1354 lines
42 KiB
Plaintext
1354 lines
42 KiB
Plaintext
/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This firmware is a mashup between Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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It has preliminary support for Matthew Roberts advance algorithm
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http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
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*/
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#include "Marlin.h"
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#include "ultralcd.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "motion_control.h"
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#include "cardreader.h"
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#include "watchdog.h"
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#include "EEPROMwrite.h"
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#define VERSION_STRING "1.0.0 Beta 1"
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// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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//Implemented Codes
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//-------------------
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// G0 -> G1
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// G1 - Coordinated Movement X Y Z E
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// G2 - CW ARC
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// G3 - CCW ARC
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G28 - Home all Axis
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// G90 - Use Absolute Coordinates
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// G91 - Use Relative Coordinates
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// G92 - Set current position to cordinates given
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//RepRap M Codes
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// M104 - Set extruder target temp
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// M105 - Read current temp
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// M106 - Fan on
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// M107 - Fan off
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// M109 - Wait for extruder current temp to reach target temp.
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// M114 - Display current position
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//Custom M Codes
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// M17 - Enable/Power all stepper motors
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// M18 - Disable all stepper motors; same as M84
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// M20 - List SD card
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// M21 - Init SD card
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// M22 - Release SD card
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// M23 - Select SD file (M23 filename.g)
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// M24 - Start/resume SD print
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// M25 - Pause SD print
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// M26 - Set SD position in bytes (M26 S12345)
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// M27 - Report SD print status
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// M28 - Start SD write (M28 filename.g)
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// M29 - Stop SD write
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// M30 - Output time since last M109 or SD card start to serial
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// M42 - Change pin status via gcode
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// M80 - Turn on Power Supply
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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// M140 - Set bed target temp
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// M190 - Wait for bed current temp to reach target temp.
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// M200 - Set filament diameter
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
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// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
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// 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
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// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
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// M206 - set additional homeing offset
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// M220 - set speed factor override percentage S:factor in percent
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// M240 - Trigger a camera to take a photograph
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes
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// M400 - Finish all moves
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// M500 - stores paramters in EEPROM
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// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
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// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
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// M503 - print the current settings (from memory not from eeprom)
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//Stepper Movement Variables
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//===========================================================================
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//=============================imported variables============================
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//===========================================================================
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//===========================================================================
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//=============================public variables=============================
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//===========================================================================
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#ifdef SDSUPPORT
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CardReader card;
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#endif
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float homing_feedrate[] = HOMING_FEEDRATE;
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bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
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volatile int feedmultiply=100; //100->1 200->2
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int saved_feedmultiply;
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volatile bool feedmultiplychanged=false;
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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float add_homeing[3]={0,0,0};
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uint8_t active_extruder = 0;
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bool stop_heating_wait=false;
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//===========================================================================
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//=============================private variables=============================
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//===========================================================================
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const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
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static float offset[3] = {0.0, 0.0, 0.0};
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static bool home_all_axis = true;
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static float feedrate = 1500.0, next_feedrate, saved_feedrate;
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static long gcode_N, gcode_LastN;
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static bool relative_mode = false; //Determines Absolute or Relative Coordinates
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static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
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static uint8_t fanpwm=0;
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static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
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static bool fromsd[BUFSIZE];
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static int bufindr = 0;
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static int bufindw = 0;
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static int buflen = 0;
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//static int i = 0;
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static char serial_char;
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static int serial_count = 0;
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static boolean comment_mode = false;
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static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
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const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
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//static float tt = 0;
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//static float bt = 0;
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//Inactivity shutdown variables
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static unsigned long previous_millis_cmd = 0;
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static unsigned long max_inactive_time = 0;
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static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
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static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
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static unsigned long starttime=0;
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static unsigned long stoptime=0;
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static uint8_t tmp_extruder;
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//===========================================================================
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//=============================ROUTINES=============================
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//===========================================================================
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void get_arc_coordinates();
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extern "C"{
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extern unsigned int __bss_end;
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extern unsigned int __heap_start;
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extern void *__brkval;
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int freeMemory() {
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int free_memory;
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if((int)__brkval == 0)
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free_memory = ((int)&free_memory) - ((int)&__bss_end);
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else
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free_memory = ((int)&free_memory) - ((int)__brkval);
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return free_memory;
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}
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}
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//adds an command to the main command buffer
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//thats really done in a non-safe way.
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//needs overworking someday
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void enquecommand(const char *cmd)
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{
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if(buflen < BUFSIZE)
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{
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//this is dangerous if a mixing of serial and this happsens
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strcpy(&(cmdbuffer[bufindw][0]),cmd);
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM("enqueing \"");
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SERIAL_ECHO(cmdbuffer[bufindw]);
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SERIAL_ECHOLNPGM("\"");
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bufindw= (bufindw + 1)%BUFSIZE;
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buflen += 1;
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}
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}
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void setup_photpin()
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{
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#ifdef PHOTOGRAPH_PIN
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#if (PHOTOGRAPH_PIN > -1)
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SET_OUTPUT(PHOTOGRAPH_PIN);
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WRITE(PHOTOGRAPH_PIN, LOW);
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#endif
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#endif
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}
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void setup_powerhold()
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{
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#ifdef SUICIDE_PIN
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#if (SUICIDE_PIN> -1)
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SET_OUTPUT(SUICIDE_PIN);
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WRITE(SUICIDE_PIN, HIGH);
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#endif
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#endif
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}
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void suicide()
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{
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#ifdef SUICIDE_PIN
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#if (SUICIDE_PIN> -1)
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SET_OUTPUT(SUICIDE_PIN);
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WRITE(SUICIDE_PIN, LOW);
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#endif
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#endif
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}
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void setup()
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{
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setup_powerhold();
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MSerial.begin(BAUDRATE);
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(VERSION_STRING);
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM("Free Memory:");
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SERIAL_ECHO(freeMemory());
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SERIAL_ECHOPGM(" PlannerBufferBytes:");
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SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
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for(int8_t i = 0; i < BUFSIZE; i++)
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{
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fromsd[i] = false;
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}
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EEPROM_RetrieveSettings(); // loads data from EEPROM if available
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for(int8_t i=0; i < NUM_AXIS; i++)
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{
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axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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}
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tp_init(); // Initialize temperature loop
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plan_init(); // Initialize planner;
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st_init(); // Initialize stepper;
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wd_init();
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setup_photpin();
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}
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void loop()
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{
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if(buflen<3)
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get_command();
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#ifdef SDSUPPORT
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card.checkautostart(false);
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#endif
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if(buflen)
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{
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#ifdef SDSUPPORT
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if(card.saving)
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{
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if(strstr(cmdbuffer[bufindr],"M29") == NULL)
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{
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card.write_command(cmdbuffer[bufindr]);
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SERIAL_PROTOCOLLNPGM("ok");
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}
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else
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{
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card.closefile();
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SERIAL_PROTOCOLLNPGM("Done saving file.");
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}
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}
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else
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{
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process_commands();
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}
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#else
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process_commands();
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#endif //SDSUPPORT
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buflen = (buflen-1);
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bufindr = (bufindr + 1)%BUFSIZE;
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}
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//check heater every n milliseconds
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manage_heater();
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manage_inactivity(1);
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checkHitEndstops();
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LCD_STATUS;
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}
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FORCE_INLINE void get_command()
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{
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while( MSerial.available() > 0 && buflen < BUFSIZE) {
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serial_char = MSerial.read();
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
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{
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if(!serial_count) return; //if empty line
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
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if(!comment_mode){
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fromsd[bufindw] = false;
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if(strstr(cmdbuffer[bufindw], "N") != NULL)
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{
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strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
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gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
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if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
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SERIAL_ERROR_START;
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SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:");
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SERIAL_ERRORLN(gcode_LastN);
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//Serial.println(gcode_N);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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if(strstr(cmdbuffer[bufindw], "*") != NULL)
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{
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byte checksum = 0;
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byte count = 0;
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while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
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strchr_pointer = strchr(cmdbuffer[bufindw], '*');
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if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
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SERIAL_ERROR_START;
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SERIAL_ERRORPGM("checksum mismatch, Last Line:");
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SERIAL_ERRORLN(gcode_LastN);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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//if no errors, continue parsing
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}
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else
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{
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SERIAL_ERROR_START;
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SERIAL_ERRORPGM("No Checksum with line number, Last Line:");
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SERIAL_ERRORLN(gcode_LastN);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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gcode_LastN = gcode_N;
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//if no errors, continue parsing
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}
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else // if we don't receive 'N' but still see '*'
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{
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if((strstr(cmdbuffer[bufindw], "*") != NULL))
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{
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SERIAL_ERROR_START;
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SERIAL_ERRORPGM("No Line Number with checksum, Last Line:");
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SERIAL_ERRORLN(gcode_LastN);
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serial_count = 0;
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return;
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}
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}
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if((strstr(cmdbuffer[bufindw], "G") != NULL)){
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strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
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switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
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case 0:
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case 1:
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case 2:
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case 3:
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#ifdef SDSUPPORT
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if(card.saving)
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break;
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#endif //SDSUPPORT
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SERIAL_PROTOCOLLNPGM("ok");
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break;
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default:
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break;
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}
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}
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bufindw = (bufindw + 1)%BUFSIZE;
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buflen += 1;
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}
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comment_mode = false; //for new command
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serial_count = 0; //clear buffer
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}
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else
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{
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if(serial_char == ';') comment_mode = true;
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if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
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}
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}
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#ifdef SDSUPPORT
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if(!card.sdprinting || serial_count!=0){
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return;
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}
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while( !card.eof() && buflen < BUFSIZE) {
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int16_t n=card.get();
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serial_char = (char)n;
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
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{
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if(card.eof()){
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SERIAL_PROTOCOLLNPGM("Done printing file");
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stoptime=millis();
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char time[30];
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unsigned long t=(stoptime-starttime)/1000;
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int sec,min;
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min=t/60;
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sec=t%60;
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sprintf(time,"%i min, %i sec",min,sec);
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SERIAL_ECHO_START;
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SERIAL_ECHOLN(time);
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LCD_MESSAGE(time);
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card.printingHasFinished();
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card.checkautostart(true);
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}
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if(serial_char=='\n')
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comment_mode = false; //for new command
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if(!serial_count)
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{
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return; //if empty line
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}
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
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if(!comment_mode){
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fromsd[bufindw] = true;
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buflen += 1;
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bufindw = (bufindw + 1)%BUFSIZE;
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}
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serial_count = 0; //clear buffer
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}
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else
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{
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if(serial_char == ';') comment_mode = true;
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if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
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}
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}
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#endif //SDSUPPORT
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}
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FORCE_INLINE float code_value()
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{
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return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
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}
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FORCE_INLINE long code_value_long()
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{
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return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
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}
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FORCE_INLINE bool code_seen(char code_string[]) //Return True if the string was found
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{
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return (strstr(cmdbuffer[bufindr], code_string) != NULL);
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}
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FORCE_INLINE bool code_seen(char code)
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{
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strchr_pointer = strchr(cmdbuffer[bufindr], code);
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return (strchr_pointer != NULL); //Return True if a character was found
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}
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#define HOMEAXIS(LETTER) \
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if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
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{ \
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current_position[LETTER##_AXIS] = 0; \
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
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destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
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feedrate = homing_feedrate[LETTER##_AXIS]; \
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
|
|
\
|
|
current_position[LETTER##_AXIS] = 0;\
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
|
|
destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
|
|
\
|
|
destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
|
|
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
|
|
\
|
|
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
|
|
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
|
|
feedrate = 0.0;\
|
|
st_synchronize();\
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
|
|
endstops_hit_on_purpose();\
|
|
}
|
|
|
|
FORCE_INLINE 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
|
|
get_coordinates(); // For X Y Z E F
|
|
prepare_move();
|
|
//ClearToSend();
|
|
return;
|
|
//break;
|
|
case 2: // G2 - CW ARC
|
|
get_arc_coordinates();
|
|
prepare_arc_move(true);
|
|
return;
|
|
case 3: // G3 - CCW ARC
|
|
get_arc_coordinates();
|
|
prepare_arc_move(false);
|
|
return;
|
|
case 4: // G4 dwell
|
|
LCD_MESSAGEPGM("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();
|
|
}
|
|
break;
|
|
case 28: //G28 Home all Axis one at a time
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
|
|
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])));
|
|
#ifdef QUICK_HOME
|
|
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //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];
|
|
prepare_move();
|
|
|
|
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
|
|
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = current_position[X_AXIS];
|
|
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
feedrate = 0.0;
|
|
st_synchronize();
|
|
plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
|
|
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
|
|
endstops_hit_on_purpose();
|
|
}
|
|
#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((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
HOMEAXIS(Z);
|
|
}
|
|
|
|
if(code_seen(axis_codes[X_AXIS]))
|
|
{
|
|
current_position[0]=code_value()+add_homeing[0];
|
|
}
|
|
|
|
if(code_seen(axis_codes[Y_AXIS])) {
|
|
current_position[1]=code_value()+add_homeing[1];
|
|
}
|
|
|
|
if(code_seen(axis_codes[Z_AXIS])) {
|
|
current_position[2]=code_value()+add_homeing[2];
|
|
}
|
|
#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])) {
|
|
current_position[i] = code_value()+add_homeing[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() )
|
|
{
|
|
case 17:
|
|
LCD_MESSAGEPGM("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("Begin file list");
|
|
card.ls();
|
|
SERIAL_PROTOCOLLNPGM("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;
|
|
#endif //SDSUPPORT
|
|
|
|
case 30: //M30 take time since the start of the SD print or an M109 command
|
|
{
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int sec,min;
|
|
min=t/60;
|
|
sec=t%60;
|
|
sprintf(time,"%i min, %i sec",min,sec);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
LCD_MESSAGE(time);
|
|
autotempShutdown();
|
|
}
|
|
break;
|
|
case 42: //M42 -Change pin status via gcode
|
|
if (code_seen('S'))
|
|
{
|
|
int pin_status = code_value();
|
|
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
|
|
{
|
|
int pin_number = code_value();
|
|
for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (pin_number > -1)
|
|
{
|
|
pinMode(pin_number, OUTPUT);
|
|
digitalWrite(pin_number, pin_status);
|
|
analogWrite(pin_number, pin_status);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 104: // M104
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("M104 Invalid extruder ");
|
|
SERIAL_ECHOLN(tmp_extruder);
|
|
break;
|
|
}
|
|
}
|
|
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
|
|
setWatch();
|
|
break;
|
|
case 140: // M140 set bed temp
|
|
if (code_seen('S')) setTargetBed(code_value());
|
|
break;
|
|
case 105 : // M105
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("M105 Invalid extruder ");
|
|
SERIAL_ECHOLN(tmp_extruder);
|
|
break;
|
|
}
|
|
}
|
|
#if (TEMP_0_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("ok T:");
|
|
SERIAL_PROTOCOL(degHotend(tmp_extruder));
|
|
#if TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL(degBed());
|
|
#endif //TEMP_BED_PIN
|
|
#else
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM("No thermistors - no temp");
|
|
#endif
|
|
#ifdef PIDTEMP
|
|
SERIAL_PROTOCOLPGM(" @:");
|
|
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
return;
|
|
break;
|
|
case 109:
|
|
{// M109 - Wait for extruder heater to reach target.
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("M109 Invalid extruder ");
|
|
SERIAL_ECHOLN(tmp_extruder);
|
|
break;
|
|
}
|
|
}
|
|
LCD_MESSAGEPGM("Heating...");
|
|
#ifdef AUTOTEMP
|
|
autotemp_enabled=false;
|
|
#endif
|
|
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef AUTOTEMP
|
|
if (code_seen('S')) autotemp_min=code_value();
|
|
if (code_seen('G')) autotemp_max=code_value();
|
|
if (code_seen('F'))
|
|
{
|
|
autotemp_factor=code_value();
|
|
autotemp_enabled=true;
|
|
}
|
|
#endif
|
|
|
|
setWatch();
|
|
codenum = millis();
|
|
|
|
/* See if we are heating up or cooling down */
|
|
bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
|
|
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
long residencyStart;
|
|
residencyStart = -1;
|
|
/* continue to loop until we have reached the target temp
|
|
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
|
|
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( degHotend(tmp_extruder) );
|
|
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( "?" );
|
|
}
|
|
#endif
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
LCD_STATUS;
|
|
if(stop_heating_wait) break;
|
|
#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 && !isHeatingHotend(tmp_extruder)) ||
|
|
(residencyStart == -1 && !target_direction && !isCoolingHotend(tmp_extruder)) ||
|
|
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
|
|
{
|
|
residencyStart = millis();
|
|
}
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
}
|
|
LCD_MESSAGEPGM("Heating done.");
|
|
starttime=millis();
|
|
previous_millis_cmd = millis();
|
|
}
|
|
break;
|
|
case 190: // M190 - Wait for bed heater to reach target.
|
|
#if TEMP_BED_PIN > -1
|
|
LCD_MESSAGEPGM("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_PROTOCOLLN(degBed());
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
}
|
|
LCD_MESSAGEPGM("Bed done.");
|
|
previous_millis_cmd = millis();
|
|
#endif
|
|
break;
|
|
|
|
#if FAN_PIN > -1
|
|
case 106: //M106 Fan On
|
|
if (code_seen('S')){
|
|
WRITE(FAN_PIN,HIGH);
|
|
fanpwm=constrain(code_value(),0,255);
|
|
analogWrite(FAN_PIN, fanpwm);
|
|
}
|
|
else {
|
|
WRITE(FAN_PIN,HIGH);
|
|
fanpwm=255;
|
|
analogWrite(FAN_PIN, fanpwm);
|
|
}
|
|
break;
|
|
case 107: //M107 Fan Off
|
|
WRITE(FAN_PIN,LOW);
|
|
analogWrite(FAN_PIN, 0);
|
|
break;
|
|
#endif //FAN_PIN
|
|
|
|
#if (PS_ON_PIN > -1)
|
|
case 80: // M80 - ATX Power On
|
|
SET_OUTPUT(PS_ON_PIN); //GND
|
|
break;
|
|
#endif
|
|
|
|
case 81: // M81 - ATX Power Off
|
|
|
|
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
|
|
st_synchronize();
|
|
suicide();
|
|
#elif (PS_ON_PIN > -1)
|
|
SET_INPUT(PS_ON_PIN); //Floating
|
|
#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)
|
|
{
|
|
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
|
|
LCD_MESSAGEPGM("Partial Release");
|
|
}
|
|
}
|
|
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]))
|
|
axis_steps_per_unit[i] = code_value();
|
|
}
|
|
break;
|
|
case 115: // M115
|
|
SerialprintPGM("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\n");
|
|
break;
|
|
case 117: // M117 display message
|
|
LCD_MESSAGE(cmdbuffer[bufindr]+5);
|
|
break;
|
|
case 114: // M114
|
|
SERIAL_PROTOCOLPGM("X:");
|
|
SERIAL_PROTOCOL(current_position[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM("Y:");
|
|
SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM("Z:");
|
|
SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
|
SERIAL_PROTOCOLPGM("E:");
|
|
SERIAL_PROTOCOL(current_position[E_AXIS]);
|
|
|
|
SERIAL_PROTOCOLPGM(" 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 119: // M119
|
|
#if (X_MIN_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("x_min:");
|
|
SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
#if (X_MAX_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("x_max:");
|
|
SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
#if (Y_MIN_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("y_min:");
|
|
SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
#if (Y_MAX_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("y_max:");
|
|
SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
#if (Z_MIN_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("z_min:");
|
|
SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
#if (Z_MAX_PIN > -1)
|
|
SERIAL_PROTOCOLPGM("z_max:");
|
|
SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
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() ;
|
|
}
|
|
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;
|
|
case 220: // M220 S<factor in percent>- set speed factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
feedmultiply = code_value() ;
|
|
feedmultiplychanged=true;
|
|
}
|
|
}
|
|
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("ok p:");
|
|
SERIAL_PROTOCOL(Kp);
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(Ki/PID_dT);
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(Kd*PID_dT);
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
SERIAL_PROTOCOL(" c:");
|
|
SERIAL_PROTOCOL(Kc*PID_dT);
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
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: // finish all moves
|
|
{
|
|
allow_cold_extrudes(true);
|
|
}
|
|
break;
|
|
case 400: // finish all moves
|
|
{
|
|
st_synchronize();
|
|
}
|
|
break;
|
|
case 500: // Store settings in EEPROM
|
|
{
|
|
EEPROM_StoreSettings();
|
|
}
|
|
break;
|
|
case 501: // Read settings from EEPROM
|
|
{
|
|
EEPROM_RetrieveSettings();
|
|
}
|
|
break;
|
|
case 502: // Revert to default settings
|
|
{
|
|
EEPROM_RetrieveSettings(true);
|
|
}
|
|
break;
|
|
case 503: // print settings currently in memory
|
|
{
|
|
EEPROM_printSettings();
|
|
}
|
|
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("Invalid extruder");
|
|
}
|
|
else {
|
|
active_extruder = tmp_extruder;
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("Active Extruder: ");
|
|
SERIAL_PROTOCOLLN((int)active_extruder);
|
|
}
|
|
}
|
|
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("Unknown command:\"");
|
|
SERIAL_ECHO(cmdbuffer[bufindr]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
}
|
|
|
|
ClearToSend();
|
|
}
|
|
|
|
void FlushSerialRequestResend()
|
|
{
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
MSerial.flush();
|
|
SERIAL_PROTOCOLPGM("Resend:");
|
|
SERIAL_PROTOCOLLN(gcode_LastN + 1);
|
|
ClearToSend();
|
|
}
|
|
|
|
void ClearToSend()
|
|
{
|
|
previous_millis_cmd = millis();
|
|
#ifdef SDSUPPORT
|
|
if(fromsd[bufindr])
|
|
return;
|
|
#endif //SDSUPPORT
|
|
SERIAL_PROTOCOLLNPGM("ok");
|
|
}
|
|
|
|
FORCE_INLINE void get_coordinates()
|
|
{
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
|
|
else destination[i] = current_position[i]; //Are these else lines really needed?
|
|
}
|
|
if(code_seen('F')) {
|
|
next_feedrate = code_value();
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
}
|
|
}
|
|
|
|
FORCE_INLINE void get_arc_coordinates()
|
|
{
|
|
get_coordinates();
|
|
if(code_seen('I')) offset[0] = code_value();
|
|
if(code_seen('J')) offset[1] = code_value();
|
|
}
|
|
|
|
void prepare_move()
|
|
{
|
|
|
|
if (min_software_endstops) {
|
|
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
|
|
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
|
|
if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
|
|
}
|
|
|
|
if (max_software_endstops) {
|
|
if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
|
|
if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
|
|
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
|
|
}
|
|
|
|
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];
|
|
}
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
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();
|
|
}
|
|
|
|
void manage_inactivity(byte debug)
|
|
{
|
|
if( (millis()-previous_millis_cmd) > max_inactive_time )
|
|
if(max_inactive_time)
|
|
kill();
|
|
if(stepper_inactive_time)
|
|
if( (millis()-last_stepperdisabled_time) > stepper_inactive_time )
|
|
{
|
|
if(previous_millis_cmd>last_stepperdisabled_time)
|
|
last_stepperdisabled_time=previous_millis_cmd;
|
|
else
|
|
{
|
|
#if X_ENABLE_PIN >= 0
|
|
if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
|
|
enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
|
|
#endif
|
|
last_stepperdisabled_time=millis();
|
|
}
|
|
}
|
|
#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();
|
|
//enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
|
|
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("Printer halted. kill() called !!");
|
|
LCD_MESSAGEPGM("KILLED. ");
|
|
suicide();
|
|
while(1); // Wait for reset
|
|
}
|
|
|
|
|