4 Reprap firmware based on Sprinter and grbl.
5 Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
7 This program is free software: you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation, either version 3 of the License, or
10 (at your option) any later version.
12 This program is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
17 You should have received a copy of the GNU General Public License
18 along with this program. If not, see <http://www.gnu.org/licenses/>.
22 This firmware is a mashup between Sprinter and grbl.
23 (https://github.com/kliment/Sprinter)
24 (https://github.com/simen/grbl/tree)
26 It has preliminary support for Matthew Roberts advance algorithm
27 http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
35 #include "temperature.h"
36 #include "motion_control.h"
37 #include "cardreader.h"
39 #include "EEPROMwrite.h"
41 #include "pins_arduino.h"
43 #define VERSION_STRING "1.0.0 RC2"
45 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
46 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
51 // G1 - Coordinated Movement X Y Z E
54 // G4 - Dwell S<seconds> or P<milliseconds>
55 // G10 - retract filament according to settings of M207
56 // G11 - retract recover filament according to settings of M208
57 // G28 - Home all Axis
58 // G90 - Use Absolute Coordinates
59 // G91 - Use Relative Coordinates
60 // G92 - Set current position to cordinates given
63 // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
65 // M104 - Set extruder target temp
66 // M105 - Read current temp
69 // M109 - Wait for extruder current temp to reach target temp.
70 // M114 - Display current position
73 // M17 - Enable/Power all stepper motors
74 // M18 - Disable all stepper motors; same as M84
77 // M22 - Release SD card
78 // M23 - Select SD file (M23 filename.g)
79 // M24 - Start/resume SD print
80 // M25 - Pause SD print
81 // M26 - Set SD position in bytes (M26 S12345)
82 // M27 - Report SD print status
83 // M28 - Start SD write (M28 filename.g)
84 // M29 - Stop SD write
85 // M30 - Delete file from SD (M30 filename.g)
86 // M31 - Output time since last M109 or SD card start to serial
87 // M42 - Change pin status via gcode
88 // M80 - Turn on Power Supply
89 // M81 - Turn off Power Supply
90 // M82 - Set E codes absolute (default)
91 // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
92 // M84 - Disable steppers until next move,
93 // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
94 // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
95 // M92 - Set axis_steps_per_unit - same syntax as G92
96 // M114 - Output current position to serial port
97 // M115 - Capabilities string
98 // M117 - display message
99 // M119 - Output Endstop status to serial port
100 // M140 - Set bed target temp
101 // M190 - Wait for bed current temp to reach target temp.
102 // M200 - Set filament diameter
103 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
104 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
105 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
106 // 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
107 // 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
108 // M206 - set additional homeing offset
109 // M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
110 // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
111 // 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.
112 // M220 S<factor in percent>- set speed factor override percentage
113 // M221 S<factor in percent>- set extrude factor override percentage
114 // M240 - Trigger a camera to take a photograph
115 // M301 - Set PID parameters P I and D
116 // M302 - Allow cold extrudes
117 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
118 // M400 - Finish all moves
119 // M500 - stores paramters in EEPROM
120 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
121 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
122 // M503 - print the current settings (from memory not from eeprom)
123 // M999 - Restart after being stopped by error
125 //Stepper Movement Variables
127 //===========================================================================
128 //=============================imported variables============================
129 //===========================================================================
132 //===========================================================================
133 //=============================public variables=============================
134 //===========================================================================
138 float homing_feedrate[] = HOMING_FEEDRATE;
139 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
140 volatile int feedmultiply=100; //100->1 200->2
141 int saved_feedmultiply;
142 volatile bool feedmultiplychanged=false;
143 volatile int extrudemultiply=100; //100->1 200->2
144 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
145 float add_homeing[3]={0,0,0};
146 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
147 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
148 uint8_t active_extruder = 0;
149 unsigned char FanSpeed=0;
152 bool autoretract_enabled=true;
153 bool retracted=false;
154 float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
155 float retract_recover_length=0, retract_recover_feedrate=8*60;
158 //===========================================================================
159 //=============================private variables=============================
160 //===========================================================================
161 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
162 static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
163 static float offset[3] = {0.0, 0.0, 0.0};
164 static bool home_all_axis = true;
165 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
166 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
168 static bool relative_mode = false; //Determines Absolute or Relative Coordinates
169 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.
171 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
172 static bool fromsd[BUFSIZE];
173 static int bufindr = 0;
174 static int bufindw = 0;
175 static int buflen = 0;
177 static char serial_char;
178 static int serial_count = 0;
179 static boolean comment_mode = false;
180 static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
182 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
184 //static float tt = 0;
185 //static float bt = 0;
187 //Inactivity shutdown variables
188 static unsigned long previous_millis_cmd = 0;
189 static unsigned long max_inactive_time = 0;
190 static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
192 static unsigned long starttime=0;
193 static unsigned long stoptime=0;
195 static uint8_t tmp_extruder;
200 //===========================================================================
201 //=============================ROUTINES=============================
202 //===========================================================================
204 void get_arc_coordinates();
206 void serial_echopair_P(const char *s_P, float v)
207 { serialprintPGM(s_P); SERIAL_ECHO(v); }
208 void serial_echopair_P(const char *s_P, double v)
209 { serialprintPGM(s_P); SERIAL_ECHO(v); }
210 void serial_echopair_P(const char *s_P, unsigned long v)
211 { serialprintPGM(s_P); SERIAL_ECHO(v); }
214 extern unsigned int __bss_end;
215 extern unsigned int __heap_start;
216 extern void *__brkval;
221 if((int)__brkval == 0)
222 free_memory = ((int)&free_memory) - ((int)&__bss_end);
224 free_memory = ((int)&free_memory) - ((int)__brkval);
230 //adds an command to the main command buffer
231 //thats really done in a non-safe way.
232 //needs overworking someday
233 void enquecommand(const char *cmd)
237 //this is dangerous if a mixing of serial and this happsens
238 strcpy(&(cmdbuffer[bufindw][0]),cmd);
240 SERIAL_ECHOPGM("enqueing \"");
241 SERIAL_ECHO(cmdbuffer[bufindw]);
242 SERIAL_ECHOLNPGM("\"");
243 bufindw= (bufindw + 1)%BUFSIZE;
250 #ifdef PHOTOGRAPH_PIN
251 #if (PHOTOGRAPH_PIN > -1)
252 SET_OUTPUT(PHOTOGRAPH_PIN);
253 WRITE(PHOTOGRAPH_PIN, LOW);
258 void setup_powerhold()
261 #if (SUICIDE_PIN> -1)
262 SET_OUTPUT(SUICIDE_PIN);
263 WRITE(SUICIDE_PIN, HIGH);
271 #if (SUICIDE_PIN> -1)
272 SET_OUTPUT(SUICIDE_PIN);
273 WRITE(SUICIDE_PIN, LOW);
281 MYSERIAL.begin(BAUDRATE);
282 SERIAL_PROTOCOLLNPGM("start");
285 // Check startup - does nothing if bootloader sets MCUSR to 0
287 if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
288 if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
289 if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
290 if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
291 if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
294 SERIAL_ECHOPGM(MSG_MARLIN);
295 SERIAL_ECHOLNPGM(VERSION_STRING);
296 #ifdef STRING_VERSION_CONFIG_H
297 #ifdef STRING_CONFIG_H_AUTHOR
299 SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
300 SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
301 SERIAL_ECHOPGM(MSG_AUTHOR);
302 SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
306 SERIAL_ECHOPGM(MSG_FREE_MEMORY);
307 SERIAL_ECHO(freeMemory());
308 SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
309 SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
310 for(int8_t i = 0; i < BUFSIZE; i++)
315 EEPROM_RetrieveSettings(); // loads data from EEPROM if available
317 for(int8_t i=0; i < NUM_AXIS; i++)
319 axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
323 tp_init(); // Initialize temperature loop
324 plan_init(); // Initialize planner;
325 st_init(); // Initialize stepper;
335 if(buflen < (BUFSIZE-1))
338 card.checkautostart(false);
345 if(strstr(cmdbuffer[bufindr],"M29") == NULL)
347 card.write_command(cmdbuffer[bufindr]);
348 SERIAL_PROTOCOLLNPGM(MSG_OK);
353 SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
364 bufindr = (bufindr + 1)%BUFSIZE;
366 //check heater every n milliseconds
368 manage_inactivity(1);
375 while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
376 serial_char = MYSERIAL.read();
377 if(serial_char == '\n' ||
378 serial_char == '\r' ||
379 (serial_char == ':' && comment_mode == false) ||
380 serial_count >= (MAX_CMD_SIZE - 1) )
382 if(!serial_count) { //if empty line
383 comment_mode = false; //for new command
386 cmdbuffer[bufindw][serial_count] = 0; //terminate string
388 comment_mode = false; //for new command
389 fromsd[bufindw] = false;
390 if(strstr(cmdbuffer[bufindw], "N") != NULL)
392 strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
393 gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
394 if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
396 SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
397 SERIAL_ERRORLN(gcode_LastN);
398 //Serial.println(gcode_N);
399 FlushSerialRequestResend();
404 if(strstr(cmdbuffer[bufindw], "*") != NULL)
408 while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
409 strchr_pointer = strchr(cmdbuffer[bufindw], '*');
411 if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
413 SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
414 SERIAL_ERRORLN(gcode_LastN);
415 FlushSerialRequestResend();
419 //if no errors, continue parsing
424 SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
425 SERIAL_ERRORLN(gcode_LastN);
426 FlushSerialRequestResend();
431 gcode_LastN = gcode_N;
432 //if no errors, continue parsing
434 else // if we don't receive 'N' but still see '*'
436 if((strstr(cmdbuffer[bufindw], "*") != NULL))
439 SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
440 SERIAL_ERRORLN(gcode_LastN);
445 if((strstr(cmdbuffer[bufindw], "G") != NULL)){
446 strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
447 switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
452 if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
457 SERIAL_PROTOCOLLNPGM(MSG_OK);
460 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
461 LCD_MESSAGEPGM(MSG_STOPPED);
469 bufindw = (bufindw + 1)%BUFSIZE;
472 serial_count = 0; //clear buffer
476 if(serial_char == ';') comment_mode = true;
477 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
481 if(!card.sdprinting || serial_count!=0){
484 while( !card.eof() && buflen < BUFSIZE) {
485 int16_t n=card.get();
486 serial_char = (char)n;
487 if(serial_char == '\n' ||
488 serial_char == '\r' ||
489 (serial_char == ':' && comment_mode == false) ||
490 serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
493 SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
496 unsigned long t=(stoptime-starttime)/1000;
500 sprintf(time,"%i min, %i sec",min,sec);
504 card.printingHasFinished();
505 card.checkautostart(true);
510 comment_mode = false; //for new command
511 return; //if empty line
513 cmdbuffer[bufindw][serial_count] = 0; //terminate string
514 // if(!comment_mode){
515 fromsd[bufindw] = true;
517 bufindw = (bufindw + 1)%BUFSIZE;
519 comment_mode = false; //for new command
520 serial_count = 0; //clear buffer
524 if(serial_char == ';') comment_mode = true;
525 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
536 return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
539 long code_value_long()
541 return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
544 bool code_seen(char code_string[]) //Return True if the string was found
546 return (strstr(cmdbuffer[bufindr], code_string) != NULL);
549 bool code_seen(char code)
551 strchr_pointer = strchr(cmdbuffer[bufindr], code);
552 return (strchr_pointer != NULL); //Return True if a character was found
555 #define DEFINE_PGM_READ_ANY(type, reader) \
556 static inline float pgm_read_any(const type *p) \
557 { return pgm_read_##reader##_near(p); }
559 DEFINE_PGM_READ_ANY(float, float);
560 DEFINE_PGM_READ_ANY(signed char, byte);
562 #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
563 static const PROGMEM type array##_P[3] = \
564 { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
565 static inline type array(int axis) \
566 { return pgm_read_any(&array##_P[axis]); }
568 XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
569 XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
570 XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
571 XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
572 XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
573 XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
575 static void axis_is_at_home(int axis) {
576 current_position[axis] = base_home_pos(axis) + add_homeing[axis];
577 min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
578 max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
581 static void homeaxis(int axis) {
582 #define HOMEAXIS_DO_BIT(LETTER) \
583 ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1) ? 1 << LETTER##_AXIS : 0)
585 const unsigned char doaxis =
590 if (doaxis & (1<<axis)) {
591 current_position[axis] = 0;
592 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
593 destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
594 feedrate = homing_feedrate[axis];
595 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
598 current_position[axis] = 0;
599 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
600 destination[axis] = -home_retract_mm(axis) * home_dir(axis);
601 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
604 destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
605 feedrate = homing_feedrate[axis]/2 ;
606 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
609 axis_is_at_home(axis);
610 destination[axis] = current_position[axis];
612 endstops_hit_on_purpose();
615 #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
617 void process_commands()
619 unsigned long codenum; //throw away variable
620 char *starpos = NULL;
624 switch((int)code_value())
628 if(Stopped == false) {
629 get_coordinates(); // For X Y Z E F
635 case 2: // G2 - CW ARC
636 if(Stopped == false) {
637 get_arc_coordinates();
638 prepare_arc_move(true);
641 case 3: // G3 - CCW ARC
642 if(Stopped == false) {
643 get_arc_coordinates();
644 prepare_arc_move(false);
648 LCD_MESSAGEPGM(MSG_DWELL);
650 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
651 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
654 codenum += millis(); // keep track of when we started waiting
655 previous_millis_cmd = millis();
656 while(millis() < codenum ){
658 manage_inactivity(1);
663 case 10: // G10 retract
666 destination[X_AXIS]=current_position[X_AXIS];
667 destination[Y_AXIS]=current_position[Y_AXIS];
668 destination[Z_AXIS]=current_position[Z_AXIS];
669 current_position[Z_AXIS]+=-retract_zlift;
670 destination[E_AXIS]=current_position[E_AXIS]-retract_length;
671 feedrate=retract_feedrate;
677 case 11: // G10 retract_recover
680 destination[X_AXIS]=current_position[X_AXIS];
681 destination[Y_AXIS]=current_position[Y_AXIS];
682 destination[Z_AXIS]=current_position[Z_AXIS];
684 current_position[Z_AXIS]+=retract_zlift;
685 current_position[E_AXIS]+=-retract_recover_length;
686 feedrate=retract_recover_feedrate;
692 case 28: //G28 Home all Axis one at a time
693 saved_feedrate = feedrate;
694 saved_feedmultiply = feedmultiply;
696 previous_millis_cmd = millis();
698 enable_endstops(true);
700 for(int8_t i=0; i < NUM_AXIS; i++) {
701 destination[i] = current_position[i];
704 home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
706 #if Z_HOME_DIR > 0 // If homing away from BED do Z first
707 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
713 if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
715 current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
717 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
718 destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
719 feedrate = homing_feedrate[X_AXIS];
720 if(homing_feedrate[Y_AXIS]<feedrate)
721 feedrate =homing_feedrate[Y_AXIS];
722 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
725 axis_is_at_home(X_AXIS);
726 axis_is_at_home(Y_AXIS);
727 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
728 destination[X_AXIS] = current_position[X_AXIS];
729 destination[Y_AXIS] = current_position[Y_AXIS];
730 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
733 endstops_hit_on_purpose();
737 if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
742 if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
746 #if Z_HOME_DIR < 0 // If homing towards BED do Z last
747 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
752 if(code_seen(axis_codes[X_AXIS]))
754 if(code_value_long() != 0) {
755 current_position[X_AXIS]=code_value()+add_homeing[0];
759 if(code_seen(axis_codes[Y_AXIS])) {
760 if(code_value_long() != 0) {
761 current_position[Y_AXIS]=code_value()+add_homeing[1];
765 if(code_seen(axis_codes[Z_AXIS])) {
766 if(code_value_long() != 0) {
767 current_position[Z_AXIS]=code_value()+add_homeing[2];
770 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
772 #ifdef ENDSTOPS_ONLY_FOR_HOMING
773 enable_endstops(false);
776 feedrate = saved_feedrate;
777 feedmultiply = saved_feedmultiply;
778 previous_millis_cmd = millis();
779 endstops_hit_on_purpose();
782 relative_mode = false;
785 relative_mode = true;
788 if(!code_seen(axis_codes[E_AXIS]))
790 for(int8_t i=0; i < NUM_AXIS; i++) {
791 if(code_seen(axis_codes[i])) {
793 current_position[i] = code_value();
794 plan_set_e_position(current_position[E_AXIS]);
797 current_position[i] = code_value()+add_homeing[i];
798 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
806 else if(code_seen('M'))
808 switch( (int)code_value() )
811 case 0: // M0 - Unconditional stop - Wait for user button press on LCD
812 case 1: // M1 - Conditional stop - Wait for user button press on LCD
814 LCD_MESSAGEPGM(MSG_USERWAIT);
816 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
817 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
820 previous_millis_cmd = millis();
823 codenum += millis(); // keep track of when we started waiting
824 while(millis() < codenum && !CLICKED){
826 manage_inactivity(1);
832 manage_inactivity(1);
840 LCD_MESSAGEPGM(MSG_NO_MOVE);
850 case 20: // M20 - list SD card
851 SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
853 SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
855 case 21: // M21 - init SD card
860 case 22: //M22 - release SD card
864 case 23: //M23 - Select file
865 starpos = (strchr(strchr_pointer + 4,'*'));
868 card.openFile(strchr_pointer + 4,true);
870 case 24: //M24 - Start SD print
871 card.startFileprint();
874 case 25: //M25 - Pause SD print
877 case 26: //M26 - Set SD index
878 if(card.cardOK && code_seen('S')) {
879 card.setIndex(code_value_long());
882 case 27: //M27 - Get SD status
885 case 28: //M28 - Start SD write
886 starpos = (strchr(strchr_pointer + 4,'*'));
888 char* npos = strchr(cmdbuffer[bufindr], 'N');
889 strchr_pointer = strchr(npos,' ') + 1;
892 card.openFile(strchr_pointer+4,false);
894 case 29: //M29 - Stop SD write
895 //processed in write to file routine above
896 //card,saving = false;
898 case 30: //M30 <filename> Delete File
901 starpos = (strchr(strchr_pointer + 4,'*'));
903 char* npos = strchr(cmdbuffer[bufindr], 'N');
904 strchr_pointer = strchr(npos,' ') + 1;
907 card.removeFile(strchr_pointer + 4);
913 case 31: //M31 take time since the start of the SD print or an M109 command
917 unsigned long t=(stoptime-starttime)/1000;
921 sprintf(time,"%i min, %i sec",min,sec);
928 case 42: //M42 -Change pin status via gcode
931 int pin_status = code_value();
932 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
934 int pin_number = code_value();
935 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
937 if (sensitive_pins[i] == pin_number)
946 pinMode(pin_number, OUTPUT);
947 digitalWrite(pin_number, pin_status);
948 analogWrite(pin_number, pin_status);
954 tmp_extruder = active_extruder;
956 tmp_extruder = code_value();
957 if(tmp_extruder >= EXTRUDERS) {
959 SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
960 SERIAL_ECHOLN(tmp_extruder);
964 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
967 case 140: // M140 set bed temp
968 if (code_seen('S')) setTargetBed(code_value());
971 tmp_extruder = active_extruder;
973 tmp_extruder = code_value();
974 if(tmp_extruder >= EXTRUDERS) {
976 SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
977 SERIAL_ECHOLN(tmp_extruder);
981 #if (TEMP_0_PIN > -1)
982 SERIAL_PROTOCOLPGM("ok T:");
983 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
984 SERIAL_PROTOCOLPGM(" /");
985 SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
986 #if TEMP_BED_PIN > -1
987 SERIAL_PROTOCOLPGM(" B:");
988 SERIAL_PROTOCOL_F(degBed(),1);
989 SERIAL_PROTOCOLPGM(" /");
990 SERIAL_PROTOCOL_F(degTargetBed(),1);
991 #endif //TEMP_BED_PIN
994 SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
997 SERIAL_PROTOCOLPGM(" @:");
998 SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
1000 SERIAL_PROTOCOLLN("");
1004 {// M109 - Wait for extruder heater to reach target.
1005 tmp_extruder = active_extruder;
1006 if(code_seen('T')) {
1007 tmp_extruder = code_value();
1008 if(tmp_extruder >= EXTRUDERS) {
1010 SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
1011 SERIAL_ECHOLN(tmp_extruder);
1015 LCD_MESSAGEPGM(MSG_HEATING);
1017 autotemp_enabled=false;
1019 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
1021 if (code_seen('S')) autotemp_min=code_value();
1022 if (code_seen('B')) autotemp_max=code_value();
1025 autotemp_factor=code_value();
1026 autotemp_enabled=true;
1033 /* See if we are heating up or cooling down */
1034 bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
1036 #ifdef TEMP_RESIDENCY_TIME
1037 long residencyStart;
1038 residencyStart = -1;
1039 /* continue to loop until we have reached the target temp
1040 _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
1041 while((residencyStart == -1) ||
1042 (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
1044 while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
1045 #endif //TEMP_RESIDENCY_TIME
1046 if( (millis() - codenum) > 1000UL )
1047 { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
1048 SERIAL_PROTOCOLPGM("T:");
1049 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
1050 SERIAL_PROTOCOLPGM(" E:");
1051 SERIAL_PROTOCOL((int)tmp_extruder);
1052 #ifdef TEMP_RESIDENCY_TIME
1053 SERIAL_PROTOCOLPGM(" W:");
1054 if(residencyStart > -1)
1056 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
1057 SERIAL_PROTOCOLLN( codenum );
1061 SERIAL_PROTOCOLLN( "?" );
1064 SERIAL_PROTOCOLLN("");
1069 manage_inactivity(1);
1071 #ifdef TEMP_RESIDENCY_TIME
1072 /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
1073 or when current temp falls outside the hysteresis after target temp was reached */
1074 if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
1075 (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
1076 (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
1078 residencyStart = millis();
1080 #endif //TEMP_RESIDENCY_TIME
1082 LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
1084 previous_millis_cmd = millis();
1087 case 190: // M190 - Wait for bed heater to reach target.
1088 #if TEMP_BED_PIN > -1
1089 LCD_MESSAGEPGM(MSG_BED_HEATING);
1090 if (code_seen('S')) setTargetBed(code_value());
1092 while(isHeatingBed())
1094 if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
1096 float tt=degHotend(active_extruder);
1097 SERIAL_PROTOCOLPGM("T:");
1098 SERIAL_PROTOCOL(tt);
1099 SERIAL_PROTOCOLPGM(" E:");
1100 SERIAL_PROTOCOL((int)active_extruder);
1101 SERIAL_PROTOCOLPGM(" B:");
1102 SERIAL_PROTOCOL_F(degBed(),1);
1103 SERIAL_PROTOCOLLN("");
1107 manage_inactivity(1);
1110 LCD_MESSAGEPGM(MSG_BED_DONE);
1111 previous_millis_cmd = millis();
1116 case 106: //M106 Fan On
1117 if (code_seen('S')){
1118 FanSpeed=constrain(code_value(),0,255);
1124 case 107: //M107 Fan Off
1129 #if (PS_ON_PIN > -1)
1130 case 80: // M80 - ATX Power On
1131 SET_OUTPUT(PS_ON_PIN); //GND
1132 WRITE(PS_ON_PIN, LOW);
1136 case 81: // M81 - ATX Power Off
1138 #if defined SUICIDE_PIN && SUICIDE_PIN > -1
1141 #elif (PS_ON_PIN > -1)
1142 SET_INPUT(PS_ON_PIN); //Floating
1147 axis_relative_modes[3] = false;
1150 axis_relative_modes[3] = true;
1152 case 18: //compatibility
1155 stepper_inactive_time = code_value() * 1000;
1159 bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
1166 finishAndDisableSteppers();
1171 if(code_seen('X')) disable_x();
1172 if(code_seen('Y')) disable_y();
1173 if(code_seen('Z')) disable_z();
1174 #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
1175 if(code_seen('E')) {
1181 LCD_MESSAGEPGM(MSG_PART_RELEASE);
1187 max_inactive_time = code_value() * 1000;
1190 for(int8_t i=0; i < NUM_AXIS; i++)
1192 if(code_seen(axis_codes[i]))
1195 float value = code_value();
1197 float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
1198 max_e_jerk *= factor;
1199 max_feedrate[i] *= factor;
1200 axis_steps_per_sqr_second[i] *= factor;
1202 axis_steps_per_unit[i] = value;
1205 axis_steps_per_unit[i] = code_value();
1210 SerialprintPGM(MSG_M115_REPORT);
1212 case 117: // M117 display message
1213 LCD_MESSAGE(cmdbuffer[bufindr]+5);
1216 SERIAL_PROTOCOLPGM("X:");
1217 SERIAL_PROTOCOL(current_position[X_AXIS]);
1218 SERIAL_PROTOCOLPGM("Y:");
1219 SERIAL_PROTOCOL(current_position[Y_AXIS]);
1220 SERIAL_PROTOCOLPGM("Z:");
1221 SERIAL_PROTOCOL(current_position[Z_AXIS]);
1222 SERIAL_PROTOCOLPGM("E:");
1223 SERIAL_PROTOCOL(current_position[E_AXIS]);
1225 SERIAL_PROTOCOLPGM(MSG_COUNT_X);
1226 SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
1227 SERIAL_PROTOCOLPGM("Y:");
1228 SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
1229 SERIAL_PROTOCOLPGM("Z:");
1230 SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
1232 SERIAL_PROTOCOLLN("");
1235 enable_endstops(false) ;
1238 enable_endstops(true) ;
1241 #if (X_MIN_PIN > -1)
1242 SERIAL_PROTOCOLPGM(MSG_X_MIN);
1243 SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1245 #if (X_MAX_PIN > -1)
1246 SERIAL_PROTOCOLPGM(MSG_X_MAX);
1247 SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1249 #if (Y_MIN_PIN > -1)
1250 SERIAL_PROTOCOLPGM(MSG_Y_MIN);
1251 SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1253 #if (Y_MAX_PIN > -1)
1254 SERIAL_PROTOCOLPGM(MSG_Y_MAX);
1255 SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1257 #if (Z_MIN_PIN > -1)
1258 SERIAL_PROTOCOLPGM(MSG_Z_MIN);
1259 SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1261 #if (Z_MAX_PIN > -1)
1262 SERIAL_PROTOCOLPGM(MSG_Z_MAX);
1263 SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1265 SERIAL_PROTOCOLLN("");
1267 //TODO: update for all axis, use for loop
1269 for(int8_t i=0; i < NUM_AXIS; i++)
1271 if(code_seen(axis_codes[i]))
1273 max_acceleration_units_per_sq_second[i] = code_value();
1274 axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1278 #if 0 // Not used for Sprinter/grbl gen6
1280 for(int8_t i=0; i < NUM_AXIS; i++) {
1281 if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1285 case 203: // M203 max feedrate mm/sec
1286 for(int8_t i=0; i < NUM_AXIS; i++) {
1287 if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
1290 case 204: // M204 acclereration S normal moves T filmanent only moves
1292 if(code_seen('S')) acceleration = code_value() ;
1293 if(code_seen('T')) retract_acceleration = code_value() ;
1296 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
1298 if(code_seen('S')) minimumfeedrate = code_value();
1299 if(code_seen('T')) mintravelfeedrate = code_value();
1300 if(code_seen('B')) minsegmenttime = code_value() ;
1301 if(code_seen('X')) max_xy_jerk = code_value() ;
1302 if(code_seen('Z')) max_z_jerk = code_value() ;
1303 if(code_seen('E')) max_e_jerk = code_value() ;
1306 case 206: // M206 additional homeing offset
1307 for(int8_t i=0; i < 3; i++)
1309 if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
1313 case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
1317 retract_length = code_value() ;
1321 retract_feedrate = code_value() ;
1325 retract_zlift = code_value() ;
1328 case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
1332 retract_recover_length = code_value() ;
1336 retract_recover_feedrate = code_value() ;
1340 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.
1344 int t= code_value() ;
1347 case 0: autoretract_enabled=false;retracted=false;break;
1348 case 1: autoretract_enabled=true;retracted=false;break;
1351 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1352 SERIAL_ECHO(cmdbuffer[bufindr]);
1353 SERIAL_ECHOLNPGM("\"");
1359 case 220: // M220 S<factor in percent>- set speed factor override percentage
1363 feedmultiply = code_value() ;
1364 feedmultiplychanged=true;
1368 case 221: // M221 S<factor in percent>- set extrude factor override percentage
1372 extrudemultiply = code_value() ;
1380 if(code_seen('P')) Kp = code_value();
1381 if(code_seen('I')) Ki = code_value()*PID_dT;
1382 if(code_seen('D')) Kd = code_value()/PID_dT;
1383 #ifdef PID_ADD_EXTRUSION_RATE
1384 if(code_seen('C')) Kc = code_value();
1387 SERIAL_PROTOCOL(MSG_OK);
1388 SERIAL_PROTOCOL(" p:");
1389 SERIAL_PROTOCOL(Kp);
1390 SERIAL_PROTOCOL(" i:");
1391 SERIAL_PROTOCOL(Ki/PID_dT);
1392 SERIAL_PROTOCOL(" d:");
1393 SERIAL_PROTOCOL(Kd*PID_dT);
1394 #ifdef PID_ADD_EXTRUSION_RATE
1395 SERIAL_PROTOCOL(" c:");
1396 SERIAL_PROTOCOL(Kc*PID_dT);
1398 SERIAL_PROTOCOLLN("");
1402 case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
1404 #ifdef PHOTOGRAPH_PIN
1405 #if (PHOTOGRAPH_PIN > -1)
1406 const uint8_t NUM_PULSES=16;
1407 const float PULSE_LENGTH=0.01524;
1408 for(int i=0; i < NUM_PULSES; i++) {
1409 WRITE(PHOTOGRAPH_PIN, HIGH);
1410 _delay_ms(PULSE_LENGTH);
1411 WRITE(PHOTOGRAPH_PIN, LOW);
1412 _delay_ms(PULSE_LENGTH);
1415 for(int i=0; i < NUM_PULSES; i++) {
1416 WRITE(PHOTOGRAPH_PIN, HIGH);
1417 _delay_ms(PULSE_LENGTH);
1418 WRITE(PHOTOGRAPH_PIN, LOW);
1419 _delay_ms(PULSE_LENGTH);
1426 case 302: // allow cold extrudes
1428 allow_cold_extrudes(true);
1431 case 303: // M303 PID autotune
1434 if (code_seen('S')) temp=code_value();
1438 case 400: // M400 finish all moves
1443 case 500: // Store settings in EEPROM
1445 EEPROM_StoreSettings();
1448 case 501: // Read settings from EEPROM
1450 EEPROM_RetrieveSettings();
1453 case 502: // Revert to default settings
1455 EEPROM_RetrieveSettings(true);
1458 case 503: // print settings currently in memory
1460 EEPROM_printSettings();
1463 case 999: // Restart after being stopped
1465 gcode_LastN = Stopped_gcode_LastN;
1466 FlushSerialRequestResend();
1471 else if(code_seen('T'))
1473 tmp_extruder = code_value();
1474 if(tmp_extruder >= EXTRUDERS) {
1477 SERIAL_ECHO(tmp_extruder);
1478 SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
1481 active_extruder = tmp_extruder;
1483 SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
1484 SERIAL_PROTOCOLLN((int)active_extruder);
1491 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1492 SERIAL_ECHO(cmdbuffer[bufindr]);
1493 SERIAL_ECHOLNPGM("\"");
1499 void FlushSerialRequestResend()
1501 //char cmdbuffer[bufindr][100]="Resend:";
1503 SERIAL_PROTOCOLPGM(MSG_RESEND);
1504 SERIAL_PROTOCOLLN(gcode_LastN + 1);
1510 previous_millis_cmd = millis();
1515 SERIAL_PROTOCOLLNPGM(MSG_OK);
1518 void get_coordinates()
1520 bool seen[4]={false,false,false,false};
1521 for(int8_t i=0; i < NUM_AXIS; i++) {
1522 if(code_seen(axis_codes[i]))
1524 destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
1527 else destination[i] = current_position[i]; //Are these else lines really needed?
1529 if(code_seen('F')) {
1530 next_feedrate = code_value();
1531 if(next_feedrate > 0.0) feedrate = next_feedrate;
1534 if(autoretract_enabled)
1535 if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
1537 float echange=destination[E_AXIS]-current_position[E_AXIS];
1538 if(echange<-MIN_RETRACT) //retract
1543 destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
1544 //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
1545 float correctede=-echange-retract_length;
1546 //to generate the additional steps, not the destination is changed, but inversely the current position
1547 current_position[E_AXIS]+=-correctede;
1548 feedrate=retract_feedrate;
1554 if(echange>MIN_RETRACT) //retract_recover
1558 //current_position[Z_AXIS]+=-retract_zlift;
1559 //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
1560 float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
1561 current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
1562 feedrate=retract_recover_feedrate;
1571 void get_arc_coordinates()
1574 if(code_seen('I')) {
1575 offset[0] = code_value();
1580 if(code_seen('J')) {
1581 offset[1] = code_value();
1588 void clamp_to_software_endstops(float target[3])
1590 if (min_software_endstops) {
1591 if (destination[X_AXIS] < min_pos[X_AXIS]) destination[X_AXIS] = min_pos[X_AXIS];
1592 if (destination[Y_AXIS] < min_pos[Y_AXIS]) destination[Y_AXIS] = min_pos[Y_AXIS];
1593 if (destination[Z_AXIS] < min_pos[Z_AXIS]) destination[Z_AXIS] = min_pos[Z_AXIS];
1596 if (max_software_endstops) {
1597 if (destination[X_AXIS] > max_pos[X_AXIS]) destination[X_AXIS] = max_pos[X_AXIS];
1598 if (destination[Y_AXIS] > max_pos[Y_AXIS]) destination[Y_AXIS] = max_pos[Y_AXIS];
1599 if (destination[Z_AXIS] > max_pos[Z_AXIS]) destination[Z_AXIS] = max_pos[Z_AXIS];
1605 clamp_to_software_endstops(destination);
1607 previous_millis_cmd = millis();
1608 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
1609 for(int8_t i=0; i < NUM_AXIS; i++) {
1610 current_position[i] = destination[i];
1614 void prepare_arc_move(char isclockwise) {
1615 float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
1618 mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
1620 // As far as the parser is concerned, the position is now == target. In reality the
1621 // motion control system might still be processing the action and the real tool position
1622 // in any intermediate location.
1623 for(int8_t i=0; i < NUM_AXIS; i++) {
1624 current_position[i] = destination[i];
1626 previous_millis_cmd = millis();
1629 #ifdef CONTROLLERFAN_PIN
1630 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
1631 unsigned long lastMotorCheck = 0;
1633 void controllerFan()
1635 if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
1637 lastMotorCheck = millis();
1639 if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
1641 || !READ(E2_ENABLE_PIN)
1644 || !READ(E2_ENABLE_PIN)
1646 || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
1648 lastMotor = millis(); //... set time to NOW so the fan will turn on
1651 if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
1653 WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
1657 WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
1663 void manage_inactivity(byte debug)
1665 if( (millis() - previous_millis_cmd) > max_inactive_time )
1666 if(max_inactive_time)
1668 if(stepper_inactive_time) {
1669 if( (millis() - previous_millis_cmd) > stepper_inactive_time )
1671 if(blocks_queued() == false) {
1681 #ifdef CONTROLLERFAN_PIN
1682 controllerFan(); //Check if fan should be turned on to cool stepper drivers down
1684 #ifdef EXTRUDER_RUNOUT_PREVENT
1685 if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
1686 if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
1688 bool oldstatus=READ(E0_ENABLE_PIN);
1690 float oldepos=current_position[E_AXIS];
1691 float oldedes=destination[E_AXIS];
1692 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
1693 current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
1694 EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
1695 current_position[E_AXIS]=oldepos;
1696 destination[E_AXIS]=oldedes;
1697 plan_set_e_position(oldepos);
1698 previous_millis_cmd=millis();
1700 WRITE(E0_ENABLE_PIN,oldstatus);
1703 check_axes_activity();
1708 cli(); // Stop interrupts
1718 if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
1720 SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
1721 LCD_MESSAGEPGM(MSG_KILLED);
1723 while(1); // Wait for reset
1729 if(Stopped == false) {
1731 Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
1733 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
1734 LCD_MESSAGEPGM(MSG_STOPPED);
1738 bool IsStopped() { return Stopped; };
1741 void setPwmFrequency(uint8_t pin, int val)
1744 switch(digitalPinToTimer(pin))
1750 // TCCR0B &= ~(CS00 | CS01 | CS02);
1758 // TCCR1B &= ~(CS10 | CS11 | CS12);
1766 TCCR2 &= ~(CS10 | CS11 | CS12);
1774 TCCR2B &= ~(CS20 | CS21 | CS22);
1783 TCCR3B &= ~(CS30 | CS31 | CS32);
1792 TCCR4B &= ~(CS40 | CS41 | CS42);
1801 TCCR5B &= ~(CS50 | CS51 | CS52);