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/* -*- 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
*/
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# 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"
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# include "ConfigurationStore.h"
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# include "language.h"
# include "pins_arduino.h"
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# if DIGIPOTSS_PIN > -1
# include <SPI.h>
# endif
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# 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
// 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.
// 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)
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// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.
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// 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 ;
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int feedmultiply = 100 ; //100->1 200->2
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bool feedmultiplychanged ;
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int saved_feedmultiply ;
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int extrudemultiply = 100 ; //100->1 200->2
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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 } ;
uint8_t active_extruder = 0 ;
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int fanSpeed = 0 ;
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# 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 ;
}
}
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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 ;
}
}
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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
}
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 ) ;
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SERIAL_ECHOPGM ( " Compiled: " ) ;
SERIAL_ECHOLNPGM ( __DATE__ ) ;
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# 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 ;
}
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Config_RetrieveSettings ( ) ; // loads data from EEPROM if available
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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 ( ) ;
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lcd_init ( ) ;
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}
void loop ( )
{
if ( buflen < ( BUFSIZE - 1 ) )
get_command ( ) ;
# ifdef SDSUPPORT
card . checkautostart ( false ) ;
# endif
if ( buflen )
{
# ifdef SDSUPPORT
if ( card . saving )
{
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if ( strstr_P ( cmdbuffer [ bufindr ] , PSTR ( " M29 " ) ) = = NULL )
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{
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 ( ) ;
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lcd_update ( ) ;
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}
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 ;
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if ( strchr ( cmdbuffer [ bufindw ] , ' N ' ) ! = NULL )
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{
strchr_pointer = strchr ( cmdbuffer [ bufindw ] , ' N ' ) ;
gcode_N = ( strtol ( & cmdbuffer [ bufindw ] [ strchr_pointer - cmdbuffer [ bufindw ] + 1 ] , NULL , 10 ) ) ;
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if ( gcode_N ! = gcode_LastN + 1 & & ( strstr_P ( cmdbuffer [ bufindw ] , PSTR ( " M110 " ) ) = = NULL ) ) {
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SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_LINE_NO ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
//Serial.println(gcode_N);
FlushSerialRequestResend ( ) ;
serial_count = 0 ;
return ;
}
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if ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL )
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{
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 '*'
{
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if ( ( strchr ( cmdbuffer [ bufindw ] , ' * ' ) ! = NULL ) )
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{
SERIAL_ERROR_START ;
SERIAL_ERRORPGM ( MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM ) ;
SERIAL_ERRORLN ( gcode_LastN ) ;
serial_count = 0 ;
return ;
}
}
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if ( ( strchr ( cmdbuffer [ bufindw ] , ' G ' ) ! = NULL ) ) {
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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 sec , min ;
min = t / 60 ;
sec = t % 60 ;
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sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
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SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
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lcd_setstatus ( time ) ;
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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 ( ) ;
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lcd_update ( ) ;
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}
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 ULTRA_LCD
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
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while ( millis ( ) < codenum & & ! LCD_CLICKED ) {
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manage_heater ( ) ;
manage_inactivity ( ) ;
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lcd_update ( ) ;
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}
} else {
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while ( ! LCD_CLICKED ) {
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manage_heater ( ) ;
manage_inactivity ( ) ;
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lcd_update ( ) ;
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}
}
}
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 ;
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sprintf_P ( time , PSTR ( " %i min, %i sec " ) , min , sec ) ;
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SERIAL_ECHO_START ;
SERIAL_ECHOLN ( time ) ;
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lcd_setstatus ( time ) ;
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autotempShutdown ( ) ;
}
break ;
case 42 : //M42 -Change pin status via gcode
if ( code_seen ( ' S ' ) )
{
int pin_status = code_value ( ) ;
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int pin_number = LED_PIN ;
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if ( code_seen ( ' P ' ) & & pin_status > = 0 & & pin_status < = 255 )
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pin_number = code_value ( ) ;
for ( int8_t i = 0 ; i < ( int8_t ) sizeof ( sensitive_pins ) ; i + + )
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{
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if ( sensitive_pins [ i ] = = pin_number )
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{
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pin_number = - 1 ;
break ;
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}
}
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if ( pin_number > - 1 )
{
pinMode ( pin_number , OUTPUT ) ;
digitalWrite ( pin_number , pin_status ) ;
analogWrite ( pin_number , pin_status ) ;
}
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}
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 ( ) ;
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lcd_update ( ) ;
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# 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 ( ) ;
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lcd_update ( ) ;
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}
LCD_MESSAGEPGM ( MSG_BED_DONE ) ;
previous_millis_cmd = millis ( ) ;
# endif
break ;
# if FAN_PIN > -1
case 106 : //M106 Fan On
if ( code_seen ( ' S ' ) ) {
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fanSpeed = constrain ( code_value ( ) , 0 , 255 ) ;
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}
else {
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fanSpeed = 255 ;
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}
break ;
case 107 : //M107 Fan Off
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fanSpeed = 0 ;
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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 , LOW ) ;
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 , HIGH ) ;
# 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
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lcd_setstatus ( cmdbuffer [ bufindr ] + 5 ) ;
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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
case 220 : // M220 S<factor in percent>- set speed factor override percentage
{
if ( code_seen ( ' S ' ) )
{
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feedmultiply = code_value ( ) ;
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feedmultiplychanged = true ;
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}
}
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 ;
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case 500 : // M500 Store settings in EEPROM
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{
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Config_StoreSettings ( ) ;
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}
break ;
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case 501 : // M501 Read settings from EEPROM
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{
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Config_RetrieveSettings ( ) ;
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}
break ;
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case 502 : // M502 Revert to default settings
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{
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Config_ResetDefault ( ) ;
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}
break ;
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case 503 : // M503 print settings currently in memory
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{
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Config_PrintSettings ( ) ;
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}
break ;
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case 907 : // M907 Set digital trimpot motor current using axis codes.
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{
# 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
}
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case 908 : // M908 Control digital trimpot directly.
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{
# 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 ;
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case 350 : // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
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{
# 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 ;
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case 351 : // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
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{
# 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 ;
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case 999 : // M999: Restart after being stopped
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Stopped = false ;
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 {
active_extruder = tmp_extruder ;
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 ( ) ;
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while ( 1 ) { /* Intentionally left empty */ } // Wait for reset
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}
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 :
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// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
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// TCCR0B |= val;
break ;
# endif
# if defined(TCCR1A)
case TIMER1A :
case TIMER1B :
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// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
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// TCCR1B |= val;
break ;
# endif
# if defined(TCCR2)
case TIMER2 :
case TIMER2 :
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TCCR2 & = ~ ( _BV ( CS10 ) | _BV ( CS11 ) | _BV ( CS12 ) ) ;
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TCCR2 | = val ;
break ;
# endif
# if defined(TCCR2A)
case TIMER2A :
case TIMER2B :
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TCCR2B & = ~ ( _BV ( CS20 ) | _BV ( CS21 ) | _BV ( CS22 ) ) ;
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TCCR2B | = val ;
break ;
# endif
# if defined(TCCR3A)
case TIMER3A :
case TIMER3B :
case TIMER3C :
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TCCR3B & = ~ ( _BV ( CS30 ) | _BV ( CS31 ) | _BV ( CS32 ) ) ;
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TCCR3B | = val ;
break ;
# endif
# if defined(TCCR4A)
case TIMER4A :
case TIMER4B :
case TIMER4C :
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TCCR4B & = ~ ( _BV ( CS40 ) | _BV ( CS41 ) | _BV ( CS42 ) ) ;
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TCCR4B | = val ;
break ;
# endif
# if defined(TCCR5A)
case TIMER5A :
case TIMER5B :
case TIMER5C :
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TCCR5B & = ~ ( _BV ( CS50 ) | _BV ( CS51 ) | _BV ( CS52 ) ) ;
2012-11-06 11:06:41 +00:00
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 ;
}
SERIAL_ECHOLN ( tmp_extruder ) ;
return true ;
}
}
return false ;
}