+ disable_z();
+ disable_e0();
+ disable_e1();
+ disable_e2();
+ }
+ }
+ }
+ #if( KILL_PIN>-1 )
+ if( 0 == READ(KILL_PIN) )
+ kill();
+ #endif
+ #ifdef CONTROLLERFAN_PIN
+ controllerFan(); //Check if fan should be turned on to cool stepper drivers down
+ #endif
+ #ifdef EXTRUDER_RUNOUT_PREVENT
+ if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
+ if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
+ {
+ bool oldstatus=READ(E0_ENABLE_PIN);
+ enable_e0();
+ float oldepos=current_position[E_AXIS];
+ float oldedes=destination[E_AXIS];
+ plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
+ current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
+ EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
+ current_position[E_AXIS]=oldepos;
+ destination[E_AXIS]=oldedes;
+ plan_set_e_position(oldepos);
+ previous_millis_cmd=millis();
+ st_synchronize();
+ WRITE(E0_ENABLE_PIN,oldstatus);
+ }
+ #endif
+ check_axes_activity();
+}
+
+void kill()
+{
+ cli(); // Stop interrupts
+ disable_heater();
+
+ disable_x();
+ disable_y();
+ disable_z();
+ disable_e0();
+ disable_e1();
+ disable_e2();
+
+ if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
+ LCD_ALERTMESSAGEPGM(MSG_KILLED);
+ suicide();
+ while(1) { /* Intentionally left empty */ } // Wait for reset
+}
+
+void Stop()
+{
+ disable_heater();
+ if(Stopped == false) {
+ Stopped = true;
+ Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
+ LCD_MESSAGEPGM(MSG_STOPPED);
+ }
+}
+
+bool IsStopped() { return Stopped; };
+
+#ifdef FAST_PWM_FAN
+void setPwmFrequency(uint8_t pin, int val)
+{
+ val &= 0x07;
+ switch(digitalPinToTimer(pin))
+ {
+
+ #if defined(TCCR0A)
+ case TIMER0A:
+ case TIMER0B:
+// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
+// TCCR0B |= val;
+ break;
+ #endif
+
+ #if defined(TCCR1A)
+ case TIMER1A:
+ case TIMER1B:
+// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
+// TCCR1B |= val;
+ break;
+ #endif
+
+ #if defined(TCCR2)
+ case TIMER2:
+ case TIMER2:
+ TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
+ TCCR2 |= val;
+ break;
+ #endif
+
+ #if defined(TCCR2A)
+ case TIMER2A:
+ case TIMER2B:
+ TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
+ TCCR2B |= val;
+ break;
+ #endif
+
+ #if defined(TCCR3A)
+ case TIMER3A:
+ case TIMER3B:
+ case TIMER3C:
+ TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
+ TCCR3B |= val;
+ break;
+ #endif
+
+ #if defined(TCCR4A)
+ case TIMER4A:
+ case TIMER4B:
+ case TIMER4C:
+ TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
+ TCCR4B |= val;
+ break;
+ #endif
+
+ #if defined(TCCR5A)
+ case TIMER5A:
+ case TIMER5B:
+ case TIMER5C:
+ TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
+ TCCR5B |= val;
+ break;
+ #endif
+
+ }
+}
+#endif //FAST_PWM_FAN
+
+bool setTargetedHotend(int code){
+ tmp_extruder = active_extruder;
+ if(code_seen('T')) {
+ tmp_extruder = code_value();
+ if(tmp_extruder >= EXTRUDERS) {
+ SERIAL_ECHO_START;
+ switch(code){
+ case 104:
+ SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
+ break;
+ case 105:
+ SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
+ break;
+ case 109:
+ SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
+ break;
+ case 218:
+ SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
+ break;
+ }
+ SERIAL_ECHOLN(tmp_extruder);
+ return true;
+ }
+ }
+ return false;
}
From fd5b7e0cec6f03a744876ebd48b0845072fc3564 Mon Sep 17 00:00:00 2001
From: whosawhatsis <whosawhatsis@gmail.com>
Date: Fri, 22 Mar 2013 18:16:26 -0700
Subject: [PATCH 8/8] Separate PID_MAX from BANG_MAX
This allows PID_FUNCTIONAL_RANGE to use a maximum duty cycle higher
than PID_MAX. This is useful for powerful heaters to heat quickly in
bang-bang mode, but use a lower duty cycle that is easier to stabilize
in PID mode.
---
Marlin/Configuration.h | 3 ++-
Marlin/temperature.cpp | 4 ++--
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 8031272db6..6019200884 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -117,7 +117,8 @@
// PID settings:
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
-#define PID_MAX 256 // limits current to nozzle; 256=full current
+#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_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 6093c99346..58c7b60e6f 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -325,10 +325,10 @@ void manage_heater()
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
if(pid_error[e] > PID_FUNCTIONAL_RANGE) {
- pid_output = PID_MAX;
+ pid_output = BANG_MAX;
pid_reset[e] = true;
}
- else if(pid_error[e] < -PID_FUNCTIONAL_RANGE) {
+ else if(pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}