/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* 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 <https://www.gnu.org/licenses/>.
*
*/
/**
* gcode.cpp - Temporary container for all gcode handlers
* Most will migrate to classes, by feature.
*/
#include "gcode.h"
GcodeSuite gcode;
#if ENABLED(WIFI_CUSTOM_COMMAND)
extern bool wifi_custom_command(char * const command_ptr);
#endif
#include "parser.h"
#include "queue.h"
#include "../module/motion.h"
#if ENABLED(PRINTCOUNTER)
#include "../module/printcounter.h"
#endif
#if ENABLED(HOST_ACTION_COMMANDS)
#include "../feature/host_actions.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "../sd/cardreader.h"
#include "../feature/powerloss.h"
#endif
#if ENABLED(CANCEL_OBJECTS)
#include "../feature/cancel_object.h"
#endif
#if ENABLED(LASER_MOVE_POWER)
#include "../feature/spindle_laser.h"
#endif
#if ENABLED(FLOWMETER_SAFETY)
#include "../feature/cooler.h"
#endif
#if ENABLED(PASSWORD_FEATURE)
#include "../feature/password/password.h"
#endif
#if HAS_FANCHECK
#include "../feature/fancheck.h"
#endif
#include "../MarlinCore.h" // for idle, kill
// Inactivity shutdown
millis_t GcodeSuite::previous_move_ms = 0,
GcodeSuite::max_inactive_time = 0;
#if HAS_DISABLE_INACTIVE_AXIS
millis_t GcodeSuite::stepper_inactive_time = SEC_TO_MS(DEFAULT_STEPPER_DEACTIVE_TIME);
#endif
// Relative motion mode for each logical axis
static constexpr xyze_bool_t ar_init = AXIS_RELATIVE_MODES;
axis_bits_t GcodeSuite::axis_relative = 0 LOGICAL_AXIS_GANG(
| (ar_init.e << REL_E),
| (ar_init.x << REL_X),
| (ar_init.y << REL_Y),
| (ar_init.z << REL_Z),
| (ar_init.i << REL_I),
| (ar_init.j << REL_J),
| (ar_init.k << REL_K)
);
#if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)
bool GcodeSuite::autoreport_paused; // = false
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
GcodeSuite::MarlinBusyState GcodeSuite::busy_state = NOT_BUSY;
uint8_t GcodeSuite::host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
int8_t GcodeSuite::active_coordinate_system = -1; // machine space
xyz_pos_t GcodeSuite::coordinate_system[MAX_COORDINATE_SYSTEMS];
#endif
void GcodeSuite::report_echo_start(const bool forReplay) { if (!forReplay) SERIAL_ECHO_START(); }
void GcodeSuite::report_heading(const bool forReplay, FSTR_P const fstr, const bool eol/*=true*/) {
if (forReplay) return;
if (fstr) {
SERIAL_ECHO_START();
SERIAL_ECHOPGM("; ");
SERIAL_ECHOF(fstr);
}
if (eol) { SERIAL_CHAR(':'); SERIAL_EOL(); }
}
void GcodeSuite::say_units() {
SERIAL_ECHOLNPGM_P(
TERN_(INCH_MODE_SUPPORT, parser.linear_unit_factor != 1.0 ? PSTR(" (in)") :)
PSTR(" (mm)")
);
}
/**
* Get the target extruder from the T parameter or the active_extruder
* Return -1 if the T parameter is out of range
*/
int8_t GcodeSuite::get_target_extruder_from_command() {
if (parser.seenval('T')) {
const int8_t e = parser.value_byte();
if (e < EXTRUDERS) return e;
SERIAL_ECHO_START();
SERIAL_CHAR('M'); SERIAL_ECHO(parser.codenum);
SERIAL_ECHOLNPGM(" " STR_INVALID_EXTRUDER " ", e);
return -1;
}
return active_extruder;
}
/**
* Get the target E stepper from the 'T' parameter.
* If there is no 'T' parameter then dval will be substituted.
* Returns -1 if the resulting E stepper index is out of range.
*/
int8_t GcodeSuite::get_target_e_stepper_from_command(const int8_t dval/*=-1*/) {
const int8_t e = parser.intval('T', dval);
if (WITHIN(e, 0, E_STEPPERS - 1)) return e;
if (dval == -2) return dval;
SERIAL_ECHO_START();
SERIAL_CHAR('M'); SERIAL_ECHO(parser.codenum);
if (e == -1)
SERIAL_ECHOLNPGM(" " STR_E_STEPPER_NOT_SPECIFIED);
else
SERIAL_ECHOLNPGM(" " STR_INVALID_E_STEPPER " ", e);
return -1;
}
/**
* Set XYZ...E destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void GcodeSuite::get_destination_from_command() {
xyze_bool_t seen{false};
#if ENABLED(CANCEL_OBJECTS)
const bool &skip_move = cancelable.skipping;
#else
constexpr bool skip_move = false;
#endif
// Get new XYZ position, whether absolute or relative
LOOP_LINEAR_AXES(i) {
if ( (seen[i] = parser.seenval(AXIS_CHAR(i))) ) {
const float v = parser.value_axis_units((AxisEnum)i);
if (skip_move)
destination[i] = current_position[i];
else
destination[i] = axis_is_relative(AxisEnum(i)) ? current_position[i] + v : LOGICAL_TO_NATIVE(v, i);
}
else
destination[i] = current_position[i];
}
#if HAS_EXTRUDERS
// Get new E position, whether absolute or relative
if ( (seen.e = parser.seenval('E')) ) {
const float v = parser.value_axis_units(E_AXIS);
destination.e = axis_is_relative(E_AXIS) ? current_position.e + v : v;
}
else
destination.e = current_position.e;
#endif
#if ENABLED(POWER_LOSS_RECOVERY) && !PIN_EXISTS(POWER_LOSS)
// Only update power loss recovery on moves with E
if (recovery.enabled && IS_SD_PRINTING() && seen.e && (seen.x || seen.y))
recovery.save();
#endif
if (parser.floatval('F') > 0)
feedrate_mm_s = parser.value_feedrate();
#if BOTH(PRINTCOUNTER, HAS_EXTRUDERS)
if (!DEBUGGING(DRYRUN) && !skip_move)
print_job_timer.incFilamentUsed(destination.e - current_position.e);
#endif
// Get ABCDHI mixing factors
#if BOTH(MIXING_EXTRUDER, DIRECT_MIXING_IN_G1)
M165();
#endif
#if ENABLED(LASER_MOVE_POWER)
// Set the laser power in the planner to configure this move
if (parser.seen('S')) {
const float spwr = parser.value_float();
cutter.inline_power(TERN(SPINDLE_LASER_USE_PWM, cutter.power_to_range(cutter_power_t(round(spwr))), spwr > 0 ? 255 : 0));
}
else if (ENABLED(LASER_MOVE_G0_OFF) && parser.codenum == 0) // G0
cutter.set_inline_enabled(false);
#endif
}
/**
* Dwell waits immediately. It does not synchronize. Use M400 instead of G4
*/
void GcodeSuite::dwell(millis_t time) {
time += millis();
while (PENDING(millis(), time)) idle();
}
/**
* When G29_RETRY_AND_RECOVER is enabled, call G29() in
* a loop with recovery and retry handling.
*/
#if ENABLED(G29_RETRY_AND_RECOVER)
void GcodeSuite::event_probe_recover() {
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_INFO, F("G29 Retrying"), FPSTR(DISMISS_STR)));
#ifdef ACTION_ON_G29_RECOVER
hostui.g29_recover();
#endif
#ifdef G29_RECOVER_COMMANDS
process_subcommands_now(F(G29_RECOVER_COMMANDS));
#endif
}
#if ENABLED(G29_HALT_ON_FAILURE)
#include "../lcd/marlinui.h"
#endif
void GcodeSuite::event_probe_failure() {
#ifdef ACTION_ON_G29_FAILURE
hostui.g29_failure();
#endif
#ifdef G29_FAILURE_COMMANDS
process_subcommands_now(F(G29_FAILURE_COMMANDS));
#endif
#if ENABLED(G29_HALT_ON_FAILURE)
#ifdef ACTION_ON_CANCEL
hostui.cancel();
#endif
kill(GET_TEXT_F(MSG_LCD_PROBING_FAILED));
#endif
}
#ifndef G29_MAX_RETRIES
#define G29_MAX_RETRIES 0
#endif
void GcodeSuite::G29_with_retry() {
uint8_t retries = G29_MAX_RETRIES;
while (G29()) { // G29 should return true for failed probes ONLY
if (retries) {
event_probe_recover();
--retries;
}
else {
event_probe_failure();
return;
}
}
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_end());
#ifdef G29_SUCCESS_COMMANDS
process_subcommands_now(F(G29_SUCCESS_COMMANDS));
#endif
}
#endif // G29_RETRY_AND_RECOVER
/**
* Process the parsed command and dispatch it to its handler
*/
void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
TERN_(HAS_FANCHECK, fan_check.check_deferred_error());
KEEPALIVE_STATE(IN_HANDLER);
/**
* Block all Gcodes except M511 Unlock Printer, if printer is locked
* Will still block Gcodes if M511 is disabled, in which case the printer should be unlocked via LCD Menu
*/
#if ENABLED(PASSWORD_FEATURE)
if (password.is_locked && !parser.is_command('M', 511)) {
SERIAL_ECHO_MSG(STR_PRINTER_LOCKED);
if (!no_ok) queue.ok_to_send();
return;
}
#endif
#if ENABLED(FLOWMETER_SAFETY)
if (cooler.flowfault) {
SERIAL_ECHO_MSG(STR_FLOWMETER_FAULT);
return;
}
#endif
// Handle a known command or reply "unknown command"
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
case 0: case 1: // G0: Fast Move, G1: Linear Move
G0_G1(TERN_(HAS_FAST_MOVES, parser.codenum == 0)); break;
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: case 3: G2_G3(parser.codenum == 2); break; // G2: CW ARC, G3: CCW ARC
#endif
case 4: G4(); break; // G4: Dwell
#if ENABLED(BEZIER_CURVE_SUPPORT)
case 5: G5(); break; // G5: Cubic B_spline
#endif
#if ENABLED(DIRECT_STEPPING)
case 6: G6(); break; // G6: Direct Stepper Move
#endif
#if ENABLED(FWRETRACT)
case 10: G10(); break; // G10: Retract / Swap Retract
case 11: G11(); break; // G11: Recover / Swap Recover
#endif
#if ENABLED(NOZZLE_CLEAN_FEATURE)
case 12: G12(); break; // G12: Nozzle Clean
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
case 17: G17(); break; // G17: Select Plane XY
case 18: G18(); break; // G18: Select Plane ZX
case 19: G19(); break; // G19: Select Plane YZ
#endif
#if ENABLED(INCH_MODE_SUPPORT)
case 20: G20(); break; // G20: Inch Mode
case 21: G21(); break; // G21: MM Mode
#else
case 21: NOOP; break; // No error on unknown G21
#endif
#if ENABLED(G26_MESH_VALIDATION)
case 26: G26(); break; // G26: Mesh Validation Pattern generation
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: G27(); break; // G27: Nozzle Park
#endif
case 28: G28(); break; // G28: Home one or more axes
#if HAS_LEVELING
case 29: // G29: Bed leveling calibration
TERN(G29_RETRY_AND_RECOVER, G29_with_retry, G29)();
break;
#endif
#if HAS_BED_PROBE
case 30: G30(); break; // G30: Single Z probe
#if ENABLED(Z_PROBE_SLED)
case 31: G31(); break; // G31: dock the sled
case 32: G32(); break; // G32: undock the sled
#endif
#endif
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: G33(); break; // G33: Delta Auto-Calibration
#endif
#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
case 34: G34(); break; // G34: Z Stepper automatic alignment using probe
#endif
#if ENABLED(ASSISTED_TRAMMING)
case 35: G35(); break; // G35: Read four bed corners to help adjust bed screws
#endif
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2, G38.3: Probe towards target
if (WITHIN(parser.subcode, 2, TERN(G38_PROBE_AWAY, 5, 3)))
G38(parser.subcode); // G38.4, G38.5: Probe away from target
break;
#endif
#if HAS_MESH
case 42: G42(); break; // G42: Coordinated move to a mesh point
#endif
#if ENABLED(CNC_COORDINATE_SYSTEMS)
case 53: G53(); break; // G53: (prefix) Apply native workspace
case 54: G54(); break; // G54: Switch to Workspace 1
case 55: G55(); break; // G55: Switch to Workspace 2
case 56: G56(); break; // G56: Switch to Workspace 3
case 57: G57(); break; // G57: Switch to Workspace 4
case 58: G58(); break; // G58: Switch to Workspace 5
case 59: G59(); break; // G59.0 - G59.3: Switch to Workspace 6-9
#endif
#if SAVED_POSITIONS
case 60: G60(); break; // G60: save current position
case 61: G61(); break; // G61: Apply/restore saved coordinates.
#endif
#if BOTH(PTC_PROBE, PTC_BED)
case 76: G76(); break; // G76: Calibrate first layer compensation values
#endif
#if ENABLED(GCODE_MOTION_MODES)
case 80: G80(); break; // G80: Reset the current motion mode
#endif
case 90: set_relative_mode(false); break; // G90: Absolute Mode
case 91: set_relative_mode(true); break; // G91: Relative Mode
case 92: G92(); break; // G92: Set current axis position(s)
#if ENABLED(CALIBRATION_GCODE)
case 425: G425(); break; // G425: Perform calibration with calibration cube
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // G800: GCode Parser Test for G
#endif
default: parser.unknown_command_warning(); break;
}
break;
case 'M': switch (parser.codenum) {
#if HAS_RESUME_CONTINUE
case 0: // M0: Unconditional stop - Wait for user button press on LCD
case 1: M0_M1(); break; // M1: Conditional stop - Wait for user button press on LCD
#endif
#if HAS_CUTTER
case 3: M3_M4(false); break; // M3: Turn ON Laser | Spindle (clockwise), set Power | Speed
case 4: M3_M4(true ); break; // M4: Turn ON Laser | Spindle (counter-clockwise), set Power | Speed
case 5: M5(); break; // M5: Turn OFF Laser | Spindle
#endif
#if ENABLED(COOLANT_MIST)
case 7: M7(); break; // M7: Coolant Mist ON
#endif
#if EITHER(AIR_ASSIST, COOLANT_FLOOD)
case 8: M8(); break; // M8: Air Assist / Coolant Flood ON
#endif
#if EITHER(AIR_ASSIST, COOLANT_CONTROL)
case 9: M9(); break; // M9: Air Assist / Coolant OFF
#endif
#if ENABLED(AIR_EVACUATION)
case 10: M10(); break; // M10: Vacuum or Blower motor ON
case 11: M11(); break; // M11: Vacuum or Blower motor OFF
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
case 12: M12(); break; // M12: Synchronize and optionally force a CLC set
#endif
#if ENABLED(EXPECTED_PRINTER_CHECK)
case 16: M16(); break; // M16: Expected printer check
#endif
case 17: M17(); break; // M17: Enable all stepper motors
#if ENABLED(SDSUPPORT)
case 20: M20(); break; // M20: List SD card
case 21: M21(); break; // M21: Init SD card
case 22: M22(); break; // M22: Release SD card
case 23: M23(); break; // M23: Select file
case 24: M24(); break; // M24: Start SD print
case 25: M25(); break; // M25: Pause SD print
case 26: M26(); break; // M26: Set SD index
case 27: M27(); break; // M27: Get SD status
case 28: M28(); break; // M28: Start SD write
case 29: M29(); break; // M29: Stop SD write
case 30: M30(); break; // M30 <filename> Delete File
#if HAS_MEDIA_SUBCALLS
case 32: M32(); break; // M32: Select file and start SD print
#endif
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
case 33: M33(); break; // M33: Get the long full path to a file or folder
#endif
#if BOTH(SDCARD_SORT_ALPHA, SDSORT_GCODE)
case 34: M34(); break; // M34: Set SD card sorting options
#endif
case 928: M928(); break; // M928: Start SD write
#endif // SDSUPPORT
case 31: M31(); break; // M31: Report time since the start of SD print or last M109
#if ENABLED(DIRECT_PIN_CONTROL)
case 42: M42(); break; // M42: Change pin state
#endif
#if ENABLED(PINS_DEBUGGING)
case 43: M43(); break; // M43: Read pin state
#endif
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
case 48: M48(); break; // M48: Z probe repeatability test
#endif
#if ENABLED(LCD_SET_PROGRESS_MANUALLY)
case 73: M73(); break; // M73: Set progress percentage (for display on LCD)
#endif
case 75: M75(); break; // M75: Start print timer
case 76: M76(); break; // M76: Pause print timer
case 77: M77(); break; // M77: Stop print timer
#if ENABLED(PRINTCOUNTER)
case 78: M78(); break; // M78: Show print statistics
#endif
#if ENABLED(M100_FREE_MEMORY_WATCHER)
case 100: M100(); break; // M100: Free Memory Report
#endif
#if HAS_EXTRUDERS
case 104: M104(); break; // M104: Set hot end temperature
case 109: M109(); break; // M109: Wait for hotend temperature to reach target
#endif
case 105: M105(); return; // M105: Report Temperatures (and say "ok")
#if HAS_FAN
case 106: M106(); break; // M106: Fan On
case 107: M107(); break; // M107: Fan Off
#endif
case 110: M110(); break; // M110: Set Current Line Number
case 111: M111(); break; // M111: Set debug level
#if DISABLED(EMERGENCY_PARSER)
case 108: M108(); break; // M108: Cancel Waiting
case 112: M112(); break; // M112: Full Shutdown
case 410: M410(); break; // M410: Quickstop - Abort all the planned moves.
TERN_(HOST_PROMPT_SUPPORT, case 876:) // M876: Handle Host prompt responses
#else
case 108: case 112: case 410:
TERN_(HOST_PROMPT_SUPPORT, case 876:)
break;
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: M113(); break; // M113: Set Host Keepalive interval
#endif
#if HAS_FANCHECK
case 123: M123(); break; // M123: Report fan states or set fans auto-report interval
#endif
#if HAS_HEATED_BED
case 140: M140(); break; // M140: Set bed temperature
case 190: M190(); break; // M190: Wait for bed temperature to reach target
#endif
#if HAS_HEATED_CHAMBER
case 141: M141(); break; // M141: Set chamber temperature
case 191: M191(); break; // M191: Wait for chamber temperature to reach target
#endif
#if HAS_TEMP_PROBE
case 192: M192(); break; // M192: Wait for probe temp
#endif
#if HAS_COOLER
case 143: M143(); break; // M143: Set cooler temperature
case 193: M193(); break; // M193: Wait for cooler temperature to reach target
#endif
#if ENABLED(AUTO_REPORT_POSITION)
case 154: M154(); break; // M154: Set position auto-report interval
#endif
#if BOTH(AUTO_REPORT_TEMPERATURES, HAS_TEMP_SENSOR)
case 155: M155(); break; // M155: Set temperature auto-report interval
#endif
#if ENABLED(PARK_HEAD_ON_PAUSE)
case 125: M125(); break; // M125: Store current position and move to filament change position
#endif
#if ENABLED(BARICUDA)
// PWM for HEATER_1_PIN
#if HAS_HEATER_1
case 126: M126(); break; // M126: valve open
case 127: M127(); break; // M127: valve closed
#endif
// PWM for HEATER_2_PIN
#if HAS_HEATER_2
case 128: M128(); break; // M128: valve open
case 129: M129(); break; // M129: valve closed
#endif
#endif // BARICUDA
#if ENABLED(PSU_CONTROL)
case 80: M80(); break; // M80: Turn on Power Supply
#endif
case 81: M81(); break; // M81: Turn off Power, including Power Supply, if possible
#if HAS_EXTRUDERS
case 82: M82(); break; // M82: Set E axis normal mode (same as other axes)
case 83: M83(); break; // M83: Set E axis relative mode
#endif
case 18: case 84: M18_M84(); break; // M18/M84: Disable Steppers / Set Timeout
case 85: M85(); break; // M85: Set inactivity stepper shutdown timeout
case 92: M92(); break; // M92: Set the steps-per-unit for one or more axes
case 114: M114(); break; // M114: Report current position
case 115: M115(); break; // M115: Report capabilities
case 117: TERN_(HAS_STATUS_MESSAGE, M117()); break; // M117: Set LCD message text, if possible
case 118: M118(); break; // M118: Display a message in the host console
case 119: M119(); break; // M119: Report endstop states
case 120: M120(); break; // M120: Enable endstops
case 121: M121(); break; // M121: Disable endstops
#if HAS_PREHEAT
case 145: M145(); break; // M145: Set material heatup parameters
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
case 149: M149(); break; // M149: Set temperature units
#endif
#if HAS_COLOR_LEDS
case 150: M150(); break; // M150: Set Status LED Color
#endif
#if ENABLED(MIXING_EXTRUDER)
case 163: M163(); break; // M163: Set a component weight for mixing extruder
case 164: M164(); break; // M164: Save current mix as a virtual extruder
#if ENABLED(DIRECT_MIXING_IN_G1)
case 165: M165(); break; // M165: Set multiple mix weights
#endif
#if ENABLED(GRADIENT_MIX)
case 166: M166(); break; // M166: Set Gradient Mix
#endif
#endif
#if DISABLED(NO_VOLUMETRICS)
case 200: M200(); break; // M200: Set filament diameter, E to cubic units
#endif
case 201: M201(); break; // M201: Set max acceleration for print moves (units/s^2)
#if 0
case 202: M202(); break; // M202: Not used for Sprinter/grbl gen6
#endif
case 203: M203(); break; // M203: Set max feedrate (units/sec)
case 204: M204(); break; // M204: Set acceleration
case 205: M205(); break; // M205: Set advanced settings
#if HAS_M206_COMMAND
case 206: M206(); break; // M206: Set home offsets
#endif
#if ENABLED(FWRETRACT)
case 207: M207(); break; // M207: Set Retract Length, Feedrate, and Z lift
case 208: M208(); break; // M208: Set Recover (unretract) Additional Length and Feedrate
#if ENABLED(FWRETRACT_AUTORETRACT)
case 209:
if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209(); // M209: Turn Automatic Retract Detection on/off
break;
#endif
#endif
#if HAS_SOFTWARE_ENDSTOPS
case 211: M211(); break; // M211: Enable, Disable, and/or Report software endstops
#endif
#if HAS_MULTI_EXTRUDER
case 217: M217(); break; // M217: Set filament swap parameters
#endif
#if HAS_HOTEND_OFFSET
case 218: M218(); break; // M218: Set a tool offset
#endif
case 220: M220(); break; // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
#if HAS_EXTRUDERS
case 221: M221(); break; // M221: Set Flow Percentage
#endif
#if ENABLED(DIRECT_PIN_CONTROL)
case 226: M226(); break; // M226: Wait until a pin reaches a state
#endif
#if HAS_SERVOS
case 280: M280(); break; // M280: Set servo position absolute
#if ENABLED(EDITABLE_SERVO_ANGLES)
case 281: M281(); break; // M281: Set servo angles
#endif
#if ENABLED(SERVO_DETACH_GCODE)
case 282: M282(); break; // M282: Detach servo
#endif
#endif
#if ENABLED(BABYSTEPPING)
case 290: M290(); break; // M290: Babystepping
#endif
#if HAS_BUZZER
case 300: M300(); break; // M300: Play beep tone
#endif
#if ENABLED(PIDTEMP)
case 301: M301(); break; // M301: Set hotend PID parameters
#endif
#if ENABLED(PIDTEMPBED)
case 304: M304(); break; // M304: Set bed PID parameters
#endif
#if ENABLED(PIDTEMPCHAMBER)
case 309: M309(); break; // M309: Set chamber PID parameters
#endif
#if ENABLED(PHOTO_GCODE)
case 240: M240(); break; // M240: Trigger a camera
#endif
#if HAS_LCD_CONTRAST
case 250: M250(); break; // M250: Set LCD contrast
#endif
#if HAS_LCD_BRIGHTNESS
case 256: M256(); break; // M256: Set LCD brightness
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS)
case 260: M260(); break; // M260: Send data to an i2c slave
case 261: M261(); break; // M261: Request data from an i2c slave
#endif
#if ENABLED(PREVENT_COLD_EXTRUSION)
case 302: M302(); break; // M302: Allow cold extrudes (set the minimum extrude temperature)
#endif
#if HAS_PID_HEATING
case 303: M303(); break; // M303: PID autotune
#endif
#if HAS_USER_THERMISTORS
case 305: M305(); break; // M305: Set user thermistor parameters
#endif
#if ENABLED(MPCTEMP)
case 306: M306(); break; // M306: MPC autotune
#endif
#if ENABLED(REPETIER_GCODE_M360)
case 360: M360(); break; // M360: Firmware settings
#endif
#if ENABLED(MORGAN_SCARA)
case 360: if (M360()) return; break; // M360: SCARA Theta pos1
case 361: if (M361()) return; break; // M361: SCARA Theta pos2
case 362: if (M362()) return; break; // M362: SCARA Psi pos1
case 363: if (M363()) return; break; // M363: SCARA Psi pos2
case 364: if (M364()) return; break; // M364: SCARA Psi pos3 (90 deg to Theta)
#endif
#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL)
case 380: M380(); break; // M380: Activate solenoid on active (or specified) extruder
case 381: M381(); break; // M381: Disable all solenoids or, if MANUAL_SOLENOID_CONTROL, active (or specified) solenoid
#endif
case 400: M400(); break; // M400: Finish all moves
#if HAS_BED_PROBE
case 401: M401(); break; // M401: Deploy probe
case 402: M402(); break; // M402: Stow probe
#endif
#if HAS_PRUSA_MMU2
case 403: M403(); break;
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
case 404: M404(); break; // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
case 405: M405(); break; // M405: Turn on filament sensor for control
case 406: M406(); break; // M406: Turn off filament sensor for control
case 407: M407(); break; // M407: Display measured filament diameter
#endif
#if HAS_FILAMENT_SENSOR
case 412: M412(); break; // M412: Enable/Disable filament runout detection
#endif
#if HAS_MULTI_LANGUAGE
case 414: M414(); break; // M414: Select multi language menu
#endif
#if HAS_LEVELING
case 420: M420(); break; // M420: Enable/Disable Bed Leveling
#endif
#if HAS_MESH
case 421: M421(); break; // M421: Set a Mesh Bed Leveling Z coordinate
#endif
#if ENABLED(BACKLASH_GCODE)
case 425: M425(); break; // M425: Tune backlash compensation
#endif
#if HAS_M206_COMMAND
case 428: M428(); break; // M428: Apply current_position to home_offset
#endif
#if HAS_POWER_MONITOR
case 430: M430(); break; // M430: Read the system current (A), voltage (V), and power (W)
#endif
#if ENABLED(CANCEL_OBJECTS)
case 486: M486(); break; // M486: Identify and cancel objects
#endif
case 500: M500(); break; // M500: Store settings in EEPROM
case 501: M501(); break; // M501: Read settings from EEPROM
case 502: M502(); break; // M502: Revert to default settings
#if DISABLED(DISABLE_M503)
case 503: M503(); break; // M503: print settings currently in memory
#endif
#if ENABLED(EEPROM_SETTINGS)
case 504: M504(); break; // M504: Validate EEPROM contents
#endif
#if ENABLED(PASSWORD_FEATURE)
case 510: M510(); break; // M510: Lock Printer
#if ENABLED(PASSWORD_UNLOCK_GCODE)
case 511: M511(); break; // M511: Unlock Printer
#endif
#if ENABLED(PASSWORD_CHANGE_GCODE)
case 512: M512(); break; // M512: Set/Change/Remove Password
#endif
#endif
#if ENABLED(SDSUPPORT)
case 524: M524(); break; // M524: Abort the current SD print job
#endif
#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
case 540: M540(); break; // M540: Set abort on endstop hit for SD printing
#endif
#if HAS_ETHERNET
case 552: M552(); break; // M552: Set IP address
case 553: M553(); break; // M553: Set gateway
case 554: M554(); break; // M554: Set netmask
#endif
#if ENABLED(BAUD_RATE_GCODE)
case 575: M575(); break; // M575: Set serial baudrate
#endif
#if ENABLED(ADVANCED_PAUSE_FEATURE)
case 600: M600(); break; // M600: Pause for Filament Change
case 603: M603(); break; // M603: Configure Filament Change
#endif
#if HAS_DUPLICATION_MODE
case 605: M605(); break; // M605: Set Dual X Carriage movement mode
#endif
#if IS_KINEMATIC
case 665: M665(); break; // M665: Set Delta/SCARA parameters
#endif
#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
case 666: M666(); break; // M666: Set delta or multiple endstop adjustment
#endif
#if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
case 672: M672(); break; // M672: Set/clear Duet Smart Effector sensitivity
#endif
#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
case 701: M701(); break; // M701: Load Filament
case 702: M702(); break; // M702: Unload Filament
#endif
#if ENABLED(CONTROLLER_FAN_EDITABLE)
case 710: M710(); break; // M710: Set Controller Fan settings
#endif
#if ENABLED(GCODE_MACROS)
case 810: case 811: case 812: case 813: case 814:
case 815: case 816: case 817: case 818: case 819:
M810_819(); break; // M810-M819: Define/execute G-code macro
#endif
#if HAS_BED_PROBE
case 851: M851(); break; // M851: Set Z Probe Z Offset
#endif
#if ENABLED(SKEW_CORRECTION_GCODE)
case 852: M852(); break; // M852: Set Skew factors
#endif
#if HAS_PTC
case 871: M871(); break; // M871: Print/reset/clear first layer temperature offset values
#endif
#if ENABLED(LIN_ADVANCE)
case 900: M900(); break; // M900: Set advance K factor.
#endif
#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC)
case 907: M907(); break; // M907: Set digital trimpot motor current using axis codes.
#if EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_DAC)
case 908: M908(); break; // M908: Control digital trimpot directly.
#if HAS_MOTOR_CURRENT_DAC
case 909: M909(); break; // M909: Print digipot/DAC current value
case 910: M910(); break; // M910: Commit digipot/DAC value to external EEPROM
#endif
#endif
#endif
#if HAS_TRINAMIC_CONFIG
case 122: M122(); break; // M122: Report driver configuration and status
case 906: M906(); break; // M906: Set motor current in milliamps using axis codes X, Y, Z, E
#if HAS_STEALTHCHOP
case 569: M569(); break; // M569: Enable stealthChop on an axis.
#endif
#if ENABLED(MONITOR_DRIVER_STATUS)
case 911: M911(); break; // M911: Report TMC2130 prewarn triggered flags
case 912: M912(); break; // M912: Clear TMC2130 prewarn triggered flags
#endif
#if ENABLED(HYBRID_THRESHOLD)
case 913: M913(); break; // M913: Set HYBRID_THRESHOLD speed.
#endif
#if USE_SENSORLESS
case 914: M914(); break; // M914: Set StallGuard sensitivity.
#endif
case 919: M919(); break; // M919: Set stepper Chopper Times
#endif
#if HAS_L64XX
case 122: M122(); break; // M122: Report status
case 906: M906(); break; // M906: Set or get motor drive level
case 916: M916(); break; // M916: L6470 tuning: Increase drive level until thermal warning
case 917: M917(); break; // M917: L6470 tuning: Find minimum current thresholds
case 918: M918(); break; // M918: L6470 tuning: Increase speed until max or error
#endif
#if HAS_MICROSTEPS
case 350: M350(); break; // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
case 351: M351(); break; // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
#endif
#if ENABLED(CASE_LIGHT_ENABLE)
case 355: M355(); break; // M355: Set case light brightness
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800: parser.debug(); break; // M800: GCode Parser Test for M
#endif
#if ENABLED(GCODE_REPEAT_MARKERS)
case 808: M808(); break; // M808: Set / Goto repeat markers
#endif
#if ENABLED(I2C_POSITION_ENCODERS)
case 860: M860(); break; // M860: Report encoder module position
case 861: M861(); break; // M861: Report encoder module status
case 862: M862(); break; // M862: Perform axis test
case 863: M863(); break; // M863: Calibrate steps/mm
case 864: M864(); break; // M864: Change module address
case 865: M865(); break; // M865: Check module firmware version
case 866: M866(); break; // M866: Report axis error count
case 867: M867(); break; // M867: Toggle error correction
case 868: M868(); break; // M868: Set error correction threshold
case 869: M869(); break; // M869: Report axis error
#endif
#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
case 951: M951(); break; // M951: Set Magnetic Parking Extruder parameters
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
case 422: M422(); break; // M422: Set Z Stepper automatic alignment position using probe
#endif
#if ALL(HAS_SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE)
case 993: M993(); break; // M993: Backup SPI Flash to SD
case 994: M994(); break; // M994: Load a Backup from SD to SPI Flash
#endif
#if ENABLED(TOUCH_SCREEN_CALIBRATION)
case 995: M995(); break; // M995: Touch screen calibration for TFT display
#endif
#if ENABLED(PLATFORM_M997_SUPPORT)
case 997: M997(); break; // M997: Perform in-application firmware update
#endif
case 999: M999(); break; // M999: Restart after being Stopped
#if ENABLED(POWER_LOSS_RECOVERY)
case 413: M413(); break; // M413: Enable/disable/query Power-Loss Recovery
case 1000: M1000(); break; // M1000: [INTERNAL] Resume from power-loss
#endif
#if ENABLED(SDSUPPORT)
case 1001: M1001(); break; // M1001: [INTERNAL] Handle SD completion
#endif
#if ENABLED(DGUS_LCD_UI_MKS)
case 1002: M1002(); break; // M1002: [INTERNAL] Tool-change and Relative E Move
#endif
#if ENABLED(UBL_MESH_WIZARD)
case 1004: M1004(); break; // M1004: UBL Mesh Wizard
#endif
#if ENABLED(MAX7219_GCODE)
case 7219: M7219(); break; // M7219: Set LEDs, columns, and rows
#endif
#if ENABLED(HAS_MCP3426_ADC)
case 3426: M3426(); break; // M3426: Read MCP3426 ADC (over i2c)
#endif
default: parser.unknown_command_warning(); break;
}
break;
case 'T': T(parser.codenum); break; // Tn: Tool Change
#if ENABLED(MARLIN_DEV_MODE)
case 'D': D(parser.codenum); break; // Dn: Debug codes
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': case 'P': case 'R': break; // Invalid S, P, R commands already filtered
#endif
default:
#if ENABLED(WIFI_CUSTOM_COMMAND)
if (wifi_custom_command(parser.command_ptr)) break;
#endif
parser.unknown_command_warning();
}
if (!no_ok) queue.ok_to_send();
SERIAL_OUT(msgDone); // Call the msgDone serial hook to signal command processing done
}
#if ENABLED(M100_FREE_MEMORY_DUMPER)
void M100_dump_routine(FSTR_P const title, const char * const start, const uintptr_t size);
#endif
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void GcodeSuite::process_next_command() {
GCodeQueue::CommandLine &command = queue.ring_buffer.peek_next_command();
PORT_REDIRECT(SERIAL_PORTMASK(command.port));
TERN_(POWER_LOSS_RECOVERY, recovery.queue_index_r = queue.ring_buffer.index_r);
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(command.buffer);
#if ENABLED(M100_FREE_MEMORY_DUMPER)
SERIAL_ECHOPGM("slot:", queue.ring_buffer.index_r);
M100_dump_routine(F(" Command Queue:"), (const char*)&queue.ring_buffer, sizeof(queue.ring_buffer));
#endif
}
// Parse the next command in the queue
parser.parse(command.buffer);
process_parsed_command();
}
#pragma GCC diagnostic push
#if GCC_VERSION >= 80000
#pragma GCC diagnostic ignored "-Wstringop-truncation"
#endif
/**
* Run a series of commands, bypassing the command queue to allow
* G-code "macros" to be called from within other G-code handlers.
*/
void GcodeSuite::process_subcommands_now(FSTR_P fgcode) {
PGM_P pgcode = FTOP(fgcode);
char * const saved_cmd = parser.command_ptr; // Save the parser state
for (;;) {
PGM_P const delim = strchr_P(pgcode, '\n'); // Get address of next newline
const size_t len = delim ? delim - pgcode : strlen_P(pgcode); // Get the command length
char cmd[len + 1]; // Allocate a stack buffer
strncpy_P(cmd, pgcode, len); // Copy the command to the stack
cmd[len] = '\0'; // End with a nul
parser.parse(cmd); // Parse the command
process_parsed_command(true); // Process it (no "ok")
if (!delim) break; // Last command?
pgcode = delim + 1; // Get the next command
}
parser.parse(saved_cmd); // Restore the parser state
}
#pragma GCC diagnostic pop
void GcodeSuite::process_subcommands_now(char * gcode) {
char * const saved_cmd = parser.command_ptr; // Save the parser state
for (;;) {
char * const delim = strchr(gcode, '\n'); // Get address of next newline
if (delim) *delim = '\0'; // Replace with nul
parser.parse(gcode); // Parse the current command
process_parsed_command(true); // Process it (no "ok")
if (!delim) break; // Last command?
*delim = '\n'; // Put back the newline
gcode = delim + 1; // Get the next command
}
parser.parse(saved_cmd); // Restore the parser state
}
#if ENABLED(HOST_KEEPALIVE_FEATURE)
/**
* Output a "busy" message at regular intervals
* while the machine is not accepting commands.
*/
void GcodeSuite::host_keepalive() {
const millis_t ms = millis();
static millis_t next_busy_signal_ms = 0;
if (!autoreport_paused && host_keepalive_interval && busy_state != NOT_BUSY) {
if (PENDING(ms, next_busy_signal_ms)) return;
PORT_REDIRECT(SerialMask::All);
switch (busy_state) {
case IN_HANDLER:
case IN_PROCESS:
SERIAL_ECHO_MSG(STR_BUSY_PROCESSING);
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_position_moving());
break;
case PAUSED_FOR_USER:
SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_USER);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
break;
case PAUSED_FOR_INPUT:
SERIAL_ECHO_MSG(STR_BUSY_PAUSED_FOR_INPUT);
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
break;
default:
break;
}
}
next_busy_signal_ms = ms + SEC_TO_MS(host_keepalive_interval);
}
#endif // HOST_KEEPALIVE_FEATURE