62db9848d3
Improvement to avoid reinitializing delay buffer with every print. Fixed issues in buffer indexing and memory out of bounds due to floating point imprecision. Simplified the code by avoiding conversion to standard diameter and 1cu mm extrusion, which caused complications in determining mm extruded.
3789 lines
126 KiB
C++
3789 lines
126 KiB
C++
/* -*- c++ -*- */
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/*
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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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#ifdef ENABLE_AUTO_BED_LEVELING
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#include "vector_3.h"
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#ifdef AUTO_BED_LEVELING_GRID
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#include "qr_solve.h"
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#endif
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#endif // ENABLE_AUTO_BED_LEVELING
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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 "ConfigurationStore.h"
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#include "language.h"
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#include "pins_arduino.h"
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#include "math.h"
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#ifdef BLINKM
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#include "BlinkM.h"
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#include "Wire.h"
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#endif
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#if NUM_SERVOS > 0
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#include "Servo.h"
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#endif
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#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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#include <SPI.h>
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#endif
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#define VERSION_STRING "1.0.0"
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// look here for descriptions of G-codes: 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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// G10 - retract filament according to settings of M207
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// G11 - retract recover filament according to settings of M208
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// G28 - Home all Axis
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// G29 - Detailed Z-Probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
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// G30 - Single Z Probe, probes bed at current XY location.
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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 coordinates given
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// M Codes
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// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
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// M1 - Same as M0
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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 - Delete file from SD (M30 filename.g)
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// M31 - Output time since last M109 or SD card start to serial
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// M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
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// syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
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// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
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// The '#' is necessary when calling from within sd files, as it stops buffer prereading
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// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
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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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// 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 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
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// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
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// IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
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// M112 - Emergency stop
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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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// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
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// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
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// M140 - Set bed target temp
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// M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
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// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
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// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
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// M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
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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) in mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer under-runs 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, E=maximum E jerk
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// M206 - set additional homing offset
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// M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
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// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
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// 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.
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// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
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// M220 S<factor in percent>- set speed factor override percentage
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// M221 S<factor in percent>- set extrude factor override percentage
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// M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
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// M240 - Trigger a camera to take a photograph
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// M250 - Set LCD contrast C<contrast value> (value 0..63)
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// M280 - set servo position absolute. P: servo index, S: angle or microseconds
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// M300 - Play beep sound S<frequency Hz> P<duration ms>
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// M301 - Set PID parameters P I and D
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// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
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// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
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// M304 - Set bed PID parameters P I and D
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// M400 - Finish all moves
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// M401 - Lower z-probe if present
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// M402 - Raise z-probe if present
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// M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
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// M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
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// M406 - Turn off Filament Sensor extrusion control
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// M407 - Displays measured filament diameter
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// M500 - stores parameters 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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// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
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// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
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// M665 - set delta configurations
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// M666 - set delta endstop adjustment
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// M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
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// M907 - Set digital trimpot motor current using axis codes.
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// M908 - Control digital trimpot directly.
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// M350 - Set microstepping mode.
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// M351 - Toggle MS1 MS2 pins directly.
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// M928 - Start SD logging (M928 filename.g) - ended by M29
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// M999 - Restart after being stopped by error
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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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int feedmultiply=100; //100->1 200->2
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int saved_feedmultiply;
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int extrudemultiply=100; //100->1 200->2
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int extruder_multiply[EXTRUDERS] = {100
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#if EXTRUDERS > 1
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, 100
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#if EXTRUDERS > 2
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, 100
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#endif
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#endif
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};
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float volumetric_multiplier[EXTRUDERS] = {1.0
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#if EXTRUDERS > 1
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, 1.0
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#if EXTRUDERS > 2
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, 1.0
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#endif
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#endif
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};
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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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#ifdef DELTA
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float endstop_adj[3]={0,0,0};
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#endif
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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bool axis_known_position[3] = {false, false, false};
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float zprobe_zoffset;
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// Extruder offset
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#if EXTRUDERS > 1
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#ifndef DUAL_X_CARRIAGE
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#define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
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#else
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#define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
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#endif
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float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = {
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#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
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EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
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#endif
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};
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#endif
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uint8_t active_extruder = 0;
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int fanSpeed=0;
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#ifdef SERVO_ENDSTOPS
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int servo_endstops[] = SERVO_ENDSTOPS;
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int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
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#endif
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#ifdef BARICUDA
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int ValvePressure=0;
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int EtoPPressure=0;
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#endif
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#ifdef FWRETRACT
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bool autoretract_enabled=false;
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bool retracted[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#endif
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#endif
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};
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bool retracted_swap[EXTRUDERS]={false
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#if EXTRUDERS > 1
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, false
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#if EXTRUDERS > 2
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, false
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#endif
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#endif
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};
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float retract_length = RETRACT_LENGTH;
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float retract_length_swap = RETRACT_LENGTH_SWAP;
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float retract_feedrate = RETRACT_FEEDRATE;
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float retract_zlift = RETRACT_ZLIFT;
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float retract_recover_length = RETRACT_RECOVER_LENGTH;
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float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
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float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
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#endif
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#ifdef ULTIPANEL
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#ifdef PS_DEFAULT_OFF
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bool powersupply = false;
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#else
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bool powersupply = true;
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#endif
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#endif
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#ifdef DELTA
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float delta[3] = {0.0, 0.0, 0.0};
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#define SIN_60 0.8660254037844386
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#define COS_60 0.5
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// these are the default values, can be overriden with M665
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float delta_radius= DELTA_RADIUS;
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float delta_tower1_x= -SIN_60*delta_radius; // front left tower
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float delta_tower1_y= -COS_60*delta_radius;
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float delta_tower2_x= SIN_60*delta_radius; // front right tower
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float delta_tower2_y= -COS_60*delta_radius;
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float delta_tower3_x= 0.0; // back middle tower
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float delta_tower3_y= delta_radius;
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float delta_diagonal_rod= DELTA_DIAGONAL_ROD;
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float delta_diagonal_rod_2= sq(delta_diagonal_rod);
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float delta_segments_per_second= DELTA_SEGMENTS_PER_SECOND;
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#endif
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bool cancel_heatup = false ;
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#ifdef FILAMENT_SENSOR
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//Variables for Filament Sensor input
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float filament_width_nominal=DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
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bool filament_sensor=false; //M405 turns on filament_sensor control, M406 turns it off
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float filament_width_meas=DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
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signed char measurement_delay[MAX_MEASUREMENT_DELAY+1]; //ring buffer to delay measurement store extruder factor after subtracting 100
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int delay_index1=0; //index into ring buffer
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int delay_index2=-1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
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float delay_dist=0; //delay distance counter
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int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
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#endif
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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, Stopped_gcode_LastN = 0;
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static bool relative_mode = false; //Determines Absolute or Relative Coordinates
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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 command 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*1000l;
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unsigned long starttime=0;
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unsigned long stoptime=0;
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static uint8_t tmp_extruder;
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bool Stopped=false;
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#if NUM_SERVOS > 0
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Servo servos[NUM_SERVOS];
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#endif
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bool CooldownNoWait = true;
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bool target_direction;
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//Insert variables if CHDK is defined
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#ifdef CHDK
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unsigned long chdkHigh = 0;
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boolean chdkActive = false;
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#endif
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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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bool setTargetedHotend(int code);
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void serial_echopair_P(const char *s_P, float v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, double v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, unsigned long v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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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 happens
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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 enquecommand_P(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 happens
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strcpy_P(&(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_killpin()
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{
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#if defined(KILL_PIN) && KILL_PIN > -1
|
|
pinMode(KILL_PIN,INPUT);
|
|
WRITE(KILL_PIN,HIGH);
|
|
#endif
|
|
}
|
|
|
|
void setup_photpin()
|
|
{
|
|
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
|
|
SET_OUTPUT(PHOTOGRAPH_PIN);
|
|
WRITE(PHOTOGRAPH_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void setup_powerhold()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
#if defined(PS_DEFAULT_OFF)
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#else
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
void suicide()
|
|
{
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, LOW);
|
|
#endif
|
|
}
|
|
|
|
void servo_init()
|
|
{
|
|
#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
|
|
servos[0].attach(SERVO0_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
|
|
servos[1].attach(SERVO1_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
|
|
servos[2].attach(SERVO2_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
|
|
servos[3].attach(SERVO3_PIN);
|
|
#endif
|
|
#if (NUM_SERVOS >= 5)
|
|
#error "TODO: enter initalisation code for more servos"
|
|
#endif
|
|
|
|
// Set position of Servo Endstops that are defined
|
|
#ifdef SERVO_ENDSTOPS
|
|
for(int8_t i = 0; i < 3; i++)
|
|
{
|
|
if(servo_endstops[i] > -1) {
|
|
servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
|
|
|
|
void setup()
|
|
{
|
|
setup_killpin();
|
|
setup_powerhold();
|
|
MYSERIAL.begin(BAUDRATE);
|
|
SERIAL_PROTOCOLLNPGM("start");
|
|
SERIAL_ECHO_START;
|
|
|
|
// Check startup - does nothing if bootloader sets MCUSR to 0
|
|
byte mcu = MCUSR;
|
|
if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
|
|
if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
|
|
if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
|
|
if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
|
|
if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
|
|
MCUSR=0;
|
|
|
|
SERIAL_ECHOPGM(MSG_MARLIN);
|
|
SERIAL_ECHOLNPGM(VERSION_STRING);
|
|
#ifdef STRING_VERSION_CONFIG_H
|
|
#ifdef STRING_CONFIG_H_AUTHOR
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
|
|
SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
|
|
SERIAL_ECHOPGM(MSG_AUTHOR);
|
|
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
|
|
SERIAL_ECHOPGM("Compiled: ");
|
|
SERIAL_ECHOLNPGM(__DATE__);
|
|
#endif
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_FREE_MEMORY);
|
|
SERIAL_ECHO(freeMemory());
|
|
SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
|
|
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
|
|
for(int8_t i = 0; i < BUFSIZE; i++)
|
|
{
|
|
fromsd[i] = false;
|
|
}
|
|
|
|
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
|
|
Config_RetrieveSettings();
|
|
|
|
tp_init(); // Initialize temperature loop
|
|
plan_init(); // Initialize planner;
|
|
watchdog_init();
|
|
st_init(); // Initialize stepper, this enables interrupts!
|
|
setup_photpin();
|
|
servo_init();
|
|
|
|
|
|
lcd_init();
|
|
_delay_ms(1000); // wait 1sec to display the splash screen
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
|
|
#endif
|
|
|
|
#ifdef DIGIPOT_I2C
|
|
digipot_i2c_init();
|
|
#endif
|
|
}
|
|
|
|
|
|
void loop()
|
|
{
|
|
if(buflen < (BUFSIZE-1))
|
|
get_command();
|
|
#ifdef SDSUPPORT
|
|
card.checkautostart(false);
|
|
#endif
|
|
if(buflen)
|
|
{
|
|
#ifdef SDSUPPORT
|
|
if(card.saving)
|
|
{
|
|
if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
|
|
{
|
|
card.write_command(cmdbuffer[bufindr]);
|
|
if(card.logging)
|
|
{
|
|
process_commands();
|
|
}
|
|
else
|
|
{
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
card.closefile();
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
process_commands();
|
|
}
|
|
#else
|
|
process_commands();
|
|
#endif //SDSUPPORT
|
|
buflen = (buflen-1);
|
|
bufindr = (bufindr + 1)%BUFSIZE;
|
|
}
|
|
//check heater every n milliseconds
|
|
manage_heater();
|
|
manage_inactivity();
|
|
checkHitEndstops();
|
|
lcd_update();
|
|
}
|
|
|
|
void get_command()
|
|
{
|
|
while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
|
|
serial_char = MYSERIAL.read();
|
|
if(serial_char == '\n' ||
|
|
serial_char == '\r' ||
|
|
(serial_char == ':' && comment_mode == false) ||
|
|
serial_count >= (MAX_CMD_SIZE - 1) )
|
|
{
|
|
if(!serial_count) { //if empty line
|
|
comment_mode = false; //for new command
|
|
return;
|
|
}
|
|
cmdbuffer[bufindw][serial_count] = 0; //terminate string
|
|
if(!comment_mode){
|
|
comment_mode = false; //for new command
|
|
fromsd[bufindw] = false;
|
|
if(strchr(cmdbuffer[bufindw], 'N') != NULL)
|
|
{
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
|
|
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
|
|
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
//Serial.println(gcode_N);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
|
|
if(strchr(cmdbuffer[bufindw], '*') != NULL)
|
|
{
|
|
byte checksum = 0;
|
|
byte count = 0;
|
|
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
|
|
|
|
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
//if no errors, continue parsing
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
FlushSerialRequestResend();
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
|
|
gcode_LastN = gcode_N;
|
|
//if no errors, continue parsing
|
|
}
|
|
else // if we don't receive 'N' but still see '*'
|
|
{
|
|
if((strchr(cmdbuffer[bufindw], '*') != NULL))
|
|
{
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
|
|
SERIAL_ERRORLN(gcode_LastN);
|
|
serial_count = 0;
|
|
return;
|
|
}
|
|
}
|
|
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
|
|
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
|
|
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
|
|
case 0:
|
|
case 1:
|
|
case 2:
|
|
case 3:
|
|
if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
|
|
#ifdef SDSUPPORT
|
|
if(card.saving)
|
|
break;
|
|
#endif //SDSUPPORT
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
}
|
|
else {
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
//If command was e-stop process now
|
|
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
|
|
kill();
|
|
|
|
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;
|
|
}
|
|
|
|
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
|
|
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
|
|
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
|
|
|
|
static bool stop_buffering=false;
|
|
if(buflen==0) stop_buffering=false;
|
|
|
|
while( !card.eof() && buflen < BUFSIZE && !stop_buffering) {
|
|
int16_t n=card.get();
|
|
serial_char = (char)n;
|
|
if(serial_char == '\n' ||
|
|
serial_char == '\r' ||
|
|
(serial_char == '#' && comment_mode == false) ||
|
|
(serial_char == ':' && comment_mode == false) ||
|
|
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
|
|
{
|
|
if(card.eof()){
|
|
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int hours, minutes;
|
|
minutes=(t/60)%60;
|
|
hours=t/60/60;
|
|
sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
lcd_setstatus(time);
|
|
card.printingHasFinished();
|
|
card.checkautostart(true);
|
|
|
|
}
|
|
if(serial_char=='#')
|
|
stop_buffering=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);
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
#if EXTRUDERS == 1 || defined(COREXY) \
|
|
|| !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
|
|
|| !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
|
|
|| !defined(X_MAX_PIN) || X_MAX_PIN < 0
|
|
#error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
|
|
#endif
|
|
#if X_HOME_DIR != -1 || X2_HOME_DIR != 1
|
|
#error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
|
|
#endif
|
|
|
|
#define DXC_FULL_CONTROL_MODE 0
|
|
#define DXC_AUTO_PARK_MODE 1
|
|
#define DXC_DUPLICATION_MODE 2
|
|
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
|
|
|
|
static float x_home_pos(int extruder) {
|
|
if (extruder == 0)
|
|
return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
|
|
else
|
|
// In dual carriage mode the extruder offset provides an override of the
|
|
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
|
|
// This allow soft recalibration of the second extruder offset position without firmware reflash
|
|
// (through the M218 command).
|
|
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
|
|
}
|
|
|
|
static int x_home_dir(int extruder) {
|
|
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
|
|
}
|
|
|
|
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
|
|
static bool active_extruder_parked = false; // used in mode 1 & 2
|
|
static float raised_parked_position[NUM_AXIS]; // used in mode 1
|
|
static unsigned long delayed_move_time = 0; // used in mode 1
|
|
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
|
|
static float duplicate_extruder_temp_offset = 0; // used in mode 2
|
|
bool extruder_duplication_enabled = false; // used in mode 2
|
|
#endif //DUAL_X_CARRIAGE
|
|
|
|
static void axis_is_at_home(int axis) {
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (axis == X_AXIS) {
|
|
if (active_extruder != 0) {
|
|
current_position[X_AXIS] = x_home_pos(active_extruder);
|
|
min_pos[X_AXIS] = X2_MIN_POS;
|
|
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
|
|
return;
|
|
}
|
|
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
|
|
current_position[X_AXIS] = base_home_pos(X_AXIS) + add_homeing[X_AXIS];
|
|
min_pos[X_AXIS] = base_min_pos(X_AXIS) + add_homeing[X_AXIS];
|
|
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + add_homeing[X_AXIS],
|
|
max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
|
|
return;
|
|
}
|
|
}
|
|
#endif
|
|
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];
|
|
}
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
static void set_bed_level_equation_lsq(double *plane_equation_coefficients)
|
|
{
|
|
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
|
|
planeNormal.debug("planeNormal");
|
|
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
|
|
//bedLevel.debug("bedLevel");
|
|
|
|
//plan_bed_level_matrix.debug("bed level before");
|
|
//vector_3 uncorrected_position = plan_get_position_mm();
|
|
//uncorrected_position.debug("position before");
|
|
|
|
vector_3 corrected_position = plan_get_position();
|
|
// corrected_position.debug("position after");
|
|
current_position[X_AXIS] = corrected_position.x;
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
// but the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset; // in the lsq we reach here after raising the extruder due to the loop structure
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
#else // not AUTO_BED_LEVELING_GRID
|
|
|
|
static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {
|
|
|
|
plan_bed_level_matrix.set_to_identity();
|
|
|
|
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
|
|
vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
|
|
vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
|
|
|
|
vector_3 from_2_to_1 = (pt1 - pt2).get_normal();
|
|
vector_3 from_2_to_3 = (pt3 - pt2).get_normal();
|
|
vector_3 planeNormal = vector_3::cross(from_2_to_1, from_2_to_3).get_normal();
|
|
planeNormal = vector_3(planeNormal.x, planeNormal.y, abs(planeNormal.z));
|
|
|
|
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
|
|
|
|
vector_3 corrected_position = plan_get_position();
|
|
current_position[X_AXIS] = corrected_position.x;
|
|
current_position[Y_AXIS] = corrected_position.y;
|
|
current_position[Z_AXIS] = corrected_position.z;
|
|
|
|
// put the bed at 0 so we don't go below it.
|
|
current_position[Z_AXIS] = zprobe_zoffset;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
}
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
|
|
static void run_z_probe() {
|
|
plan_bed_level_matrix.set_to_identity();
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
// move down until you find the bed
|
|
float zPosition = -10;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// we have to let the planner know where we are right now as it is not where we said to go.
|
|
zPosition = st_get_position_mm(Z_AXIS);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
|
|
|
|
// move up the retract distance
|
|
zPosition += home_retract_mm(Z_AXIS);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
// move back down slowly to find bed
|
|
feedrate = homing_feedrate[Z_AXIS]/4;
|
|
zPosition -= home_retract_mm(Z_AXIS) * 2;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
|
|
// make sure the planner knows where we are as it may be a bit different than we last said to move to
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
|
|
static void do_blocking_move_to(float x, float y, float z) {
|
|
float oldFeedRate = feedrate;
|
|
|
|
feedrate = XY_TRAVEL_SPEED;
|
|
|
|
current_position[X_AXIS] = x;
|
|
current_position[Y_AXIS] = y;
|
|
current_position[Z_AXIS] = z;
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
|
|
feedrate = oldFeedRate;
|
|
}
|
|
|
|
static void do_blocking_move_relative(float offset_x, float offset_y, float offset_z) {
|
|
do_blocking_move_to(current_position[X_AXIS] + offset_x, current_position[Y_AXIS] + offset_y, current_position[Z_AXIS] + offset_z);
|
|
}
|
|
|
|
static void setup_for_endstop_move() {
|
|
saved_feedrate = feedrate;
|
|
saved_feedmultiply = feedmultiply;
|
|
feedmultiply = 100;
|
|
previous_millis_cmd = millis();
|
|
|
|
enable_endstops(true);
|
|
}
|
|
|
|
static void clean_up_after_endstop_move() {
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
static void engage_z_probe() {
|
|
// Engage Z Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[Z_AXIS] > -1) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_endstops[Z_AXIS]].attach(0);
|
|
#endif
|
|
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
static void retract_z_probe() {
|
|
// Retract Z Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[Z_AXIS] > -1) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_endstops[Z_AXIS]].attach(0);
|
|
#endif
|
|
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_endstops[Z_AXIS]].detach();
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/// Probe bed height at position (x,y), returns the measured z value
|
|
static float probe_pt(float x, float y, float z_before) {
|
|
// move to right place
|
|
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
|
|
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
|
|
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
run_z_probe();
|
|
float measured_z = current_position[Z_AXIS];
|
|
retract_z_probe();
|
|
|
|
SERIAL_PROTOCOLPGM(MSG_BED);
|
|
SERIAL_PROTOCOLPGM(" x: ");
|
|
SERIAL_PROTOCOL(x);
|
|
SERIAL_PROTOCOLPGM(" y: ");
|
|
SERIAL_PROTOCOL(y);
|
|
SERIAL_PROTOCOLPGM(" z: ");
|
|
SERIAL_PROTOCOL(measured_z);
|
|
SERIAL_PROTOCOLPGM("\n");
|
|
return measured_z;
|
|
}
|
|
|
|
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
|
|
|
|
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) {
|
|
int axis_home_dir = home_dir(axis);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (axis == X_AXIS)
|
|
axis_home_dir = x_home_dir(active_extruder);
|
|
#endif
|
|
|
|
current_position[axis] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
|
|
// Engage Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
if (axis==Z_AXIS) {
|
|
engage_z_probe();
|
|
}
|
|
else
|
|
#endif
|
|
if (servo_endstops[axis] > -1) {
|
|
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
|
|
}
|
|
#endif
|
|
|
|
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
|
|
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) * axis_home_dir;
|
|
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) * axis_home_dir;
|
|
#ifdef DELTA
|
|
feedrate = homing_feedrate[axis]/10;
|
|
#else
|
|
feedrate = homing_feedrate[axis]/2 ;
|
|
#endif
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
#ifdef DELTA
|
|
// retrace by the amount specified in endstop_adj
|
|
if (endstop_adj[axis] * axis_home_dir < 0) {
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[axis] = endstop_adj[axis];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
}
|
|
#endif
|
|
axis_is_at_home(axis);
|
|
destination[axis] = current_position[axis];
|
|
feedrate = 0.0;
|
|
endstops_hit_on_purpose();
|
|
axis_known_position[axis] = true;
|
|
|
|
// Retract Servo endstop if enabled
|
|
#ifdef SERVO_ENDSTOPS
|
|
if (servo_endstops[axis] > -1) {
|
|
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
|
|
}
|
|
#endif
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
if (axis==Z_AXIS) retract_z_probe();
|
|
#endif
|
|
|
|
}
|
|
}
|
|
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
|
|
void refresh_cmd_timeout(void)
|
|
{
|
|
previous_millis_cmd = millis();
|
|
}
|
|
|
|
#ifdef FWRETRACT
|
|
void retract(bool retracting, bool swapretract = false) {
|
|
if(retracting && !retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
if (swapretract) {
|
|
current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
|
|
} else {
|
|
current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
|
|
}
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_feedrate*60;
|
|
retracted[active_extruder]=true;
|
|
prepare_move();
|
|
current_position[Z_AXIS]-=retract_zlift;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
prepare_move();
|
|
feedrate = oldFeedrate;
|
|
} else if(!retracting && retracted[active_extruder]) {
|
|
destination[X_AXIS]=current_position[X_AXIS];
|
|
destination[Y_AXIS]=current_position[Y_AXIS];
|
|
destination[Z_AXIS]=current_position[Z_AXIS];
|
|
destination[E_AXIS]=current_position[E_AXIS];
|
|
current_position[Z_AXIS]+=retract_zlift;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
//prepare_move();
|
|
if (swapretract) {
|
|
current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
|
|
} else {
|
|
current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
|
|
}
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
float oldFeedrate = feedrate;
|
|
feedrate=retract_recover_feedrate*60;
|
|
retracted[active_extruder]=false;
|
|
prepare_move();
|
|
feedrate = oldFeedrate;
|
|
}
|
|
} //retract
|
|
#endif //FWRETRACT
|
|
|
|
void process_commands()
|
|
{
|
|
unsigned long codenum; //throw away variable
|
|
char *starpos = NULL;
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
float x_tmp, y_tmp, z_tmp, real_z;
|
|
#endif
|
|
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
|
|
#ifdef FWRETRACT
|
|
if(autoretract_enabled)
|
|
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
|
|
float echange=destination[E_AXIS]-current_position[E_AXIS];
|
|
if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
|
|
current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
|
|
plan_set_e_position(current_position[E_AXIS]); //AND from the planner
|
|
retract(!retracted);
|
|
return;
|
|
}
|
|
}
|
|
#endif //FWRETRACT
|
|
prepare_move();
|
|
//ClearToSend();
|
|
return;
|
|
}
|
|
break;
|
|
case 2: // G2 - CW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(true);
|
|
return;
|
|
}
|
|
break;
|
|
case 3: // G3 - CCW ARC
|
|
if(Stopped == false) {
|
|
get_arc_coordinates();
|
|
prepare_arc_move(false);
|
|
return;
|
|
}
|
|
break;
|
|
case 4: // G4 dwell
|
|
LCD_MESSAGEPGM(MSG_DWELL);
|
|
codenum = 0;
|
|
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
|
|
st_synchronize();
|
|
codenum += millis(); // keep track of when we started waiting
|
|
previous_millis_cmd = millis();
|
|
while(millis() < codenum ){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
break;
|
|
#ifdef FWRETRACT
|
|
case 10: // G10 retract
|
|
#if EXTRUDERS > 1
|
|
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
|
|
retract(true,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(true);
|
|
#endif
|
|
break;
|
|
case 11: // G11 retract_recover
|
|
#if EXTRUDERS > 1
|
|
retract(false,retracted_swap[active_extruder]);
|
|
#else
|
|
retract(false);
|
|
#endif
|
|
break;
|
|
#endif //FWRETRACT
|
|
case 28: //G28 Home all Axis one at a time
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
|
|
#endif //ENABLE_AUTO_BED_LEVELING
|
|
|
|
|
|
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;
|
|
|
|
#ifdef DELTA
|
|
// A delta can only safely home all axis at the same time
|
|
// all axis have to home at the same time
|
|
|
|
// Move all carriages up together until the first endstop is hit.
|
|
current_position[X_AXIS] = 0;
|
|
current_position[Y_AXIS] = 0;
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
destination[X_AXIS] = 3 * Z_MAX_LENGTH;
|
|
destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
|
|
destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
|
|
feedrate = 1.732 * homing_feedrate[X_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
|
|
st_synchronize();
|
|
endstops_hit_on_purpose();
|
|
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
current_position[Z_AXIS] = destination[Z_AXIS];
|
|
|
|
// take care of back off and rehome now we are all at the top
|
|
HOMEAXIS(X);
|
|
HOMEAXIS(Y);
|
|
HOMEAXIS(Z);
|
|
|
|
calculate_delta(current_position);
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
#else // NOT DELTA
|
|
|
|
home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
|
|
|
|
#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;
|
|
|
|
#ifndef DUAL_X_CARRIAGE
|
|
int x_axis_home_dir = home_dir(X_AXIS);
|
|
#else
|
|
int x_axis_home_dir = x_home_dir(active_extruder);
|
|
extruder_duplication_enabled = false;
|
|
#endif
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
|
|
feedrate = homing_feedrate[X_AXIS];
|
|
if(homing_feedrate[Y_AXIS]<feedrate)
|
|
feedrate = homing_feedrate[Y_AXIS];
|
|
if (max_length(X_AXIS) > max_length(Y_AXIS)) {
|
|
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
|
|
} else {
|
|
feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
|
|
}
|
|
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();
|
|
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
current_position[Z_AXIS] = destination[Z_AXIS];
|
|
}
|
|
#endif
|
|
|
|
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
|
|
{
|
|
#ifdef DUAL_X_CARRIAGE
|
|
int tmp_extruder = active_extruder;
|
|
extruder_duplication_enabled = false;
|
|
active_extruder = !active_extruder;
|
|
HOMEAXIS(X);
|
|
inactive_extruder_x_pos = current_position[X_AXIS];
|
|
active_extruder = tmp_extruder;
|
|
HOMEAXIS(X);
|
|
// reset state used by the different modes
|
|
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
|
|
delayed_move_time = 0;
|
|
active_extruder_parked = true;
|
|
#else
|
|
HOMEAXIS(X);
|
|
#endif
|
|
}
|
|
|
|
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
|
|
HOMEAXIS(Y);
|
|
}
|
|
|
|
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 Z_HOME_DIR < 0 // If homing towards BED do Z last
|
|
#ifndef Z_SAFE_HOMING
|
|
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
#endif
|
|
HOMEAXIS(Z);
|
|
}
|
|
#else // Z Safe mode activated.
|
|
if(home_all_axis) {
|
|
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
|
|
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = XY_TRAVEL_SPEED;
|
|
current_position[Z_AXIS] = 0;
|
|
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
current_position[X_AXIS] = destination[X_AXIS];
|
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
|
|
|
HOMEAXIS(Z);
|
|
}
|
|
// Let's see if X and Y are homed and probe is inside bed area.
|
|
if(code_seen(axis_codes[Z_AXIS])) {
|
|
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
|
|
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
|
|
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
|
|
|
|
current_position[Z_AXIS] = 0;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
|
|
feedrate = max_feedrate[Z_AXIS];
|
|
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
|
|
st_synchronize();
|
|
|
|
HOMEAXIS(Z);
|
|
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
|
|
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
|
} else {
|
|
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
|
|
}
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
|
|
|
|
if(code_seen(axis_codes[Z_AXIS])) {
|
|
if(code_value_long() != 0) {
|
|
current_position[Z_AXIS]=code_value()+add_homeing[2];
|
|
}
|
|
}
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
|
}
|
|
#endif
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
#endif // else DELTA
|
|
|
|
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
|
enable_endstops(false);
|
|
#endif
|
|
|
|
feedrate = saved_feedrate;
|
|
feedmultiply = saved_feedmultiply;
|
|
previous_millis_cmd = millis();
|
|
endstops_hit_on_purpose();
|
|
break;
|
|
|
|
#ifdef ENABLE_AUTO_BED_LEVELING
|
|
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
|
{
|
|
#if Z_MIN_PIN == -1
|
|
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
|
|
#endif
|
|
|
|
// Prevent user from running a G29 without first homing in X and Y
|
|
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
|
|
{
|
|
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
|
|
break; // abort G29, since we don't know where we are
|
|
}
|
|
|
|
st_synchronize();
|
|
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
|
|
//vector_3 corrected_position = plan_get_position_mm();
|
|
//corrected_position.debug("position before G29");
|
|
plan_bed_level_matrix.set_to_identity();
|
|
vector_3 uncorrected_position = plan_get_position();
|
|
//uncorrected_position.debug("position durring G29");
|
|
current_position[X_AXIS] = uncorrected_position.x;
|
|
current_position[Y_AXIS] = uncorrected_position.y;
|
|
current_position[Z_AXIS] = uncorrected_position.z;
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
#ifdef AUTO_BED_LEVELING_GRID
|
|
// probe at the points of a lattice grid
|
|
|
|
int xGridSpacing = (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
int yGridSpacing = (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION) / (AUTO_BED_LEVELING_GRID_POINTS-1);
|
|
|
|
|
|
// solve the plane equation ax + by + d = z
|
|
// A is the matrix with rows [x y 1] for all the probed points
|
|
// B is the vector of the Z positions
|
|
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
|
|
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
|
|
|
|
// "A" matrix of the linear system of equations
|
|
double eqnAMatrix[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS*3];
|
|
// "B" vector of Z points
|
|
double eqnBVector[AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS];
|
|
|
|
|
|
int probePointCounter = 0;
|
|
bool zig = true;
|
|
|
|
for (int yProbe=FRONT_PROBE_BED_POSITION; yProbe <= BACK_PROBE_BED_POSITION; yProbe += yGridSpacing)
|
|
{
|
|
int xProbe, xInc;
|
|
if (zig)
|
|
{
|
|
xProbe = LEFT_PROBE_BED_POSITION;
|
|
//xEnd = RIGHT_PROBE_BED_POSITION;
|
|
xInc = xGridSpacing;
|
|
zig = false;
|
|
} else // zag
|
|
{
|
|
xProbe = RIGHT_PROBE_BED_POSITION;
|
|
//xEnd = LEFT_PROBE_BED_POSITION;
|
|
xInc = -xGridSpacing;
|
|
zig = true;
|
|
}
|
|
|
|
for (int xCount=0; xCount < AUTO_BED_LEVELING_GRID_POINTS; xCount++)
|
|
{
|
|
float z_before;
|
|
if (probePointCounter == 0)
|
|
{
|
|
// raise before probing
|
|
z_before = Z_RAISE_BEFORE_PROBING;
|
|
} else
|
|
{
|
|
// raise extruder
|
|
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
|
|
}
|
|
|
|
float measured_z = probe_pt(xProbe, yProbe, z_before);
|
|
|
|
eqnBVector[probePointCounter] = measured_z;
|
|
|
|
eqnAMatrix[probePointCounter + 0*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = xProbe;
|
|
eqnAMatrix[probePointCounter + 1*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = yProbe;
|
|
eqnAMatrix[probePointCounter + 2*AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS] = 1;
|
|
probePointCounter++;
|
|
xProbe += xInc;
|
|
}
|
|
}
|
|
clean_up_after_endstop_move();
|
|
|
|
// solve lsq problem
|
|
double *plane_equation_coefficients = qr_solve(AUTO_BED_LEVELING_GRID_POINTS*AUTO_BED_LEVELING_GRID_POINTS, 3, eqnAMatrix, eqnBVector);
|
|
|
|
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
|
|
SERIAL_PROTOCOLPGM(" b: ");
|
|
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
|
|
SERIAL_PROTOCOLPGM(" d: ");
|
|
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
|
|
|
|
|
|
set_bed_level_equation_lsq(plane_equation_coefficients);
|
|
|
|
free(plane_equation_coefficients);
|
|
|
|
#else // AUTO_BED_LEVELING_GRID not defined
|
|
|
|
// Probe at 3 arbitrary points
|
|
// probe 1
|
|
float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
|
|
|
|
// probe 2
|
|
float z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
|
|
// probe 3
|
|
float z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
|
|
|
|
|
|
#endif // AUTO_BED_LEVELING_GRID
|
|
st_synchronize();
|
|
|
|
// The following code correct the Z height difference from z-probe position and hotend tip position.
|
|
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
|
|
// When the bed is uneven, this height must be corrected.
|
|
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
|
|
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
|
|
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
|
|
z_tmp = current_position[Z_AXIS];
|
|
|
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
|
|
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
break;
|
|
|
|
case 30: // G30 Single Z Probe
|
|
{
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
|
|
st_synchronize();
|
|
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
|
|
setup_for_endstop_move();
|
|
|
|
feedrate = homing_feedrate[Z_AXIS];
|
|
|
|
run_z_probe();
|
|
SERIAL_PROTOCOLPGM(MSG_BED);
|
|
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("\n");
|
|
|
|
clean_up_after_endstop_move();
|
|
|
|
retract_z_probe(); // Retract Z Servo endstop if available
|
|
}
|
|
break;
|
|
#endif // ENABLE_AUTO_BED_LEVELING
|
|
case 90: // G90
|
|
relative_mode = false;
|
|
break;
|
|
case 91: // G91
|
|
relative_mode = true;
|
|
break;
|
|
case 92: // G92
|
|
if(!code_seen(axis_codes[E_AXIS]))
|
|
st_synchronize();
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i])) {
|
|
if(i == E_AXIS) {
|
|
current_position[i] = code_value();
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
}
|
|
else {
|
|
current_position[i] = code_value()+add_homeing[i];
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
|
|
else if(code_seen('M'))
|
|
{
|
|
switch( (int)code_value() )
|
|
{
|
|
#ifdef ULTIPANEL
|
|
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
|
|
case 1: // M1 - Conditional stop - Wait for user button press on LCD
|
|
{
|
|
LCD_MESSAGEPGM(MSG_USERWAIT);
|
|
codenum = 0;
|
|
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
|
|
st_synchronize();
|
|
previous_millis_cmd = millis();
|
|
if (codenum > 0){
|
|
codenum += millis(); // keep track of when we started waiting
|
|
while(millis() < codenum && !lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}else{
|
|
while(!lcd_clicked()){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}
|
|
LCD_MESSAGEPGM(MSG_RESUMING);
|
|
}
|
|
break;
|
|
#endif
|
|
case 17:
|
|
LCD_MESSAGEPGM(MSG_NO_MOVE);
|
|
enable_x();
|
|
enable_y();
|
|
enable_z();
|
|
enable_e0();
|
|
enable_e1();
|
|
enable_e2();
|
|
break;
|
|
|
|
#ifdef SDSUPPORT
|
|
case 20: // M20 - list SD card
|
|
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
|
|
card.ls();
|
|
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
|
|
break;
|
|
case 21: // M21 - init SD card
|
|
|
|
card.initsd();
|
|
|
|
break;
|
|
case 22: //M22 - release SD card
|
|
card.release();
|
|
|
|
break;
|
|
case 23: //M23 - Select file
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\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) = '\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) = '\0';
|
|
}
|
|
card.removeFile(strchr_pointer + 4);
|
|
}
|
|
break;
|
|
case 32: //M32 - Select file and start SD print
|
|
{
|
|
if(card.sdprinting) {
|
|
st_synchronize();
|
|
|
|
}
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
|
|
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
|
|
if(namestartpos==NULL)
|
|
{
|
|
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
|
|
}
|
|
else
|
|
namestartpos++; //to skip the '!'
|
|
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
|
|
bool call_procedure=(code_seen('P'));
|
|
|
|
if(strchr_pointer>namestartpos)
|
|
call_procedure=false; //false alert, 'P' found within filename
|
|
|
|
if( card.cardOK )
|
|
{
|
|
card.openFile(namestartpos,true,!call_procedure);
|
|
if(code_seen('S'))
|
|
if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
|
|
card.setIndex(code_value_long());
|
|
card.startFileprint();
|
|
if(!call_procedure)
|
|
starttime=millis(); //procedure calls count as normal print time.
|
|
}
|
|
} break;
|
|
case 928: //M928 - Start SD write
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos != NULL){
|
|
char* npos = strchr(cmdbuffer[bufindr], 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos) = '\0';
|
|
}
|
|
card.openLogFile(strchr_pointer+5);
|
|
break;
|
|
|
|
#endif //SDSUPPORT
|
|
|
|
case 31: //M31 take time since the start of the SD print or an M109 command
|
|
{
|
|
stoptime=millis();
|
|
char time[30];
|
|
unsigned long t=(stoptime-starttime)/1000;
|
|
int sec,min;
|
|
min=t/60;
|
|
sec=t%60;
|
|
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLN(time);
|
|
lcd_setstatus(time);
|
|
autotempShutdown();
|
|
}
|
|
break;
|
|
case 42: //M42 -Change pin status via gcode
|
|
if (code_seen('S'))
|
|
{
|
|
int pin_status = code_value();
|
|
int pin_number = LED_PIN;
|
|
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
|
|
pin_number = code_value();
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
if (pin_number == FAN_PIN)
|
|
fanSpeed = pin_status;
|
|
#endif
|
|
if (pin_number > -1)
|
|
{
|
|
pinMode(pin_number, OUTPUT);
|
|
digitalWrite(pin_number, pin_status);
|
|
analogWrite(pin_number, pin_status);
|
|
}
|
|
}
|
|
break;
|
|
case 104: // M104
|
|
if(setTargetedHotend(104)){
|
|
break;
|
|
}
|
|
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
setWatch();
|
|
break;
|
|
case 112: // M112 -Emergency Stop
|
|
kill();
|
|
break;
|
|
case 140: // M140 set bed temp
|
|
if (code_seen('S')) setTargetBed(code_value());
|
|
break;
|
|
case 105 : // M105
|
|
if(setTargetedHotend(105)){
|
|
break;
|
|
}
|
|
#if defined(TEMP_0_PIN) && 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 defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetBed(),1);
|
|
#endif //TEMP_BED_PIN
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" /");
|
|
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
|
|
}
|
|
#else
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" @:");
|
|
#ifdef EXTRUDER_WATTS
|
|
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
|
|
#endif
|
|
|
|
SERIAL_PROTOCOLPGM(" B@:");
|
|
#ifdef BED_WATTS
|
|
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
|
|
SERIAL_PROTOCOLPGM("W");
|
|
#else
|
|
SERIAL_PROTOCOL(getHeaterPower(-1));
|
|
#endif
|
|
|
|
#ifdef SHOW_TEMP_ADC_VALUES
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
SERIAL_PROTOCOLPGM(" ADC B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
|
|
#endif
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
SERIAL_PROTOCOLPGM(" T");
|
|
SERIAL_PROTOCOL(cur_extruder);
|
|
SERIAL_PROTOCOLPGM(":");
|
|
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
|
|
SERIAL_PROTOCOLPGM("C->");
|
|
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
|
|
}
|
|
#endif
|
|
|
|
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 DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
CooldownNoWait = true;
|
|
} else if (code_seen('R')) {
|
|
setTargetHotend(code_value(), tmp_extruder);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
|
|
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
|
|
#endif
|
|
CooldownNoWait = false;
|
|
}
|
|
#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 */
|
|
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
|
|
|
|
cancel_heatup = false;
|
|
|
|
#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((!cancel_heatup)&&((residencyStart == -1) ||
|
|
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
|
|
#else
|
|
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
if( (millis() - codenum) > 1000UL )
|
|
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)tmp_extruder);
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
SERIAL_PROTOCOLPGM(" W:");
|
|
if(residencyStart > -1)
|
|
{
|
|
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
|
|
SERIAL_PROTOCOLLN( codenum );
|
|
}
|
|
else
|
|
{
|
|
SERIAL_PROTOCOLLN( "?" );
|
|
}
|
|
#else
|
|
SERIAL_PROTOCOLLN("");
|
|
#endif
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
#ifdef TEMP_RESIDENCY_TIME
|
|
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
|
|
or when current temp falls outside the hysteresis after target temp was reached */
|
|
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
|
|
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
|
|
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
|
|
{
|
|
residencyStart = millis();
|
|
}
|
|
#endif //TEMP_RESIDENCY_TIME
|
|
}
|
|
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
|
|
starttime=millis();
|
|
previous_millis_cmd = millis();
|
|
}
|
|
break;
|
|
case 190: // M190 - Wait for bed heater to reach target.
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
LCD_MESSAGEPGM(MSG_BED_HEATING);
|
|
if (code_seen('S')) {
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = true;
|
|
} else if (code_seen('R')) {
|
|
setTargetBed(code_value());
|
|
CooldownNoWait = false;
|
|
}
|
|
codenum = millis();
|
|
|
|
cancel_heatup = false;
|
|
target_direction = isHeatingBed(); // true if heating, false if cooling
|
|
|
|
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
|
|
{
|
|
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
{
|
|
float tt=degHotend(active_extruder);
|
|
SERIAL_PROTOCOLPGM("T:");
|
|
SERIAL_PROTOCOL(tt);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL((int)active_extruder);
|
|
SERIAL_PROTOCOLPGM(" B:");
|
|
SERIAL_PROTOCOL_F(degBed(),1);
|
|
SERIAL_PROTOCOLLN("");
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
LCD_MESSAGEPGM(MSG_BED_DONE);
|
|
previous_millis_cmd = millis();
|
|
#endif
|
|
break;
|
|
|
|
#if defined(FAN_PIN) && FAN_PIN > -1
|
|
case 106: //M106 Fan On
|
|
if (code_seen('S')){
|
|
fanSpeed=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
fanSpeed=255;
|
|
}
|
|
break;
|
|
case 107: //M107 Fan Off
|
|
fanSpeed = 0;
|
|
break;
|
|
#endif //FAN_PIN
|
|
#ifdef BARICUDA
|
|
// PWM for HEATER_1_PIN
|
|
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
|
|
case 126: //M126 valve open
|
|
if (code_seen('S')){
|
|
ValvePressure=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
ValvePressure=255;
|
|
}
|
|
break;
|
|
case 127: //M127 valve closed
|
|
ValvePressure = 0;
|
|
break;
|
|
#endif //HEATER_1_PIN
|
|
|
|
// PWM for HEATER_2_PIN
|
|
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
|
|
case 128: //M128 valve open
|
|
if (code_seen('S')){
|
|
EtoPPressure=constrain(code_value(),0,255);
|
|
}
|
|
else {
|
|
EtoPPressure=255;
|
|
}
|
|
break;
|
|
case 129: //M129 valve closed
|
|
EtoPPressure = 0;
|
|
break;
|
|
#endif //HEATER_2_PIN
|
|
#endif
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
case 80: // M80 - Turn on Power Supply
|
|
SET_OUTPUT(PS_ON_PIN); //GND
|
|
WRITE(PS_ON_PIN, PS_ON_AWAKE);
|
|
|
|
// If you have a switch on suicide pin, this is useful
|
|
// if you want to start another print with suicide feature after
|
|
// a print without suicide...
|
|
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
|
|
SET_OUTPUT(SUICIDE_PIN);
|
|
WRITE(SUICIDE_PIN, HIGH);
|
|
#endif
|
|
|
|
#ifdef ULTIPANEL
|
|
powersupply = true;
|
|
LCD_MESSAGEPGM(WELCOME_MSG);
|
|
lcd_update();
|
|
#endif
|
|
break;
|
|
#endif
|
|
|
|
case 81: // M81 - Turn off Power Supply
|
|
disable_heater();
|
|
st_synchronize();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
finishAndDisableSteppers();
|
|
fanSpeed = 0;
|
|
delay(1000); // Wait a little before to switch off
|
|
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
|
|
st_synchronize();
|
|
suicide();
|
|
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
SET_OUTPUT(PS_ON_PIN);
|
|
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
|
|
#endif
|
|
#ifdef ULTIPANEL
|
|
powersupply = false;
|
|
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
|
|
lcd_update();
|
|
#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[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
|
|
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
|
|
if(code_seen('S')) {
|
|
max_inactive_time = code_value() * 1000;
|
|
}
|
|
break;
|
|
case 92: // M92
|
|
for(int8_t i=0; i < NUM_AXIS; i++)
|
|
{
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
if(i == 3) { // E
|
|
float value = code_value();
|
|
if(value < 20.0) {
|
|
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
|
|
max_e_jerk *= factor;
|
|
max_feedrate[i] *= factor;
|
|
axis_steps_per_sqr_second[i] *= factor;
|
|
}
|
|
axis_steps_per_unit[i] = value;
|
|
}
|
|
else {
|
|
axis_steps_per_unit[i] = code_value();
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 115: // M115
|
|
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
|
|
break;
|
|
case 117: // M117 display message
|
|
starpos = (strchr(strchr_pointer + 5,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos)='\0';
|
|
lcd_setstatus(strchr_pointer + 5);
|
|
break;
|
|
case 114: // M114
|
|
SERIAL_PROTOCOLPGM("X:");
|
|
SERIAL_PROTOCOL(current_position[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
SERIAL_PROTOCOL(current_position[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Z:");
|
|
SERIAL_PROTOCOL(current_position[Z_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" E:");
|
|
SERIAL_PROTOCOL(current_position[E_AXIS]);
|
|
|
|
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
|
|
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Y:");
|
|
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
|
|
SERIAL_PROTOCOLPGM(" Z:");
|
|
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
|
|
|
|
SERIAL_PROTOCOLLN("");
|
|
break;
|
|
case 120: // M120
|
|
enable_endstops(false) ;
|
|
break;
|
|
case 121: // M121
|
|
enable_endstops(true) ;
|
|
break;
|
|
case 119: // M119
|
|
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
|
|
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_X_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_X_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
|
|
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
|
|
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
|
|
#endif
|
|
break;
|
|
//TODO: update for all axis, use for loop
|
|
#ifdef BLINKM
|
|
case 150: // M150
|
|
{
|
|
byte red;
|
|
byte grn;
|
|
byte blu;
|
|
|
|
if(code_seen('R')) red = code_value();
|
|
if(code_seen('U')) grn = code_value();
|
|
if(code_seen('B')) blu = code_value();
|
|
|
|
SendColors(red,grn,blu);
|
|
}
|
|
break;
|
|
#endif //BLINKM
|
|
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
|
|
{
|
|
float area = .0;
|
|
float radius = .0;
|
|
if(code_seen('D')) {
|
|
radius = (float)code_value() * .5;
|
|
if(radius == 0) {
|
|
area = 1;
|
|
} else {
|
|
area = M_PI * pow(radius, 2);
|
|
}
|
|
} else {
|
|
//reserved for setting filament diameter via UFID or filament measuring device
|
|
break;
|
|
|
|
|
|
}
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
|
|
break;
|
|
}
|
|
}
|
|
volumetric_multiplier[tmp_extruder] = 1 / area;
|
|
}
|
|
break;
|
|
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();
|
|
}
|
|
}
|
|
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
|
|
reset_acceleration_rates();
|
|
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 DELTA
|
|
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
|
|
if(code_seen('L')) {
|
|
delta_diagonal_rod= code_value();
|
|
}
|
|
if(code_seen('R')) {
|
|
delta_radius= code_value();
|
|
}
|
|
if(code_seen('S')) {
|
|
delta_segments_per_second= code_value();
|
|
}
|
|
|
|
recalc_delta_settings(delta_radius, delta_diagonal_rod);
|
|
break;
|
|
case 666: // M666 set delta endstop adjustemnt
|
|
for(int8_t i=0; i < 3; i++)
|
|
{
|
|
if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
|
|
}
|
|
break;
|
|
#endif
|
|
#ifdef FWRETRACT
|
|
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
retract_length = code_value() ;
|
|
}
|
|
if(code_seen('F'))
|
|
{
|
|
retract_feedrate = code_value()/60 ;
|
|
}
|
|
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/min]
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
retract_recover_length = code_value() ;
|
|
}
|
|
if(code_seen('F'))
|
|
{
|
|
retract_recover_feedrate = code_value()/60 ;
|
|
}
|
|
}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[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
}break;
|
|
case 1:
|
|
{
|
|
autoretract_enabled=true;
|
|
retracted[0]=false;
|
|
#if EXTRUDERS > 1
|
|
retracted[1]=false;
|
|
#endif
|
|
#if EXTRUDERS > 2
|
|
retracted[2]=false;
|
|
#endif
|
|
}break;
|
|
default:
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(cmdbuffer[bufindr]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
}
|
|
}
|
|
|
|
}break;
|
|
#endif // FWRETRACT
|
|
#if EXTRUDERS > 1
|
|
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
|
|
{
|
|
if(setTargetedHotend(218)){
|
|
break;
|
|
}
|
|
if(code_seen('X'))
|
|
{
|
|
extruder_offset[X_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if(code_seen('Z'))
|
|
{
|
|
extruder_offset[Z_AXIS][tmp_extruder] = code_value();
|
|
}
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
|
|
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
|
|
{
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
|
|
#ifdef DUAL_X_CARRIAGE
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
|
|
#endif
|
|
}
|
|
SERIAL_ECHOLN("");
|
|
}break;
|
|
#endif
|
|
case 220: // M220 S<factor in percent>- set speed factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
feedmultiply = code_value() ;
|
|
}
|
|
}
|
|
break;
|
|
case 221: // M221 S<factor in percent>- set extrude factor override percentage
|
|
{
|
|
if(code_seen('S'))
|
|
{
|
|
int tmp_code = code_value();
|
|
if (code_seen('T'))
|
|
{
|
|
if(setTargetedHotend(221)){
|
|
break;
|
|
}
|
|
extruder_multiply[tmp_extruder] = tmp_code;
|
|
}
|
|
else
|
|
{
|
|
extrudemultiply = tmp_code ;
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
|
|
{
|
|
if(code_seen('P')){
|
|
int pin_number = code_value(); // pin number
|
|
int pin_state = -1; // required pin state - default is inverted
|
|
|
|
if(code_seen('S')) pin_state = code_value(); // required pin state
|
|
|
|
if(pin_state >= -1 && pin_state <= 1){
|
|
|
|
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
|
|
{
|
|
if (sensitive_pins[i] == pin_number)
|
|
{
|
|
pin_number = -1;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (pin_number > -1)
|
|
{
|
|
st_synchronize();
|
|
|
|
pinMode(pin_number, INPUT);
|
|
|
|
int target;
|
|
switch(pin_state){
|
|
case 1:
|
|
target = HIGH;
|
|
break;
|
|
|
|
case 0:
|
|
target = LOW;
|
|
break;
|
|
|
|
case -1:
|
|
target = !digitalRead(pin_number);
|
|
break;
|
|
}
|
|
|
|
while(digitalRead(pin_number) != target){
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
|
|
#if NUM_SERVOS > 0
|
|
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
|
{
|
|
int servo_index = -1;
|
|
int servo_position = 0;
|
|
if (code_seen('P'))
|
|
servo_index = code_value();
|
|
if (code_seen('S')) {
|
|
servo_position = code_value();
|
|
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
servos[servo_index].attach(0);
|
|
#endif
|
|
servos[servo_index].write(servo_position);
|
|
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
|
|
delay(PROBE_SERVO_DEACTIVATION_DELAY);
|
|
servos[servo_index].detach();
|
|
#endif
|
|
}
|
|
else {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("Servo ");
|
|
SERIAL_ECHO(servo_index);
|
|
SERIAL_ECHOLN(" out of range");
|
|
}
|
|
}
|
|
else if (servo_index >= 0) {
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
SERIAL_PROTOCOL(" Servo ");
|
|
SERIAL_PROTOCOL(servo_index);
|
|
SERIAL_PROTOCOL(": ");
|
|
SERIAL_PROTOCOL(servos[servo_index].read());
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
break;
|
|
#endif // NUM_SERVOS > 0
|
|
|
|
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
|
|
case 300: // M300
|
|
{
|
|
int beepS = code_seen('S') ? code_value() : 110;
|
|
int beepP = code_seen('P') ? code_value() : 1000;
|
|
if (beepS > 0)
|
|
{
|
|
#if BEEPER > 0
|
|
tone(BEEPER, beepS);
|
|
delay(beepP);
|
|
noTone(BEEPER);
|
|
#elif defined(ULTRALCD)
|
|
lcd_buzz(beepS, beepP);
|
|
#elif defined(LCD_USE_I2C_BUZZER)
|
|
lcd_buzz(beepP, beepS);
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
delay(beepP);
|
|
}
|
|
}
|
|
break;
|
|
#endif // M300
|
|
|
|
#ifdef PIDTEMP
|
|
case 301: // M301
|
|
{
|
|
if(code_seen('P')) Kp = code_value();
|
|
if(code_seen('I')) Ki = scalePID_i(code_value());
|
|
if(code_seen('D')) Kd = scalePID_d(code_value());
|
|
|
|
#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(unscalePID_i(Ki));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(Kd));
|
|
#ifdef PID_ADD_EXTRUSION_RATE
|
|
SERIAL_PROTOCOL(" c:");
|
|
//Kc does not have scaling applied above, or in resetting defaults
|
|
SERIAL_PROTOCOL(Kc);
|
|
#endif
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif //PIDTEMP
|
|
#ifdef PIDTEMPBED
|
|
case 304: // M304
|
|
{
|
|
if(code_seen('P')) bedKp = code_value();
|
|
if(code_seen('I')) bedKi = scalePID_i(code_value());
|
|
if(code_seen('D')) bedKd = scalePID_d(code_value());
|
|
|
|
updatePID();
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
SERIAL_PROTOCOL(" p:");
|
|
SERIAL_PROTOCOL(bedKp);
|
|
SERIAL_PROTOCOL(" i:");
|
|
SERIAL_PROTOCOL(unscalePID_i(bedKi));
|
|
SERIAL_PROTOCOL(" d:");
|
|
SERIAL_PROTOCOL(unscalePID_d(bedKd));
|
|
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 CHDK
|
|
|
|
SET_OUTPUT(CHDK);
|
|
WRITE(CHDK, HIGH);
|
|
chdkHigh = millis();
|
|
chdkActive = true;
|
|
|
|
#else
|
|
|
|
#if defined(PHOTOGRAPH_PIN) && 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 //chdk end if
|
|
}
|
|
break;
|
|
#ifdef DOGLCD
|
|
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
|
|
{
|
|
if (code_seen('C')) {
|
|
lcd_setcontrast( ((int)code_value())&63 );
|
|
}
|
|
SERIAL_PROTOCOLPGM("lcd contrast value: ");
|
|
SERIAL_PROTOCOL(lcd_contrast);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
#endif
|
|
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
|
case 302: // allow cold extrudes, or set the minimum extrude temperature
|
|
{
|
|
float temp = .0;
|
|
if (code_seen('S')) temp=code_value();
|
|
set_extrude_min_temp(temp);
|
|
}
|
|
break;
|
|
#endif
|
|
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;
|
|
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS)
|
|
case 401:
|
|
{
|
|
engage_z_probe(); // Engage Z Servo endstop if available
|
|
}
|
|
break;
|
|
|
|
case 402:
|
|
{
|
|
retract_z_probe(); // Retract Z Servo endstop if enabled
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifdef FILAMENT_SENSOR
|
|
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
|
|
{
|
|
#if (FILWIDTH_PIN > -1)
|
|
if(code_seen('N')) filament_width_nominal=code_value();
|
|
else{
|
|
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
|
|
SERIAL_PROTOCOLLN(filament_width_nominal);
|
|
}
|
|
#endif
|
|
}
|
|
break;
|
|
|
|
case 405: //M405 Turn on filament sensor for control
|
|
{
|
|
|
|
|
|
if(code_seen('D')) meas_delay_cm=code_value();
|
|
|
|
if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
|
|
meas_delay_cm = MAX_MEASUREMENT_DELAY;
|
|
|
|
if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
|
|
{
|
|
int temp_ratio = widthFil_to_size_ratio();
|
|
|
|
for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
|
|
measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
|
|
}
|
|
delay_index1=0;
|
|
delay_index2=0;
|
|
}
|
|
|
|
filament_sensor = true ;
|
|
|
|
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
|
|
//SERIAL_PROTOCOL(filament_width_meas);
|
|
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
|
|
//SERIAL_PROTOCOL(extrudemultiply);
|
|
}
|
|
break;
|
|
|
|
case 406: //M406 Turn off filament sensor for control
|
|
{
|
|
filament_sensor = false ;
|
|
}
|
|
break;
|
|
|
|
case 407: //M407 Display measured filament diameter
|
|
{
|
|
|
|
|
|
|
|
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
|
|
SERIAL_PROTOCOLLN(filament_width_meas);
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
|
|
|
|
|
|
|
|
case 500: // M500 Store settings in EEPROM
|
|
{
|
|
Config_StoreSettings();
|
|
}
|
|
break;
|
|
case 501: // M501 Read settings from EEPROM
|
|
{
|
|
Config_RetrieveSettings();
|
|
}
|
|
break;
|
|
case 502: // M502 Revert to default settings
|
|
{
|
|
Config_ResetDefault();
|
|
}
|
|
break;
|
|
case 503: // M503 print settings currently in memory
|
|
{
|
|
Config_PrintSettings();
|
|
}
|
|
break;
|
|
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
|
|
case 540:
|
|
{
|
|
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
|
|
}
|
|
break;
|
|
#endif
|
|
|
|
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
|
|
{
|
|
float value;
|
|
if (code_seen('Z'))
|
|
{
|
|
value = code_value();
|
|
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
|
|
{
|
|
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
|
|
SERIAL_ECHOPGM(MSG_Z_MIN);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
|
|
SERIAL_ECHOPGM(MSG_Z_MAX);
|
|
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
}
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
|
|
SERIAL_ECHO(-zprobe_zoffset);
|
|
SERIAL_PROTOCOLLN("");
|
|
}
|
|
break;
|
|
}
|
|
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
|
|
|
|
#ifdef FILAMENTCHANGEENABLE
|
|
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
|
|
{
|
|
float target[4];
|
|
float lastpos[4];
|
|
target[X_AXIS]=current_position[X_AXIS];
|
|
target[Y_AXIS]=current_position[Y_AXIS];
|
|
target[Z_AXIS]=current_position[Z_AXIS];
|
|
target[E_AXIS]=current_position[E_AXIS];
|
|
lastpos[X_AXIS]=current_position[X_AXIS];
|
|
lastpos[Y_AXIS]=current_position[Y_AXIS];
|
|
lastpos[Z_AXIS]=current_position[Z_AXIS];
|
|
lastpos[E_AXIS]=current_position[E_AXIS];
|
|
//retract by E
|
|
if(code_seen('E'))
|
|
{
|
|
target[E_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FIRSTRETRACT
|
|
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//lift Z
|
|
if(code_seen('Z'))
|
|
{
|
|
target[Z_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_ZADD
|
|
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
|
|
#endif
|
|
}
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//move xy
|
|
if(code_seen('X'))
|
|
{
|
|
target[X_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_XPOS
|
|
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
|
|
#endif
|
|
}
|
|
if(code_seen('Y'))
|
|
{
|
|
target[Y_AXIS]= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_YPOS
|
|
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
|
|
#endif
|
|
}
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
if(code_seen('L'))
|
|
{
|
|
target[E_AXIS]+= code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FINALRETRACT
|
|
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
|
|
#endif
|
|
}
|
|
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder);
|
|
|
|
//finish moves
|
|
st_synchronize();
|
|
//disable extruder steppers so filament can be removed
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
delay(100);
|
|
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
|
|
uint8_t cnt=0;
|
|
while(!lcd_clicked()){
|
|
cnt++;
|
|
manage_heater();
|
|
manage_inactivity();
|
|
lcd_update();
|
|
if(cnt==0)
|
|
{
|
|
#if BEEPER > 0
|
|
SET_OUTPUT(BEEPER);
|
|
|
|
WRITE(BEEPER,HIGH);
|
|
delay(3);
|
|
WRITE(BEEPER,LOW);
|
|
delay(3);
|
|
#else
|
|
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
|
|
lcd_buzz(1000/6,100);
|
|
#else
|
|
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
|
|
#endif
|
|
#endif
|
|
}
|
|
}
|
|
|
|
//return to normal
|
|
if(code_seen('L'))
|
|
{
|
|
target[E_AXIS]+= -code_value();
|
|
}
|
|
else
|
|
{
|
|
#ifdef FILAMENTCHANGE_FINALRETRACT
|
|
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
|
|
#endif
|
|
}
|
|
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
|
|
plan_set_e_position(current_position[E_AXIS]);
|
|
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //should do nothing
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move xy back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); //move z back
|
|
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract
|
|
}
|
|
break;
|
|
#endif //FILAMENTCHANGEENABLE
|
|
#ifdef DUAL_X_CARRIAGE
|
|
case 605: // Set dual x-carriage movement mode:
|
|
// M605 S0: Full control mode. The slicer has full control over x-carriage movement
|
|
// M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
|
|
// M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
|
|
// millimeters x-offset and an optional differential hotend temperature of
|
|
// mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
|
|
// the first with a spacing of 100mm in the x direction and 2 degrees hotter.
|
|
//
|
|
// Note: the X axis should be homed after changing dual x-carriage mode.
|
|
{
|
|
st_synchronize();
|
|
|
|
if (code_seen('S'))
|
|
dual_x_carriage_mode = code_value();
|
|
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
|
|
{
|
|
if (code_seen('X'))
|
|
duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));
|
|
|
|
if (code_seen('R'))
|
|
duplicate_extruder_temp_offset = code_value();
|
|
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
|
|
SERIAL_ECHO(" ");
|
|
SERIAL_ECHO(duplicate_extruder_x_offset);
|
|
SERIAL_ECHO(",");
|
|
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
|
|
}
|
|
else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
|
|
{
|
|
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
|
|
}
|
|
|
|
active_extruder_parked = false;
|
|
extruder_duplication_enabled = false;
|
|
delayed_move_time = 0;
|
|
}
|
|
break;
|
|
#endif //DUAL_X_CARRIAGE
|
|
|
|
case 907: // M907 Set digital trimpot motor current using axis codes.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && 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
|
|
#ifdef MOTOR_CURRENT_PWM_XY_PIN
|
|
if(code_seen('X')) digipot_current(0, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_Z_PIN
|
|
if(code_seen('Z')) digipot_current(1, code_value());
|
|
#endif
|
|
#ifdef MOTOR_CURRENT_PWM_E_PIN
|
|
if(code_seen('E')) digipot_current(2, code_value());
|
|
#endif
|
|
#ifdef DIGIPOT_I2C
|
|
// this one uses actual amps in floating point
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
|
|
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
|
|
for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
|
|
#endif
|
|
}
|
|
break;
|
|
case 908: // M908 Control digital trimpot directly.
|
|
{
|
|
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
|
|
uint8_t channel,current;
|
|
if(code_seen('P')) channel=code_value();
|
|
if(code_seen('S')) current=code_value();
|
|
digitalPotWrite(channel, current);
|
|
#endif
|
|
}
|
|
break;
|
|
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
|
|
if(code_seen('B')) microstep_mode(4,code_value());
|
|
microstep_readings();
|
|
#endif
|
|
}
|
|
break;
|
|
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
{
|
|
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
|
|
if(code_seen('S')) switch((int)code_value())
|
|
{
|
|
case 1:
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
|
|
if(code_seen('B')) microstep_ms(4,code_value(),-1);
|
|
break;
|
|
case 2:
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
|
|
if(code_seen('B')) microstep_ms(4,-1,code_value());
|
|
break;
|
|
}
|
|
microstep_readings();
|
|
#endif
|
|
}
|
|
break;
|
|
case 999: // M999: Restart after being stopped
|
|
Stopped = false;
|
|
lcd_reset_alert_level();
|
|
gcode_LastN = Stopped_gcode_LastN;
|
|
FlushSerialRequestResend();
|
|
break;
|
|
}
|
|
}
|
|
|
|
else if(code_seen('T'))
|
|
{
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO("T");
|
|
SERIAL_ECHO(tmp_extruder);
|
|
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
|
|
}
|
|
else {
|
|
boolean make_move = false;
|
|
if(code_seen('F')) {
|
|
make_move = true;
|
|
next_feedrate = code_value();
|
|
if(next_feedrate > 0.0) {
|
|
feedrate = next_feedrate;
|
|
}
|
|
}
|
|
#if EXTRUDERS > 1
|
|
if(tmp_extruder != active_extruder) {
|
|
// Save current position to return to after applying extruder offset
|
|
memcpy(destination, current_position, sizeof(destination));
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
|
|
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
|
|
{
|
|
// Park old head: 1) raise 2) move to park position 3) lower
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
|
|
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
|
|
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
|
|
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
|
|
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
|
|
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
|
|
st_synchronize();
|
|
}
|
|
|
|
// apply Y & Z extruder offset (x offset is already used in determining home pos)
|
|
current_position[Y_AXIS] = current_position[Y_AXIS] -
|
|
extruder_offset[Y_AXIS][active_extruder] +
|
|
extruder_offset[Y_AXIS][tmp_extruder];
|
|
current_position[Z_AXIS] = current_position[Z_AXIS] -
|
|
extruder_offset[Z_AXIS][active_extruder] +
|
|
extruder_offset[Z_AXIS][tmp_extruder];
|
|
|
|
active_extruder = tmp_extruder;
|
|
|
|
// This function resets the max/min values - the current position may be overwritten below.
|
|
axis_is_at_home(X_AXIS);
|
|
|
|
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
|
|
{
|
|
current_position[X_AXIS] = inactive_extruder_x_pos;
|
|
inactive_extruder_x_pos = destination[X_AXIS];
|
|
}
|
|
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
|
|
{
|
|
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
|
|
if (active_extruder == 0 || active_extruder_parked)
|
|
current_position[X_AXIS] = inactive_extruder_x_pos;
|
|
else
|
|
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
|
|
inactive_extruder_x_pos = destination[X_AXIS];
|
|
extruder_duplication_enabled = false;
|
|
}
|
|
else
|
|
{
|
|
// record raised toolhead position for use by unpark
|
|
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
|
|
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
|
|
active_extruder_parked = true;
|
|
delayed_move_time = 0;
|
|
}
|
|
#else
|
|
// Offset extruder (only by XY)
|
|
int i;
|
|
for(i = 0; i < 2; i++) {
|
|
current_position[i] = current_position[i] -
|
|
extruder_offset[i][active_extruder] +
|
|
extruder_offset[i][tmp_extruder];
|
|
}
|
|
// Set the new active extruder and position
|
|
active_extruder = tmp_extruder;
|
|
#endif //else DUAL_X_CARRIAGE
|
|
#ifdef DELTA
|
|
|
|
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
|
|
//sent position to plan_set_position();
|
|
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
|
|
|
|
#else
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
|
|
#endif
|
|
// Move to the old position if 'F' was in the parameters
|
|
if(make_move && Stopped == false) {
|
|
prepare_move();
|
|
}
|
|
}
|
|
#endif
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
|
|
SERIAL_PROTOCOLLN((int)active_extruder);
|
|
}
|
|
}
|
|
|
|
else
|
|
{
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
|
|
SERIAL_ECHO(cmdbuffer[bufindr]);
|
|
SERIAL_ECHOLNPGM("\"");
|
|
}
|
|
|
|
ClearToSend();
|
|
}
|
|
|
|
void FlushSerialRequestResend()
|
|
{
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
MYSERIAL.flush();
|
|
SERIAL_PROTOCOLPGM(MSG_RESEND);
|
|
SERIAL_PROTOCOLLN(gcode_LastN + 1);
|
|
ClearToSend();
|
|
}
|
|
|
|
void ClearToSend()
|
|
{
|
|
previous_millis_cmd = millis();
|
|
#ifdef SDSUPPORT
|
|
if(fromsd[bufindr])
|
|
return;
|
|
#endif //SDSUPPORT
|
|
SERIAL_PROTOCOLLNPGM(MSG_OK);
|
|
}
|
|
|
|
void get_coordinates()
|
|
{
|
|
bool seen[4]={false,false,false,false};
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
if(code_seen(axis_codes[i]))
|
|
{
|
|
destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
|
|
seen[i]=true;
|
|
}
|
|
else destination[i] = current_position[i]; //Are these else lines really needed?
|
|
}
|
|
if(code_seen('F')) {
|
|
next_feedrate = code_value();
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
}
|
|
}
|
|
|
|
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];
|
|
}
|
|
}
|
|
|
|
#ifdef DELTA
|
|
void recalc_delta_settings(float radius, float diagonal_rod)
|
|
{
|
|
delta_tower1_x= -SIN_60*radius; // front left tower
|
|
delta_tower1_y= -COS_60*radius;
|
|
delta_tower2_x= SIN_60*radius; // front right tower
|
|
delta_tower2_y= -COS_60*radius;
|
|
delta_tower3_x= 0.0; // back middle tower
|
|
delta_tower3_y= radius;
|
|
delta_diagonal_rod_2= sq(diagonal_rod);
|
|
}
|
|
|
|
void calculate_delta(float cartesian[3])
|
|
{
|
|
delta[X_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- sq(delta_tower1_x-cartesian[X_AXIS])
|
|
- sq(delta_tower1_y-cartesian[Y_AXIS])
|
|
) + cartesian[Z_AXIS];
|
|
delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- sq(delta_tower2_x-cartesian[X_AXIS])
|
|
- sq(delta_tower2_y-cartesian[Y_AXIS])
|
|
) + cartesian[Z_AXIS];
|
|
delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
|
|
- sq(delta_tower3_x-cartesian[X_AXIS])
|
|
- sq(delta_tower3_y-cartesian[Y_AXIS])
|
|
) + cartesian[Z_AXIS];
|
|
/*
|
|
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
|
|
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
|
|
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
|
|
|
|
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
|
|
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
|
|
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
|
|
*/
|
|
}
|
|
#endif
|
|
|
|
void prepare_move()
|
|
{
|
|
clamp_to_software_endstops(destination);
|
|
|
|
previous_millis_cmd = millis();
|
|
#ifdef DELTA
|
|
float difference[NUM_AXIS];
|
|
for (int8_t i=0; i < NUM_AXIS; i++) {
|
|
difference[i] = destination[i] - current_position[i];
|
|
}
|
|
float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
|
|
sq(difference[Y_AXIS]) +
|
|
sq(difference[Z_AXIS]));
|
|
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
|
|
if (cartesian_mm < 0.000001) { return; }
|
|
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
|
|
int steps = max(1, int(delta_segments_per_second * seconds));
|
|
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
|
|
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
|
|
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
|
|
for (int s = 1; s <= steps; s++) {
|
|
float fraction = float(s) / float(steps);
|
|
for(int8_t i=0; i < NUM_AXIS; i++) {
|
|
destination[i] = current_position[i] + difference[i] * fraction;
|
|
}
|
|
calculate_delta(destination);
|
|
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
|
|
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
|
|
active_extruder);
|
|
}
|
|
#else
|
|
|
|
#ifdef DUAL_X_CARRIAGE
|
|
if (active_extruder_parked)
|
|
{
|
|
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0)
|
|
{
|
|
// move duplicate extruder into correct duplication position.
|
|
plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS],
|
|
current_position[E_AXIS], max_feedrate[X_AXIS], 1);
|
|
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
st_synchronize();
|
|
extruder_duplication_enabled = true;
|
|
active_extruder_parked = false;
|
|
}
|
|
else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head
|
|
{
|
|
if (current_position[E_AXIS] == destination[E_AXIS])
|
|
{
|
|
// this is a travel move - skit it but keep track of current position (so that it can later
|
|
// be used as start of first non-travel move)
|
|
if (delayed_move_time != 0xFFFFFFFFUL)
|
|
{
|
|
memcpy(current_position, destination, sizeof(current_position));
|
|
if (destination[Z_AXIS] > raised_parked_position[Z_AXIS])
|
|
raised_parked_position[Z_AXIS] = destination[Z_AXIS];
|
|
delayed_move_time = millis();
|
|
return;
|
|
}
|
|
}
|
|
delayed_move_time = 0;
|
|
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
|
|
plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS],
|
|
current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder);
|
|
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
|
|
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
|
|
active_extruder_parked = false;
|
|
}
|
|
}
|
|
#endif //DUAL_X_CARRIAGE
|
|
|
|
// 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);
|
|
}
|
|
#endif //else DELTA
|
|
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();
|
|
}
|
|
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
|
|
#if defined(FAN_PIN)
|
|
#if CONTROLLERFAN_PIN == FAN_PIN
|
|
#error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN"
|
|
#endif
|
|
#endif
|
|
|
|
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) || (soft_pwm_bed > 0)
|
|
#if EXTRUDERS > 2
|
|
|| !READ(E2_ENABLE_PIN)
|
|
#endif
|
|
#if EXTRUDER > 1
|
|
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|
|
|| !READ(X2_ENABLE_PIN)
|
|
#endif
|
|
|| !READ(E1_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_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
|
{
|
|
digitalWrite(CONTROLLERFAN_PIN, 0);
|
|
analogWrite(CONTROLLERFAN_PIN, 0);
|
|
}
|
|
else
|
|
{
|
|
// allows digital or PWM fan output to be used (see M42 handling)
|
|
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef TEMP_STAT_LEDS
|
|
static bool blue_led = false;
|
|
static bool red_led = false;
|
|
static uint32_t stat_update = 0;
|
|
|
|
void handle_status_leds(void) {
|
|
float max_temp = 0.0;
|
|
if(millis() > stat_update) {
|
|
stat_update += 500; // Update every 0.5s
|
|
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
|
|
max_temp = max(max_temp, degHotend(cur_extruder));
|
|
max_temp = max(max_temp, degTargetHotend(cur_extruder));
|
|
}
|
|
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
|
|
max_temp = max(max_temp, degTargetBed());
|
|
max_temp = max(max_temp, degBed());
|
|
#endif
|
|
if((max_temp > 55.0) && (red_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 1);
|
|
digitalWrite(STAT_LED_BLUE, 0);
|
|
red_led = true;
|
|
blue_led = false;
|
|
}
|
|
if((max_temp < 54.0) && (blue_led == false)) {
|
|
digitalWrite(STAT_LED_RED, 0);
|
|
digitalWrite(STAT_LED_BLUE, 1);
|
|
red_led = false;
|
|
blue_led = true;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void manage_inactivity()
|
|
{
|
|
if(buflen < (BUFSIZE-1))
|
|
get_command();
|
|
|
|
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();
|
|
}
|
|
}
|
|
}
|
|
|
|
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
|
|
if (chdkActive)
|
|
{
|
|
chdkActive = false;
|
|
if (millis()-chdkHigh < CHDK_DELAY) return;
|
|
WRITE(CHDK, LOW);
|
|
}
|
|
#endif
|
|
|
|
#if defined(KILL_PIN) && KILL_PIN > -1
|
|
if( 0 == READ(KILL_PIN) )
|
|
kill();
|
|
#endif
|
|
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
|
|
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(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
|
|
destination[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
|
|
#if defined(DUAL_X_CARRIAGE)
|
|
// handle delayed move timeout
|
|
if (delayed_move_time != 0 && (millis() - delayed_move_time) > 1000 && Stopped == false)
|
|
{
|
|
// travel moves have been received so enact them
|
|
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
|
|
memcpy(destination,current_position,sizeof(destination));
|
|
prepare_move();
|
|
}
|
|
#endif
|
|
#ifdef TEMP_STAT_LEDS
|
|
handle_status_leds();
|
|
#endif
|
|
check_axes_activity();
|
|
}
|
|
|
|
void kill()
|
|
{
|
|
cli(); // Stop interrupts
|
|
disable_heater();
|
|
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e0();
|
|
disable_e1();
|
|
disable_e2();
|
|
|
|
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
|
|
pinMode(PS_ON_PIN,INPUT);
|
|
#endif
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
|
LCD_ALERTMESSAGEPGM(MSG_KILLED);
|
|
suicide();
|
|
while(1) { /* Intentionally left empty */ } // Wait for reset
|
|
}
|
|
|
|
void Stop()
|
|
{
|
|
disable_heater();
|
|
if(Stopped == false) {
|
|
Stopped = true;
|
|
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
|
|
SERIAL_ERROR_START;
|
|
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
|
|
LCD_MESSAGEPGM(MSG_STOPPED);
|
|
}
|
|
}
|
|
|
|
bool IsStopped() { return Stopped; };
|
|
|
|
#ifdef FAST_PWM_FAN
|
|
void setPwmFrequency(uint8_t pin, int val)
|
|
{
|
|
val &= 0x07;
|
|
switch(digitalPinToTimer(pin))
|
|
{
|
|
|
|
#if defined(TCCR0A)
|
|
case TIMER0A:
|
|
case TIMER0B:
|
|
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
|
|
// TCCR0B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR1A)
|
|
case TIMER1A:
|
|
case TIMER1B:
|
|
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
|
|
// TCCR1B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR2)
|
|
case TIMER2:
|
|
case TIMER2:
|
|
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
|
|
TCCR2 |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR2A)
|
|
case TIMER2A:
|
|
case TIMER2B:
|
|
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
|
|
TCCR2B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR3A)
|
|
case TIMER3A:
|
|
case TIMER3B:
|
|
case TIMER3C:
|
|
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
|
|
TCCR3B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR4A)
|
|
case TIMER4A:
|
|
case TIMER4B:
|
|
case TIMER4C:
|
|
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
|
|
TCCR4B |= val;
|
|
break;
|
|
#endif
|
|
|
|
#if defined(TCCR5A)
|
|
case TIMER5A:
|
|
case TIMER5B:
|
|
case TIMER5C:
|
|
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
|
|
TCCR5B |= val;
|
|
break;
|
|
#endif
|
|
|
|
}
|
|
}
|
|
#endif //FAST_PWM_FAN
|
|
|
|
bool setTargetedHotend(int code){
|
|
tmp_extruder = active_extruder;
|
|
if(code_seen('T')) {
|
|
tmp_extruder = code_value();
|
|
if(tmp_extruder >= EXTRUDERS) {
|
|
SERIAL_ECHO_START;
|
|
switch(code){
|
|
case 104:
|
|
SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
|
|
break;
|
|
case 105:
|
|
SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
|
|
break;
|
|
case 109:
|
|
SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
|
|
break;
|
|
case 218:
|
|
SERIAL_ECHO(MSG_M218_INVALID_EXTRUDER);
|
|
break;
|
|
case 221:
|
|
SERIAL_ECHO(MSG_M221_INVALID_EXTRUDER);
|
|
break;
|
|
}
|
|
SERIAL_ECHOLN(tmp_extruder);
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|