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Firmware2/Marlin/Marlin.pde

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/*
Reprap firmware based on Sprinter and grbl.
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include <EEPROM.h>
#include "EEPROMwrite.h"
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Marlin.h"
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "motion_control.h"
#include "cardreader.h"
#include "watchdog.h"
#define VERSION_STRING "1.0.0 Alpha 1"
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M30 - Output time since last M109 or SD card start to serial
// M42 - Change pin status via gcode
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M115 - Capabilities string
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M200 - Set filament diameter
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
// M220 - set speed factor override percentage S:factor in percent
// M301 - Set PID parameters P I and D
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
extern float HeaterPower;
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 200->2
int saved_feedmultiply;
volatile bool feedmultiplychanged=false;
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
//===========================================================================
//=============================private variables=============================
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
static long gcode_N, gcode_LastN;
static bool relative_mode = false; //Determines Absolute or Relative Coordinates
static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
static uint8_t fanpwm=0;
static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
static bool fromsd[BUFSIZE];
static int bufindr = 0;
static int bufindw = 0;
static int buflen = 0;
static int i = 0;
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
static float tt = 0, bt = 0;
//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = 0;
static unsigned long starttime=0;
static unsigned long stoptime=0;
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
extern "C"{
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void *__brkval;
int freeMemory() {
int free_memory;
if((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
void enquecommand(const char *cmd)
{
if(buflen < BUFSIZE)
{
//this is dangerous if a mixing of serial and this happsens
strcpy(&(cmdbuffer[bufindw][0]),cmd);
SERIAL_ECHO_START;
SERIAL_ECHOPGM("enqueing \"");
SERIAL_ECHO(cmdbuffer[bufindw]);
SERIAL_ECHOLNPGM("\"");
bufindw= (bufindw + 1)%BUFSIZE;
buflen += 1;
}
}
void setup()
{
Serial.begin(BAUDRATE);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(VERSION_STRING);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:");
SERIAL_ECHOLN(freeMemory());
for(int8_t i = 0; i < BUFSIZE; i++)
{
fromsd[i] = false;
}
RetrieveSettings(); // loads data from EEPROM if available
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
wd_init();
}
void loop()
{
if(buflen<3)
get_command();
#ifdef SDSUPPORT
card.checkautostart(false);
#endif
if(buflen)
{
#ifdef SDSUPPORT
if(card.saving)
{
if(strstr(cmdbuffer[bufindr],"M29") == NULL)
{
card.write_command(cmdbuffer[bufindr]);
SERIAL_PROTOCOLLNPGM("ok");
}
else
{
card.closefile();
SERIAL_PROTOCOLLNPGM("Done saving file.");
}
}
else
{
process_commands();
}
#else
process_commands();
#endif //SDSUPPORT
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
checkHitEndstops();
LCD_STATUS;
}
inline void get_command()
{
while( Serial.available() > 0 && buflen < BUFSIZE) {
serial_char = Serial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = false;
if(strstr(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(cmdbuffer[bufindw], "M110") == NULL) ) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM("Line Number is not Last Line Number+1, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(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("checksum mismatch, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM("No Checksum with line number, Last Line:");
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((strstr(cmdbuffer[bufindw], "*") != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM("No Line Number with checksum, Last Line:");
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
}
if((strstr(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:
#ifdef SDSUPPORT
if(card.saving)
break;
#endif //SDSUPPORT
SERIAL_PROTOCOLLNPGM("ok");
break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
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;
}
}
#ifdef SDSUPPORT
if(!card.sdprinting || serial_count!=0){
return;
}
while( !card.eof() && buflen < BUFSIZE) {
int16_t n=card.get();
serial_char = (char)n;
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
{
if(card.eof()){
card.sdprinting = false;
SERIAL_PROTOCOLLNPGM("Done printing file");
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
sprintf(time,"%i min, %i sec",min,sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
LCD_MESSAGE(time);
card.checkautostart(true);
}
if(serial_char=='\n')
comment_mode = false; //for new command
if(!serial_count)
{
return; //if empty line
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
}
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif //SDSUPPORT
}
inline float code_value()
{
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
inline long code_value_long()
{
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
inline bool code_seen(char code_string[]) //Return True if the string was found
{
return (strstr(cmdbuffer[bufindr], code_string) != NULL);
}
inline bool code_seen(char code)
{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
#define HOMEAXIS(LETTER) \
if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
{ \
current_position[LETTER##_AXIS] = 0; \
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
feedrate = homing_feedrate[LETTER##_AXIS]; \
prepare_move(); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = 0;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = -5 * LETTER##_HOME_DIR;\
prepare_move(); \
st_synchronize();\
\
destination[LETTER##_AXIS] = 10 * LETTER##_HOME_DIR;\
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
prepare_move(); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
feedrate = 0.0;\
st_synchronize();\
endstops_hit_on_purpose();\
}
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 2: // G2 - CW ARC
get_arc_coordinates();
prepare_arc_move(true);
previous_millis_cmd = millis();
return;
case 3: // G3 - CCW ARC
get_arc_coordinates();
prepare_arc_move(false);
previous_millis_cmd = millis();
return;
case 4: // G4 dwell
LCD_MESSAGEPGM("DWELL...");
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ){
manage_heater();
}
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
HOMEAXIS(X);
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
}
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) current_position[i] = code_value();
}
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 SDSUPPORT
case 20: // M20 - list SD card
SERIAL_PROTOCOLLNPGM("Begin file list");
card.ls();
SERIAL_PROTOCOLLNPGM("End file list");
break;
case 21: // M21 - init SD card
card.initsd();
break;
case 22: //M22 - release SD card
card.release();
break;
case 23: //M23 - Select file
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
card.selectFile(strchr_pointer + 4);
break;
case 24: //M24 - Start SD print
card.startFileprint();
starttime=millis();
break;
case 25: //M25 - Pause SD print
card.pauseSDPrint();
break;
case 26: //M26 - Set SD index
if(card.cardOK && code_seen('S')){
card.setIndex(code_value_long());
}
break;
case 27: //M27 - Get SD status
card.getStatus();
break;
case 28: //M28 - Start SD write
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos-1) = '\0';
}
card.startFilewrite(strchr_pointer+4);
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//card,saving = false;
break;
#endif //SDSUPPORT
case 30: //M30 take time since the start of the SD print or an M109 command
{
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
sprintf(time,"%i min, %i sec",min,sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
LCD_MESSAGE(time);
}
break;
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
{
int pin_number = code_value();
for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
}
break;
case 104: // M104
if (code_seen('S')) setTargetHotend0(code_value());
setWatch();
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());
break;
case 105: // M105
//SERIAL_ECHOLN(freeMemory());
//test watchdog:
//delay(20000);
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL( degHotend0());
#if TEMP_1_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL(degBed());
#endif //TEMP_1_PIN
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("No thermistors - no temp");
#endif
#ifdef PIDTEMP
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL( HeaterPower);
#endif
SERIAL_PROTOCOLLN("");
return;
break;
case 109:
{// M109 - Wait for extruder heater to reach target.
LCD_MESSAGEPGM("Heating...");
if (code_seen('S')) setTargetHotend0(code_value());
setWatch();
codenum = millis();
/* See if we are heating up or cooling down */
bool target_direction = isHeatingHotend0(); // true if heating, false if cooling
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ||
(residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
#else
while ( target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ) {
#endif //TEMP_RESIDENCY_TIME
if( (millis() - codenum) > 1000 )
{ //Print Temp Reading every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOLLN( degHotend0() );
codenum = millis();
}
manage_heater();
LCD_STATUS;
#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 && !isHeatingHotend0()) ||
(residencyStart == -1 && !target_direction && !isCoolingHotend0()) ||
(residencyStart > -1 && labs(degHotend0() - degTargetHotend0()) > TEMP_HYSTERESIS) )
{
residencyStart = millis();
}
#endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM("Heating done.");
starttime=millis();
}
break;
case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN > -1
LCD_MESSAGEPGM("Bed Heating.");
if (code_seen('S')) setTargetBed(code_value());
codenum = millis();
while(isHeatingBed())
{
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend0();
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOLLN(tt );
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL(tt );
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOLLN(degBed() );
codenum = millis();
}
manage_heater();
}
LCD_MESSAGEPGM("Bed done.");
#endif
break;
#if FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S')){
WRITE(FAN_PIN,HIGH);
fanpwm=constrain(code_value(),0,255);
analogWrite(FAN_PIN, fanpwm);
}
else {
WRITE(FAN_PIN,HIGH);
fanpwm=255;
analogWrite(FAN_PIN, fanpwm);
}
break;
case 107: //M107 Fan Off
WRITE(FAN_PIN,LOW);
analogWrite(FAN_PIN, 0);
break;
#endif //FAN_PIN
#if (PS_ON_PIN > -1)
case 80: // M80 - ATX Power On
SET_OUTPUT(PS_ON_PIN); //GND
break;
case 81: // M81 - ATX Power Off
SET_INPUT(PS_ON_PIN); //Floating
break;
#endif
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 18: //compatibility
case 84:
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else
{
st_synchronize();
LCD_MESSAGEPGM("Free move.");
disable_x();
disable_y();
disable_z();
disable_e();
}
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value() * 1000;
break;
case 92: // M92
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
axis_steps_per_unit[i] = code_value();
}
break;
case 115: // M115
SerialprintPGM("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
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]);
#ifdef DEBUG_STEPS
SERIAL_PROTOCOLPGM(" Count X:");
SERIAL_PROTOCOL(float(count_position[X_AXIS])/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM("Y:");
SERIAL_PROTOCOL(float(count_position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM("Z:");
SERIAL_PROTOCOL(float(count_position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]);
#endif
SERIAL_PROTOCOLLN("");
break;
case 119: // M119
#if (X_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("x_min:");
SERIAL_PROTOCOL(((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
#if (X_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("x_max:");
SERIAL_PROTOCOL(((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
#if (Y_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("y_min:");
SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
#if (Y_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("y_max:");
SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
#if (Z_MIN_PIN > -1)
SERIAL_PROTOCOLPGM("z_min:");
SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
#if (Z_MAX_PIN > -1)
SERIAL_PROTOCOLPGM("z_max:");
SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "));
#endif
SERIAL_PROTOCOLLN("");
break;
//TODO: update for all axis, use for loop
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
case 203: // M203 max feedrate mm/sec
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) max_feedrate[i] = code_value()*60 ;
}
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()*60 ;
if(code_seen('T')) mintravelfeedrate = code_value()*60 ;
if(code_seen('B')) minsegmenttime = code_value() ;
if(code_seen('X')) max_xy_jerk = code_value()*60 ;
if(code_seen('Z')) max_z_jerk = code_value()*60 ;
}
break;
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
{
feedmultiply = code_value() ;
feedmultiplychanged=true;
}
}
break;
#ifdef PIDTEMP
case 301: // M301
{
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
#ifdef PID_ADD_EXTRUSION_RATE
if(code_seen('C')) Kc = code_value();
#endif
updatePID();
SERIAL_PROTOCOL("ok p:");
SERIAL_PROTOCOL(Kp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(Ki/PID_dT);
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(Kd*PID_dT);
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
SERIAL_PROTOCOL(Kc*PID_dT);
#endif
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
case 400: // finish all moves
{
st_synchronize();
}
break;
case 500: // Store settings in EEPROM
{
StoreSettings();
}
break;
case 501: // Read settings from EEPROM
{
RetrieveSettings();
}
break;
case 502: // Revert to default settings
{
RetrieveSettings(true);
}
break;
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Unknown command:\"");
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
}
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
SERIAL_PROTOCOLPGM("Resend:");
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ClearToSend();
}
void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
if(fromsd[bufindr])
return;
#endif //SDSUPPORT
SERIAL_PROTOCOLLNPGM("ok");
}
inline void get_coordinates()
{
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
else destination[i] = current_position[i]; //Are these else lines really needed?
}
if(code_seen('F')) {
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
inline void get_arc_coordinates()
{
get_coordinates();
if(code_seen('I')) offset[0] = code_value();
if(code_seen('J')) offset[1] = code_value();
}
void prepare_move()
{
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
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);
// 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];
}
}
void manage_inactivity(byte debug)
{
if( (millis()-previous_millis_cmd) > max_inactive_time )
if(max_inactive_time)
kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time )
if(stepper_inactive_time)
{
disable_x();
disable_y();
disable_z();
disable_e();
}
check_axes_activity();
}
void kill()
{
disable_heater();
disable_x();
disable_y();
disable_z();
disable_e();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Printer halted. kill() called !!");
LCD_MESSAGEPGM("KILLED. ");
while(1); // Wait for reset
}
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