2 Reprap firmware based on Sprinter and grbl.
3 Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
5 This program is free software: you can redistribute it and/or modify
6 it under the terms of the GNU General Public License as published by
7 the Free Software Foundation, either version 3 of the License, or
8 (at your option) any later version.
10 This program is distributed in the hope that it will be useful,
11 but WITHOUT ANY WARRANTY; without even the implied warranty of
12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 GNU General Public License for more details.
15 You should have received a copy of the GNU General Public License
16 along with this program. If not, see <http://www.gnu.org/licenses/>.
20 This firmware is a mashup between Sprinter and grbl.
21 (https://github.com/kliment/Sprinter)
22 (https://github.com/simen/grbl/tree)
24 It has preliminary support for Matthew Roberts advance algorithm
25 http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
33 #include "temperature.h"
34 #include "motion_control.h"
35 #include "cardreader.h"
37 #include "EEPROMwrite.h"
39 #include "pins_arduino.h"
41 #define VERSION_STRING "1.0.0 RC2"
43 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
44 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
49 // G1 - Coordinated Movement X Y Z E
52 // G4 - Dwell S<seconds> or P<milliseconds>
53 // G10 - retract filament according to settings of M207
54 // G11 - retract recover filament according to settings of M208
55 // G28 - Home all Axis
56 // G90 - Use Absolute Coordinates
57 // G91 - Use Relative Coordinates
58 // G92 - Set current position to cordinates given
61 // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
63 // M104 - Set extruder target temp
64 // M105 - Read current temp
67 // M109 - Wait for extruder current temp to reach target temp.
68 // M114 - Display current position
71 // M17 - Enable/Power all stepper motors
72 // M18 - Disable all stepper motors; same as M84
75 // M22 - Release SD card
76 // M23 - Select SD file (M23 filename.g)
77 // M24 - Start/resume SD print
78 // M25 - Pause SD print
79 // M26 - Set SD position in bytes (M26 S12345)
80 // M27 - Report SD print status
81 // M28 - Start SD write (M28 filename.g)
82 // M29 - Stop SD write
83 // M30 - Delete file from SD (M30 filename.g)
84 // M31 - Output time since last M109 or SD card start to serial
85 // M42 - Change pin status via gcode
86 // M80 - Turn on Power Supply
87 // M81 - Turn off Power Supply
88 // M82 - Set E codes absolute (default)
89 // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
90 // M84 - Disable steppers until next move,
91 // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
92 // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
93 // M92 - Set axis_steps_per_unit - same syntax as G92
94 // M114 - Output current position to serial port
95 // M115 - Capabilities string
96 // M117 - display message
97 // M119 - Output Endstop status to serial port
98 // M140 - Set bed target temp
99 // M190 - Wait for bed current temp to reach target temp.
100 // M200 - Set filament diameter
101 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
102 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
103 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
104 // 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
105 // 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
106 // M206 - set additional homeing offset
107 // M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
108 // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
109 // 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.
110 // M220 S<factor in percent>- set speed factor override percentage
111 // M221 S<factor in percent>- set extrude factor override percentage
112 // M240 - Trigger a camera to take a photograph
113 // M301 - Set PID parameters P I and D
114 // M302 - Allow cold extrudes
115 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
116 // M400 - Finish all moves
117 // M500 - stores paramters in EEPROM
118 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
119 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
120 // M503 - print the current settings (from memory not from eeprom)
121 // M999 - Restart after being stopped by error
123 //Stepper Movement Variables
125 //===========================================================================
126 //=============================imported variables============================
127 //===========================================================================
130 //===========================================================================
131 //=============================public variables=============================
132 //===========================================================================
136 float homing_feedrate[] = HOMING_FEEDRATE;
137 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
138 volatile int feedmultiply=100; //100->1 200->2
139 int saved_feedmultiply;
140 volatile bool feedmultiplychanged=false;
141 volatile int extrudemultiply=100; //100->1 200->2
142 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
143 float add_homeing[3]={0,0,0};
144 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
145 uint8_t active_extruder = 0;
146 unsigned char FanSpeed=0;
149 bool autoretract_enabled=true;
150 bool retracted=false;
151 float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
152 float retract_recover_length=0, retract_recover_feedrate=8*60;
155 //===========================================================================
156 //=============================private variables=============================
157 //===========================================================================
158 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
159 static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
160 static float offset[3] = {0.0, 0.0, 0.0};
161 static bool home_all_axis = true;
162 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
163 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
165 static bool relative_mode = false; //Determines Absolute or Relative Coordinates
166 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.
168 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
169 static bool fromsd[BUFSIZE];
170 static int bufindr = 0;
171 static int bufindw = 0;
172 static int buflen = 0;
174 static char serial_char;
175 static int serial_count = 0;
176 static boolean comment_mode = false;
177 static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
179 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
181 //static float tt = 0;
182 //static float bt = 0;
184 //Inactivity shutdown variables
185 static unsigned long previous_millis_cmd = 0;
186 static unsigned long max_inactive_time = 0;
187 static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
189 static unsigned long starttime=0;
190 static unsigned long stoptime=0;
192 static uint8_t tmp_extruder;
197 //===========================================================================
198 //=============================ROUTINES=============================
199 //===========================================================================
201 void get_arc_coordinates();
204 extern unsigned int __bss_end;
205 extern unsigned int __heap_start;
206 extern void *__brkval;
211 if((int)__brkval == 0)
212 free_memory = ((int)&free_memory) - ((int)&__bss_end);
214 free_memory = ((int)&free_memory) - ((int)__brkval);
220 //adds an command to the main command buffer
221 //thats really done in a non-safe way.
222 //needs overworking someday
223 void enquecommand(const char *cmd)
227 //this is dangerous if a mixing of serial and this happsens
228 strcpy(&(cmdbuffer[bufindw][0]),cmd);
230 SERIAL_ECHOPGM("enqueing \"");
231 SERIAL_ECHO(cmdbuffer[bufindw]);
232 SERIAL_ECHOLNPGM("\"");
233 bufindw= (bufindw + 1)%BUFSIZE;
240 #ifdef PHOTOGRAPH_PIN
241 #if (PHOTOGRAPH_PIN > -1)
242 SET_OUTPUT(PHOTOGRAPH_PIN);
243 WRITE(PHOTOGRAPH_PIN, LOW);
248 void setup_powerhold()
251 #if (SUICIDE_PIN> -1)
252 SET_OUTPUT(SUICIDE_PIN);
253 WRITE(SUICIDE_PIN, HIGH);
261 #if (SUICIDE_PIN> -1)
262 SET_OUTPUT(SUICIDE_PIN);
263 WRITE(SUICIDE_PIN, LOW);
271 MYSERIAL.begin(BAUDRATE);
272 SERIAL_PROTOCOLLNPGM("start");
275 // Check startup - does nothing if bootloader sets MCUSR to 0
277 if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
278 if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
279 if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
280 if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
281 if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
284 SERIAL_ECHOPGM(MSG_MARLIN);
285 SERIAL_ECHOLNPGM(VERSION_STRING);
286 #ifdef STRING_VERSION_CONFIG_H
287 #ifdef STRING_CONFIG_H_AUTHOR
289 SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
290 SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
291 SERIAL_ECHOPGM(MSG_AUTHOR);
292 SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
296 SERIAL_ECHOPGM(MSG_FREE_MEMORY);
297 SERIAL_ECHO(freeMemory());
298 SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
299 SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
300 for(int8_t i = 0; i < BUFSIZE; i++)
305 EEPROM_RetrieveSettings(); // loads data from EEPROM if available
307 for(int8_t i=0; i < NUM_AXIS; i++)
309 axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
313 tp_init(); // Initialize temperature loop
314 plan_init(); // Initialize planner;
315 st_init(); // Initialize stepper;
325 if(buflen < (BUFSIZE-1))
328 card.checkautostart(false);
335 if(strstr(cmdbuffer[bufindr],"M29") == NULL)
337 card.write_command(cmdbuffer[bufindr]);
338 SERIAL_PROTOCOLLNPGM(MSG_OK);
343 SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
354 bufindr = (bufindr + 1)%BUFSIZE;
356 //check heater every n milliseconds
358 manage_inactivity(1);
365 while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
366 serial_char = MYSERIAL.read();
367 if(serial_char == '\n' ||
368 serial_char == '\r' ||
369 (serial_char == ':' && comment_mode == false) ||
370 serial_count >= (MAX_CMD_SIZE - 1) )
372 if(!serial_count) { //if empty line
373 comment_mode = false; //for new command
376 cmdbuffer[bufindw][serial_count] = 0; //terminate string
378 comment_mode = false; //for new command
379 fromsd[bufindw] = false;
380 if(strstr(cmdbuffer[bufindw], "N") != NULL)
382 strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
383 gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
384 if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
386 SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
387 SERIAL_ERRORLN(gcode_LastN);
388 //Serial.println(gcode_N);
389 FlushSerialRequestResend();
394 if(strstr(cmdbuffer[bufindw], "*") != NULL)
398 while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
399 strchr_pointer = strchr(cmdbuffer[bufindw], '*');
401 if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
403 SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
404 SERIAL_ERRORLN(gcode_LastN);
405 FlushSerialRequestResend();
409 //if no errors, continue parsing
414 SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
415 SERIAL_ERRORLN(gcode_LastN);
416 FlushSerialRequestResend();
421 gcode_LastN = gcode_N;
422 //if no errors, continue parsing
424 else // if we don't receive 'N' but still see '*'
426 if((strstr(cmdbuffer[bufindw], "*") != NULL))
429 SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
430 SERIAL_ERRORLN(gcode_LastN);
435 if((strstr(cmdbuffer[bufindw], "G") != NULL)){
436 strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
437 switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
442 if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
447 SERIAL_PROTOCOLLNPGM(MSG_OK);
450 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
451 LCD_MESSAGEPGM(MSG_STOPPED);
459 bufindw = (bufindw + 1)%BUFSIZE;
462 serial_count = 0; //clear buffer
466 if(serial_char == ';') comment_mode = true;
467 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
471 if(!card.sdprinting || serial_count!=0){
474 while( !card.eof() && buflen < BUFSIZE) {
475 int16_t n=card.get();
476 serial_char = (char)n;
477 if(serial_char == '\n' ||
478 serial_char == '\r' ||
479 (serial_char == ':' && comment_mode == false) ||
480 serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
483 SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
486 unsigned long t=(stoptime-starttime)/1000;
490 sprintf(time,"%i min, %i sec",min,sec);
494 card.printingHasFinished();
495 card.checkautostart(true);
500 comment_mode = false; //for new command
501 return; //if empty line
503 cmdbuffer[bufindw][serial_count] = 0; //terminate string
504 // if(!comment_mode){
505 fromsd[bufindw] = true;
507 bufindw = (bufindw + 1)%BUFSIZE;
509 comment_mode = false; //for new command
510 serial_count = 0; //clear buffer
514 if(serial_char == ';') comment_mode = true;
515 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
526 return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
529 long code_value_long()
531 return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
534 bool code_seen(char code_string[]) //Return True if the string was found
536 return (strstr(cmdbuffer[bufindr], code_string) != NULL);
539 bool code_seen(char code)
541 strchr_pointer = strchr(cmdbuffer[bufindr], code);
542 return (strchr_pointer != NULL); //Return True if a character was found
545 static const float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
546 static const float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
548 static void axis_is_at_home(int axis) {
549 current_position[axis] = base_home_pos[axis] + add_homeing[axis];
550 min_pos[axis] = base_min_pos[axis] + add_homeing[axis];
553 #define HOMEAXIS(LETTER) \
554 if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
556 current_position[LETTER##_AXIS] = 0; \
557 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
558 destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
559 feedrate = homing_feedrate[LETTER##_AXIS]; \
560 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
563 current_position[LETTER##_AXIS] = 0;\
564 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
565 destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
566 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
569 destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
570 feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
571 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
574 axis_is_at_home(LETTER##_AXIS); \
575 destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
577 endstops_hit_on_purpose();\
580 void process_commands()
582 unsigned long codenum; //throw away variable
583 char *starpos = NULL;
587 switch((int)code_value())
591 if(Stopped == false) {
592 get_coordinates(); // For X Y Z E F
598 case 2: // G2 - CW ARC
599 if(Stopped == false) {
600 get_arc_coordinates();
601 prepare_arc_move(true);
604 case 3: // G3 - CCW ARC
605 if(Stopped == false) {
606 get_arc_coordinates();
607 prepare_arc_move(false);
611 LCD_MESSAGEPGM(MSG_DWELL);
613 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
614 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
617 codenum += millis(); // keep track of when we started waiting
618 previous_millis_cmd = millis();
619 while(millis() < codenum ){
621 manage_inactivity(1);
626 case 10: // G10 retract
629 destination[X_AXIS]=current_position[X_AXIS];
630 destination[Y_AXIS]=current_position[Y_AXIS];
631 destination[Z_AXIS]=current_position[Z_AXIS];
632 current_position[Z_AXIS]+=-retract_zlift;
633 destination[E_AXIS]=current_position[E_AXIS]-retract_length;
634 feedrate=retract_feedrate;
640 case 11: // G10 retract_recover
643 destination[X_AXIS]=current_position[X_AXIS];
644 destination[Y_AXIS]=current_position[Y_AXIS];
645 destination[Z_AXIS]=current_position[Z_AXIS];
647 current_position[Z_AXIS]+=retract_zlift;
648 current_position[E_AXIS]+=-retract_recover_length;
649 feedrate=retract_recover_feedrate;
655 case 28: //G28 Home all Axis one at a time
656 saved_feedrate = feedrate;
657 saved_feedmultiply = feedmultiply;
659 previous_millis_cmd = millis();
661 enable_endstops(true);
663 for(int8_t i=0; i < NUM_AXIS; i++) {
664 destination[i] = current_position[i];
667 home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
669 #if Z_HOME_DIR > 0 // If homing away from BED do Z first
670 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
676 if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
678 current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
680 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
681 destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
682 feedrate = homing_feedrate[X_AXIS];
683 if(homing_feedrate[Y_AXIS]<feedrate)
684 feedrate =homing_feedrate[Y_AXIS];
685 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
688 axis_is_at_home(X_AXIS);
689 axis_is_at_home(Y_AXIS);
690 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
691 destination[X_AXIS] = current_position[X_AXIS];
692 destination[Y_AXIS] = current_position[Y_AXIS];
693 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
696 endstops_hit_on_purpose();
700 if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
705 if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
709 #if Z_HOME_DIR < 0 // If homing towards BED do Z last
710 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
715 if(code_seen(axis_codes[X_AXIS]))
717 if(code_value_long() != 0) {
718 current_position[X_AXIS]=code_value()+add_homeing[0];
722 if(code_seen(axis_codes[Y_AXIS])) {
723 if(code_value_long() != 0) {
724 current_position[Y_AXIS]=code_value()+add_homeing[1];
728 if(code_seen(axis_codes[Z_AXIS])) {
729 if(code_value_long() != 0) {
730 current_position[Z_AXIS]=code_value()+add_homeing[2];
733 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
735 #ifdef ENDSTOPS_ONLY_FOR_HOMING
736 enable_endstops(false);
739 feedrate = saved_feedrate;
740 feedmultiply = saved_feedmultiply;
741 previous_millis_cmd = millis();
742 endstops_hit_on_purpose();
745 relative_mode = false;
748 relative_mode = true;
751 if(!code_seen(axis_codes[E_AXIS]))
753 for(int8_t i=0; i < NUM_AXIS; i++) {
754 if(code_seen(axis_codes[i])) {
756 current_position[i] = code_value();
757 plan_set_e_position(current_position[E_AXIS]);
760 current_position[i] = code_value()+add_homeing[i];
761 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
769 else if(code_seen('M'))
771 switch( (int)code_value() )
774 case 0: // M0 - Unconditional stop - Wait for user button press on LCD
775 case 1: // M1 - Conditional stop - Wait for user button press on LCD
777 LCD_MESSAGEPGM(MSG_USERWAIT);
779 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
780 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
783 previous_millis_cmd = millis();
786 codenum += millis(); // keep track of when we started waiting
787 while(millis() < codenum && !CLICKED){
789 manage_inactivity(1);
795 manage_inactivity(1);
803 LCD_MESSAGEPGM(MSG_NO_MOVE);
813 case 20: // M20 - list SD card
814 SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
816 SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
818 case 21: // M21 - init SD card
823 case 22: //M22 - release SD card
827 case 23: //M23 - Select file
828 starpos = (strchr(strchr_pointer + 4,'*'));
831 card.openFile(strchr_pointer + 4,true);
833 case 24: //M24 - Start SD print
834 card.startFileprint();
837 case 25: //M25 - Pause SD print
840 case 26: //M26 - Set SD index
841 if(card.cardOK && code_seen('S')) {
842 card.setIndex(code_value_long());
845 case 27: //M27 - Get SD status
848 case 28: //M28 - Start SD write
849 starpos = (strchr(strchr_pointer + 4,'*'));
851 char* npos = strchr(cmdbuffer[bufindr], 'N');
852 strchr_pointer = strchr(npos,' ') + 1;
855 card.openFile(strchr_pointer+4,false);
857 case 29: //M29 - Stop SD write
858 //processed in write to file routine above
859 //card,saving = false;
861 case 30: //M30 <filename> Delete File
864 starpos = (strchr(strchr_pointer + 4,'*'));
866 char* npos = strchr(cmdbuffer[bufindr], 'N');
867 strchr_pointer = strchr(npos,' ') + 1;
870 card.removeFile(strchr_pointer + 4);
876 case 31: //M31 take time since the start of the SD print or an M109 command
880 unsigned long t=(stoptime-starttime)/1000;
884 sprintf(time,"%i min, %i sec",min,sec);
891 case 42: //M42 -Change pin status via gcode
894 int pin_status = code_value();
895 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
897 int pin_number = code_value();
898 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
900 if (sensitive_pins[i] == pin_number)
909 pinMode(pin_number, OUTPUT);
910 digitalWrite(pin_number, pin_status);
911 analogWrite(pin_number, pin_status);
917 tmp_extruder = active_extruder;
919 tmp_extruder = code_value();
920 if(tmp_extruder >= EXTRUDERS) {
922 SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
923 SERIAL_ECHOLN(tmp_extruder);
927 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
930 case 140: // M140 set bed temp
931 if (code_seen('S')) setTargetBed(code_value());
934 tmp_extruder = active_extruder;
936 tmp_extruder = code_value();
937 if(tmp_extruder >= EXTRUDERS) {
939 SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
940 SERIAL_ECHOLN(tmp_extruder);
944 #if (TEMP_0_PIN > -1)
945 SERIAL_PROTOCOLPGM("ok T:");
946 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
947 SERIAL_PROTOCOLPGM(" /");
948 SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
949 #if TEMP_BED_PIN > -1
950 SERIAL_PROTOCOLPGM(" B:");
951 SERIAL_PROTOCOL_F(degBed(),1);
952 SERIAL_PROTOCOLPGM(" /");
953 SERIAL_PROTOCOL_F(degTargetBed(),1);
954 #endif //TEMP_BED_PIN
957 SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
960 SERIAL_PROTOCOLPGM(" @:");
961 SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
963 SERIAL_PROTOCOLLN("");
967 {// M109 - Wait for extruder heater to reach target.
968 tmp_extruder = active_extruder;
970 tmp_extruder = code_value();
971 if(tmp_extruder >= EXTRUDERS) {
973 SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
974 SERIAL_ECHOLN(tmp_extruder);
978 LCD_MESSAGEPGM(MSG_HEATING);
980 autotemp_enabled=false;
982 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
984 if (code_seen('S')) autotemp_min=code_value();
985 if (code_seen('B')) autotemp_max=code_value();
988 autotemp_factor=code_value();
989 autotemp_enabled=true;
996 /* See if we are heating up or cooling down */
997 bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
999 #ifdef TEMP_RESIDENCY_TIME
1000 long residencyStart;
1001 residencyStart = -1;
1002 /* continue to loop until we have reached the target temp
1003 _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
1004 while((residencyStart == -1) ||
1005 (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
1007 while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
1008 #endif //TEMP_RESIDENCY_TIME
1009 if( (millis() - codenum) > 1000UL )
1010 { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
1011 SERIAL_PROTOCOLPGM("T:");
1012 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
1013 SERIAL_PROTOCOLPGM(" E:");
1014 SERIAL_PROTOCOL((int)tmp_extruder);
1015 #ifdef TEMP_RESIDENCY_TIME
1016 SERIAL_PROTOCOLPGM(" W:");
1017 if(residencyStart > -1)
1019 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
1020 SERIAL_PROTOCOLLN( codenum );
1024 SERIAL_PROTOCOLLN( "?" );
1027 SERIAL_PROTOCOLLN("");
1032 manage_inactivity(1);
1034 #ifdef TEMP_RESIDENCY_TIME
1035 /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
1036 or when current temp falls outside the hysteresis after target temp was reached */
1037 if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
1038 (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
1039 (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
1041 residencyStart = millis();
1043 #endif //TEMP_RESIDENCY_TIME
1045 LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
1047 previous_millis_cmd = millis();
1050 case 190: // M190 - Wait for bed heater to reach target.
1051 #if TEMP_BED_PIN > -1
1052 LCD_MESSAGEPGM(MSG_BED_HEATING);
1053 if (code_seen('S')) setTargetBed(code_value());
1055 while(isHeatingBed())
1057 if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
1059 float tt=degHotend(active_extruder);
1060 SERIAL_PROTOCOLPGM("T:");
1061 SERIAL_PROTOCOL(tt);
1062 SERIAL_PROTOCOLPGM(" E:");
1063 SERIAL_PROTOCOL((int)active_extruder);
1064 SERIAL_PROTOCOLPGM(" B:");
1065 SERIAL_PROTOCOL_F(degBed(),1);
1066 SERIAL_PROTOCOLLN("");
1070 manage_inactivity(1);
1073 LCD_MESSAGEPGM(MSG_BED_DONE);
1074 previous_millis_cmd = millis();
1079 case 106: //M106 Fan On
1080 if (code_seen('S')){
1081 FanSpeed=constrain(code_value(),0,255);
1087 case 107: //M107 Fan Off
1092 #if (PS_ON_PIN > -1)
1093 case 80: // M80 - ATX Power On
1094 SET_OUTPUT(PS_ON_PIN); //GND
1095 WRITE(PS_ON_PIN, LOW);
1099 case 81: // M81 - ATX Power Off
1101 #if defined SUICIDE_PIN && SUICIDE_PIN > -1
1104 #elif (PS_ON_PIN > -1)
1105 SET_INPUT(PS_ON_PIN); //Floating
1110 axis_relative_modes[3] = false;
1113 axis_relative_modes[3] = true;
1115 case 18: //compatibility
1118 stepper_inactive_time = code_value() * 1000;
1122 bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
1129 finishAndDisableSteppers();
1134 if(code_seen('X')) disable_x();
1135 if(code_seen('Y')) disable_y();
1136 if(code_seen('Z')) disable_z();
1137 #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
1138 if(code_seen('E')) {
1144 LCD_MESSAGEPGM(MSG_PART_RELEASE);
1150 max_inactive_time = code_value() * 1000;
1153 for(int8_t i=0; i < NUM_AXIS; i++)
1155 if(code_seen(axis_codes[i]))
1158 float value = code_value();
1160 float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
1161 max_e_jerk *= factor;
1162 max_feedrate[i] *= factor;
1163 axis_steps_per_sqr_second[i] *= factor;
1165 axis_steps_per_unit[i] = value;
1168 axis_steps_per_unit[i] = code_value();
1173 SerialprintPGM(MSG_M115_REPORT);
1175 case 117: // M117 display message
1176 LCD_MESSAGE(cmdbuffer[bufindr]+5);
1179 SERIAL_PROTOCOLPGM("X:");
1180 SERIAL_PROTOCOL(current_position[X_AXIS]);
1181 SERIAL_PROTOCOLPGM("Y:");
1182 SERIAL_PROTOCOL(current_position[Y_AXIS]);
1183 SERIAL_PROTOCOLPGM("Z:");
1184 SERIAL_PROTOCOL(current_position[Z_AXIS]);
1185 SERIAL_PROTOCOLPGM("E:");
1186 SERIAL_PROTOCOL(current_position[E_AXIS]);
1188 SERIAL_PROTOCOLPGM(MSG_COUNT_X);
1189 SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
1190 SERIAL_PROTOCOLPGM("Y:");
1191 SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
1192 SERIAL_PROTOCOLPGM("Z:");
1193 SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
1195 SERIAL_PROTOCOLLN("");
1198 enable_endstops(false) ;
1201 enable_endstops(true) ;
1204 #if (X_MIN_PIN > -1)
1205 SERIAL_PROTOCOLPGM(MSG_X_MIN);
1206 SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1208 #if (X_MAX_PIN > -1)
1209 SERIAL_PROTOCOLPGM(MSG_X_MAX);
1210 SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1212 #if (Y_MIN_PIN > -1)
1213 SERIAL_PROTOCOLPGM(MSG_Y_MIN);
1214 SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1216 #if (Y_MAX_PIN > -1)
1217 SERIAL_PROTOCOLPGM(MSG_Y_MAX);
1218 SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1220 #if (Z_MIN_PIN > -1)
1221 SERIAL_PROTOCOLPGM(MSG_Z_MIN);
1222 SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1224 #if (Z_MAX_PIN > -1)
1225 SERIAL_PROTOCOLPGM(MSG_Z_MAX);
1226 SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1228 SERIAL_PROTOCOLLN("");
1230 //TODO: update for all axis, use for loop
1232 for(int8_t i=0; i < NUM_AXIS; i++)
1234 if(code_seen(axis_codes[i]))
1236 max_acceleration_units_per_sq_second[i] = code_value();
1237 axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1241 #if 0 // Not used for Sprinter/grbl gen6
1243 for(int8_t i=0; i < NUM_AXIS; i++) {
1244 if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1248 case 203: // M203 max feedrate mm/sec
1249 for(int8_t i=0; i < NUM_AXIS; i++) {
1250 if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
1253 case 204: // M204 acclereration S normal moves T filmanent only moves
1255 if(code_seen('S')) acceleration = code_value() ;
1256 if(code_seen('T')) retract_acceleration = code_value() ;
1259 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
1261 if(code_seen('S')) minimumfeedrate = code_value();
1262 if(code_seen('T')) mintravelfeedrate = code_value();
1263 if(code_seen('B')) minsegmenttime = code_value() ;
1264 if(code_seen('X')) max_xy_jerk = code_value() ;
1265 if(code_seen('Z')) max_z_jerk = code_value() ;
1266 if(code_seen('E')) max_e_jerk = code_value() ;
1269 case 206: // M206 additional homeing offset
1270 for(int8_t i=0; i < 3; i++)
1272 if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
1276 case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
1280 retract_length = code_value() ;
1284 retract_feedrate = code_value() ;
1288 retract_zlift = code_value() ;
1291 case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
1295 retract_recover_length = code_value() ;
1299 retract_recover_feedrate = code_value() ;
1303 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.
1307 int t= code_value() ;
1310 case 0: autoretract_enabled=false;retracted=false;break;
1311 case 1: autoretract_enabled=true;retracted=false;break;
1314 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1315 SERIAL_ECHO(cmdbuffer[bufindr]);
1316 SERIAL_ECHOLNPGM("\"");
1322 case 220: // M220 S<factor in percent>- set speed factor override percentage
1326 feedmultiply = code_value() ;
1327 feedmultiplychanged=true;
1331 case 221: // M221 S<factor in percent>- set extrude factor override percentage
1335 extrudemultiply = code_value() ;
1343 if(code_seen('P')) Kp = code_value();
1344 if(code_seen('I')) Ki = code_value()*PID_dT;
1345 if(code_seen('D')) Kd = code_value()/PID_dT;
1346 #ifdef PID_ADD_EXTRUSION_RATE
1347 if(code_seen('C')) Kc = code_value();
1350 SERIAL_PROTOCOL(MSG_OK);
1351 SERIAL_PROTOCOL(" p:");
1352 SERIAL_PROTOCOL(Kp);
1353 SERIAL_PROTOCOL(" i:");
1354 SERIAL_PROTOCOL(Ki/PID_dT);
1355 SERIAL_PROTOCOL(" d:");
1356 SERIAL_PROTOCOL(Kd*PID_dT);
1357 #ifdef PID_ADD_EXTRUSION_RATE
1358 SERIAL_PROTOCOL(" c:");
1359 SERIAL_PROTOCOL(Kc*PID_dT);
1361 SERIAL_PROTOCOLLN("");
1365 case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
1367 #ifdef PHOTOGRAPH_PIN
1368 #if (PHOTOGRAPH_PIN > -1)
1369 const uint8_t NUM_PULSES=16;
1370 const float PULSE_LENGTH=0.01524;
1371 for(int i=0; i < NUM_PULSES; i++) {
1372 WRITE(PHOTOGRAPH_PIN, HIGH);
1373 _delay_ms(PULSE_LENGTH);
1374 WRITE(PHOTOGRAPH_PIN, LOW);
1375 _delay_ms(PULSE_LENGTH);
1378 for(int i=0; i < NUM_PULSES; i++) {
1379 WRITE(PHOTOGRAPH_PIN, HIGH);
1380 _delay_ms(PULSE_LENGTH);
1381 WRITE(PHOTOGRAPH_PIN, LOW);
1382 _delay_ms(PULSE_LENGTH);
1389 case 302: // allow cold extrudes
1391 allow_cold_extrudes(true);
1394 case 303: // M303 PID autotune
1397 if (code_seen('S')) temp=code_value();
1401 case 400: // M400 finish all moves
1406 case 500: // Store settings in EEPROM
1408 EEPROM_StoreSettings();
1411 case 501: // Read settings from EEPROM
1413 EEPROM_RetrieveSettings();
1416 case 502: // Revert to default settings
1418 EEPROM_RetrieveSettings(true);
1421 case 503: // print settings currently in memory
1423 EEPROM_printSettings();
1426 case 999: // Restart after being stopped
1428 gcode_LastN = Stopped_gcode_LastN;
1429 FlushSerialRequestResend();
1434 else if(code_seen('T'))
1436 tmp_extruder = code_value();
1437 if(tmp_extruder >= EXTRUDERS) {
1440 SERIAL_ECHO(tmp_extruder);
1441 SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
1444 active_extruder = tmp_extruder;
1446 SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
1447 SERIAL_PROTOCOLLN((int)active_extruder);
1454 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1455 SERIAL_ECHO(cmdbuffer[bufindr]);
1456 SERIAL_ECHOLNPGM("\"");
1462 void FlushSerialRequestResend()
1464 //char cmdbuffer[bufindr][100]="Resend:";
1466 SERIAL_PROTOCOLPGM(MSG_RESEND);
1467 SERIAL_PROTOCOLLN(gcode_LastN + 1);
1473 previous_millis_cmd = millis();
1478 SERIAL_PROTOCOLLNPGM(MSG_OK);
1481 void get_coordinates()
1483 bool seen[4]={false,false,false,false};
1484 for(int8_t i=0; i < NUM_AXIS; i++) {
1485 if(code_seen(axis_codes[i]))
1487 destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
1490 else destination[i] = current_position[i]; //Are these else lines really needed?
1492 if(code_seen('F')) {
1493 next_feedrate = code_value();
1494 if(next_feedrate > 0.0) feedrate = next_feedrate;
1497 if(autoretract_enabled)
1498 if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
1500 float echange=destination[E_AXIS]-current_position[E_AXIS];
1501 if(echange<-MIN_RETRACT) //retract
1506 destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
1507 //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
1508 float correctede=-echange-retract_length;
1509 //to generate the additional steps, not the destination is changed, but inversely the current position
1510 current_position[E_AXIS]+=-correctede;
1511 feedrate=retract_feedrate;
1517 if(echange>MIN_RETRACT) //retract_recover
1521 //current_position[Z_AXIS]+=-retract_zlift;
1522 //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
1523 float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
1524 current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
1525 feedrate=retract_recover_feedrate;
1534 void get_arc_coordinates()
1537 if(code_seen('I')) {
1538 offset[0] = code_value();
1543 if(code_seen('J')) {
1544 offset[1] = code_value();
1553 if (min_software_endstops) {
1554 if (destination[X_AXIS] < min_pos[0]) destination[X_AXIS] = min_pos[0];
1555 if (destination[Y_AXIS] < min_pos[1]) destination[Y_AXIS] = min_pos[1];
1556 if (destination[Z_AXIS] < min_pos[2]) destination[Z_AXIS] = min_pos[2];
1559 if (max_software_endstops) {
1560 if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
1561 if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
1562 if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
1564 previous_millis_cmd = millis();
1565 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
1566 for(int8_t i=0; i < NUM_AXIS; i++) {
1567 current_position[i] = destination[i];
1571 void prepare_arc_move(char isclockwise) {
1572 float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
1575 mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
1577 // As far as the parser is concerned, the position is now == target. In reality the
1578 // motion control system might still be processing the action and the real tool position
1579 // in any intermediate location.
1580 for(int8_t i=0; i < NUM_AXIS; i++) {
1581 current_position[i] = destination[i];
1583 previous_millis_cmd = millis();
1586 #ifdef CONTROLLERFAN_PIN
1587 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
1588 unsigned long lastMotorCheck = 0;
1590 void controllerFan()
1592 if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
1594 lastMotorCheck = millis();
1596 if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
1598 || !READ(E2_ENABLE_PIN)
1601 || !READ(E2_ENABLE_PIN)
1603 || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
1605 lastMotor = millis(); //... set time to NOW so the fan will turn on
1608 if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
1610 WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
1614 WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
1620 void manage_inactivity(byte debug)
1622 if( (millis() - previous_millis_cmd) > max_inactive_time )
1623 if(max_inactive_time)
1625 if(stepper_inactive_time) {
1626 if( (millis() - previous_millis_cmd) > stepper_inactive_time )
1628 if(blocks_queued() == false) {
1638 #ifdef CONTROLLERFAN_PIN
1639 controllerFan(); //Check if fan should be turned on to cool stepper drivers down
1641 #ifdef EXTRUDER_RUNOUT_PREVENT
1642 if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
1643 if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
1645 bool oldstatus=READ(E0_ENABLE_PIN);
1647 float oldepos=current_position[E_AXIS];
1648 float oldedes=destination[E_AXIS];
1649 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
1650 current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
1651 EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
1652 current_position[E_AXIS]=oldepos;
1653 destination[E_AXIS]=oldedes;
1654 plan_set_e_position(oldepos);
1655 previous_millis_cmd=millis();
1657 WRITE(E0_ENABLE_PIN,oldstatus);
1660 check_axes_activity();
1665 cli(); // Stop interrupts
1675 if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
1677 SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
1678 LCD_MESSAGEPGM(MSG_KILLED);
1680 while(1); // Wait for reset
1686 if(Stopped == false) {
1688 Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
1690 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
1691 LCD_MESSAGEPGM(MSG_STOPPED);
1695 bool IsStopped() { return Stopped; };
1698 void setPwmFrequency(uint8_t pin, int val)
1701 switch(digitalPinToTimer(pin))
1707 // TCCR0B &= ~(CS00 | CS01 | CS02);
1715 // TCCR1B &= ~(CS10 | CS11 | CS12);
1723 TCCR2 &= ~(CS10 | CS11 | CS12);
1731 TCCR2B &= ~(CS20 | CS21 | CS22);
1740 TCCR3B &= ~(CS30 | CS31 | CS32);
1749 TCCR4B &= ~(CS40 | CS41 | CS42);
1758 TCCR5B &= ~(CS50 | CS51 | CS52);