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 uint8_t active_extruder = 0;
148 unsigned char FanSpeed=0;
151 bool autoretract_enabled=true;
152 bool retracted=false;
153 float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
154 float retract_recover_length=0, retract_recover_feedrate=8*60;
157 //===========================================================================
158 //=============================private variables=============================
159 //===========================================================================
160 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
161 static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
162 static float offset[3] = {0.0, 0.0, 0.0};
163 static bool home_all_axis = true;
164 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
165 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
167 static bool relative_mode = false; //Determines Absolute or Relative Coordinates
168 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.
170 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
171 static bool fromsd[BUFSIZE];
172 static int bufindr = 0;
173 static int bufindw = 0;
174 static int buflen = 0;
176 static char serial_char;
177 static int serial_count = 0;
178 static boolean comment_mode = false;
179 static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
181 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
183 //static float tt = 0;
184 //static float bt = 0;
186 //Inactivity shutdown variables
187 static unsigned long previous_millis_cmd = 0;
188 static unsigned long max_inactive_time = 0;
189 static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
191 static unsigned long starttime=0;
192 static unsigned long stoptime=0;
194 static uint8_t tmp_extruder;
199 //===========================================================================
200 //=============================ROUTINES=============================
201 //===========================================================================
203 void get_arc_coordinates();
206 extern unsigned int __bss_end;
207 extern unsigned int __heap_start;
208 extern void *__brkval;
213 if((int)__brkval == 0)
214 free_memory = ((int)&free_memory) - ((int)&__bss_end);
216 free_memory = ((int)&free_memory) - ((int)__brkval);
222 //adds an command to the main command buffer
223 //thats really done in a non-safe way.
224 //needs overworking someday
225 void enquecommand(const char *cmd)
229 //this is dangerous if a mixing of serial and this happsens
230 strcpy(&(cmdbuffer[bufindw][0]),cmd);
232 SERIAL_ECHOPGM("enqueing \"");
233 SERIAL_ECHO(cmdbuffer[bufindw]);
234 SERIAL_ECHOLNPGM("\"");
235 bufindw= (bufindw + 1)%BUFSIZE;
242 #ifdef PHOTOGRAPH_PIN
243 #if (PHOTOGRAPH_PIN > -1)
244 SET_OUTPUT(PHOTOGRAPH_PIN);
245 WRITE(PHOTOGRAPH_PIN, LOW);
250 void setup_powerhold()
253 #if (SUICIDE_PIN> -1)
254 SET_OUTPUT(SUICIDE_PIN);
255 WRITE(SUICIDE_PIN, HIGH);
263 #if (SUICIDE_PIN> -1)
264 SET_OUTPUT(SUICIDE_PIN);
265 WRITE(SUICIDE_PIN, LOW);
273 MYSERIAL.begin(BAUDRATE);
274 SERIAL_PROTOCOLLNPGM("start");
277 // Check startup - does nothing if bootloader sets MCUSR to 0
279 if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
280 if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
281 if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
282 if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
283 if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
286 SERIAL_ECHOPGM(MSG_MARLIN);
287 SERIAL_ECHOLNPGM(VERSION_STRING);
288 #ifdef STRING_VERSION_CONFIG_H
289 #ifdef STRING_CONFIG_H_AUTHOR
291 SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
292 SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
293 SERIAL_ECHOPGM(MSG_AUTHOR);
294 SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
298 SERIAL_ECHOPGM(MSG_FREE_MEMORY);
299 SERIAL_ECHO(freeMemory());
300 SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
301 SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
302 for(int8_t i = 0; i < BUFSIZE; i++)
307 EEPROM_RetrieveSettings(); // loads data from EEPROM if available
309 for(int8_t i=0; i < NUM_AXIS; i++)
311 axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
315 tp_init(); // Initialize temperature loop
316 plan_init(); // Initialize planner;
317 st_init(); // Initialize stepper;
327 if(buflen < (BUFSIZE-1))
330 card.checkautostart(false);
337 if(strstr(cmdbuffer[bufindr],"M29") == NULL)
339 card.write_command(cmdbuffer[bufindr]);
340 SERIAL_PROTOCOLLNPGM(MSG_OK);
345 SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
356 bufindr = (bufindr + 1)%BUFSIZE;
358 //check heater every n milliseconds
360 manage_inactivity(1);
367 while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
368 serial_char = MYSERIAL.read();
369 if(serial_char == '\n' ||
370 serial_char == '\r' ||
371 (serial_char == ':' && comment_mode == false) ||
372 serial_count >= (MAX_CMD_SIZE - 1) )
374 if(!serial_count) { //if empty line
375 comment_mode = false; //for new command
378 cmdbuffer[bufindw][serial_count] = 0; //terminate string
380 comment_mode = false; //for new command
381 fromsd[bufindw] = false;
382 if(strstr(cmdbuffer[bufindw], "N") != NULL)
384 strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
385 gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
386 if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
388 SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
389 SERIAL_ERRORLN(gcode_LastN);
390 //Serial.println(gcode_N);
391 FlushSerialRequestResend();
396 if(strstr(cmdbuffer[bufindw], "*") != NULL)
400 while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
401 strchr_pointer = strchr(cmdbuffer[bufindw], '*');
403 if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
405 SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
406 SERIAL_ERRORLN(gcode_LastN);
407 FlushSerialRequestResend();
411 //if no errors, continue parsing
416 SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
417 SERIAL_ERRORLN(gcode_LastN);
418 FlushSerialRequestResend();
423 gcode_LastN = gcode_N;
424 //if no errors, continue parsing
426 else // if we don't receive 'N' but still see '*'
428 if((strstr(cmdbuffer[bufindw], "*") != NULL))
431 SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
432 SERIAL_ERRORLN(gcode_LastN);
437 if((strstr(cmdbuffer[bufindw], "G") != NULL)){
438 strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
439 switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
444 if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
449 SERIAL_PROTOCOLLNPGM(MSG_OK);
452 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
453 LCD_MESSAGEPGM(MSG_STOPPED);
461 bufindw = (bufindw + 1)%BUFSIZE;
464 serial_count = 0; //clear buffer
468 if(serial_char == ';') comment_mode = true;
469 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
473 if(!card.sdprinting || serial_count!=0){
476 while( !card.eof() && buflen < BUFSIZE) {
477 int16_t n=card.get();
478 serial_char = (char)n;
479 if(serial_char == '\n' ||
480 serial_char == '\r' ||
481 (serial_char == ':' && comment_mode == false) ||
482 serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
485 SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
488 unsigned long t=(stoptime-starttime)/1000;
492 sprintf(time,"%i min, %i sec",min,sec);
496 card.printingHasFinished();
497 card.checkautostart(true);
502 comment_mode = false; //for new command
503 return; //if empty line
505 cmdbuffer[bufindw][serial_count] = 0; //terminate string
506 // if(!comment_mode){
507 fromsd[bufindw] = true;
509 bufindw = (bufindw + 1)%BUFSIZE;
511 comment_mode = false; //for new command
512 serial_count = 0; //clear buffer
516 if(serial_char == ';') comment_mode = true;
517 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
528 return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
531 long code_value_long()
533 return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
536 bool code_seen(char code_string[]) //Return True if the string was found
538 return (strstr(cmdbuffer[bufindr], code_string) != NULL);
541 bool code_seen(char code)
543 strchr_pointer = strchr(cmdbuffer[bufindr], code);
544 return (strchr_pointer != NULL); //Return True if a character was found
547 static const float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
548 static const float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
550 static void axis_is_at_home(int axis) {
551 current_position[axis] = base_home_pos[axis] + add_homeing[axis];
552 min_pos[axis] = base_min_pos[axis] + add_homeing[axis];
555 #define HOMEAXIS(LETTER) \
556 if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
558 current_position[LETTER##_AXIS] = 0; \
559 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
560 destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
561 feedrate = homing_feedrate[LETTER##_AXIS]; \
562 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
565 current_position[LETTER##_AXIS] = 0;\
566 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
567 destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
568 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
571 destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
572 feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
573 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
576 axis_is_at_home(LETTER##_AXIS); \
577 destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
579 endstops_hit_on_purpose();\
582 void process_commands()
584 unsigned long codenum; //throw away variable
585 char *starpos = NULL;
589 switch((int)code_value())
593 if(Stopped == false) {
594 get_coordinates(); // For X Y Z E F
600 case 2: // G2 - CW ARC
601 if(Stopped == false) {
602 get_arc_coordinates();
603 prepare_arc_move(true);
606 case 3: // G3 - CCW ARC
607 if(Stopped == false) {
608 get_arc_coordinates();
609 prepare_arc_move(false);
613 LCD_MESSAGEPGM(MSG_DWELL);
615 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
616 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
619 codenum += millis(); // keep track of when we started waiting
620 previous_millis_cmd = millis();
621 while(millis() < codenum ){
623 manage_inactivity(1);
628 case 10: // G10 retract
631 destination[X_AXIS]=current_position[X_AXIS];
632 destination[Y_AXIS]=current_position[Y_AXIS];
633 destination[Z_AXIS]=current_position[Z_AXIS];
634 current_position[Z_AXIS]+=-retract_zlift;
635 destination[E_AXIS]=current_position[E_AXIS]-retract_length;
636 feedrate=retract_feedrate;
642 case 11: // G10 retract_recover
645 destination[X_AXIS]=current_position[X_AXIS];
646 destination[Y_AXIS]=current_position[Y_AXIS];
647 destination[Z_AXIS]=current_position[Z_AXIS];
649 current_position[Z_AXIS]+=retract_zlift;
650 current_position[E_AXIS]+=-retract_recover_length;
651 feedrate=retract_recover_feedrate;
657 case 28: //G28 Home all Axis one at a time
658 saved_feedrate = feedrate;
659 saved_feedmultiply = feedmultiply;
661 previous_millis_cmd = millis();
663 enable_endstops(true);
665 for(int8_t i=0; i < NUM_AXIS; i++) {
666 destination[i] = current_position[i];
669 home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
671 #if Z_HOME_DIR > 0 // If homing away from BED do Z first
672 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
678 if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
680 current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
682 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
683 destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
684 feedrate = homing_feedrate[X_AXIS];
685 if(homing_feedrate[Y_AXIS]<feedrate)
686 feedrate =homing_feedrate[Y_AXIS];
687 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
690 axis_is_at_home(X_AXIS);
691 axis_is_at_home(Y_AXIS);
692 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
693 destination[X_AXIS] = current_position[X_AXIS];
694 destination[Y_AXIS] = current_position[Y_AXIS];
695 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
698 endstops_hit_on_purpose();
702 if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
707 if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
711 #if Z_HOME_DIR < 0 // If homing towards BED do Z last
712 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
717 if(code_seen(axis_codes[X_AXIS]))
719 if(code_value_long() != 0) {
720 current_position[X_AXIS]=code_value()+add_homeing[0];
724 if(code_seen(axis_codes[Y_AXIS])) {
725 if(code_value_long() != 0) {
726 current_position[Y_AXIS]=code_value()+add_homeing[1];
730 if(code_seen(axis_codes[Z_AXIS])) {
731 if(code_value_long() != 0) {
732 current_position[Z_AXIS]=code_value()+add_homeing[2];
735 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
737 #ifdef ENDSTOPS_ONLY_FOR_HOMING
738 enable_endstops(false);
741 feedrate = saved_feedrate;
742 feedmultiply = saved_feedmultiply;
743 previous_millis_cmd = millis();
744 endstops_hit_on_purpose();
747 relative_mode = false;
750 relative_mode = true;
753 if(!code_seen(axis_codes[E_AXIS]))
755 for(int8_t i=0; i < NUM_AXIS; i++) {
756 if(code_seen(axis_codes[i])) {
758 current_position[i] = code_value();
759 plan_set_e_position(current_position[E_AXIS]);
762 current_position[i] = code_value()+add_homeing[i];
763 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
771 else if(code_seen('M'))
773 switch( (int)code_value() )
776 case 0: // M0 - Unconditional stop - Wait for user button press on LCD
777 case 1: // M1 - Conditional stop - Wait for user button press on LCD
779 LCD_MESSAGEPGM(MSG_USERWAIT);
781 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
782 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
785 previous_millis_cmd = millis();
788 codenum += millis(); // keep track of when we started waiting
789 while(millis() < codenum && !CLICKED){
791 manage_inactivity(1);
797 manage_inactivity(1);
805 LCD_MESSAGEPGM(MSG_NO_MOVE);
815 case 20: // M20 - list SD card
816 SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
818 SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
820 case 21: // M21 - init SD card
825 case 22: //M22 - release SD card
829 case 23: //M23 - Select file
830 starpos = (strchr(strchr_pointer + 4,'*'));
833 card.openFile(strchr_pointer + 4,true);
835 case 24: //M24 - Start SD print
836 card.startFileprint();
839 case 25: //M25 - Pause SD print
842 case 26: //M26 - Set SD index
843 if(card.cardOK && code_seen('S')) {
844 card.setIndex(code_value_long());
847 case 27: //M27 - Get SD status
850 case 28: //M28 - Start SD write
851 starpos = (strchr(strchr_pointer + 4,'*'));
853 char* npos = strchr(cmdbuffer[bufindr], 'N');
854 strchr_pointer = strchr(npos,' ') + 1;
857 card.openFile(strchr_pointer+4,false);
859 case 29: //M29 - Stop SD write
860 //processed in write to file routine above
861 //card,saving = false;
863 case 30: //M30 <filename> Delete File
866 starpos = (strchr(strchr_pointer + 4,'*'));
868 char* npos = strchr(cmdbuffer[bufindr], 'N');
869 strchr_pointer = strchr(npos,' ') + 1;
872 card.removeFile(strchr_pointer + 4);
878 case 31: //M31 take time since the start of the SD print or an M109 command
882 unsigned long t=(stoptime-starttime)/1000;
886 sprintf(time,"%i min, %i sec",min,sec);
893 case 42: //M42 -Change pin status via gcode
896 int pin_status = code_value();
897 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
899 int pin_number = code_value();
900 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
902 if (sensitive_pins[i] == pin_number)
911 pinMode(pin_number, OUTPUT);
912 digitalWrite(pin_number, pin_status);
913 analogWrite(pin_number, pin_status);
919 tmp_extruder = active_extruder;
921 tmp_extruder = code_value();
922 if(tmp_extruder >= EXTRUDERS) {
924 SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
925 SERIAL_ECHOLN(tmp_extruder);
929 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
932 case 140: // M140 set bed temp
933 if (code_seen('S')) setTargetBed(code_value());
936 tmp_extruder = active_extruder;
938 tmp_extruder = code_value();
939 if(tmp_extruder >= EXTRUDERS) {
941 SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
942 SERIAL_ECHOLN(tmp_extruder);
946 #if (TEMP_0_PIN > -1)
947 SERIAL_PROTOCOLPGM("ok T:");
948 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
949 SERIAL_PROTOCOLPGM(" /");
950 SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
951 #if TEMP_BED_PIN > -1
952 SERIAL_PROTOCOLPGM(" B:");
953 SERIAL_PROTOCOL_F(degBed(),1);
954 SERIAL_PROTOCOLPGM(" /");
955 SERIAL_PROTOCOL_F(degTargetBed(),1);
956 #endif //TEMP_BED_PIN
959 SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
962 SERIAL_PROTOCOLPGM(" @:");
963 SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
965 SERIAL_PROTOCOLLN("");
969 {// M109 - Wait for extruder heater to reach target.
970 tmp_extruder = active_extruder;
972 tmp_extruder = code_value();
973 if(tmp_extruder >= EXTRUDERS) {
975 SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
976 SERIAL_ECHOLN(tmp_extruder);
980 LCD_MESSAGEPGM(MSG_HEATING);
982 autotemp_enabled=false;
984 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
986 if (code_seen('S')) autotemp_min=code_value();
987 if (code_seen('B')) autotemp_max=code_value();
990 autotemp_factor=code_value();
991 autotemp_enabled=true;
998 /* See if we are heating up or cooling down */
999 bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
1001 #ifdef TEMP_RESIDENCY_TIME
1002 long residencyStart;
1003 residencyStart = -1;
1004 /* continue to loop until we have reached the target temp
1005 _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
1006 while((residencyStart == -1) ||
1007 (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
1009 while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
1010 #endif //TEMP_RESIDENCY_TIME
1011 if( (millis() - codenum) > 1000UL )
1012 { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
1013 SERIAL_PROTOCOLPGM("T:");
1014 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
1015 SERIAL_PROTOCOLPGM(" E:");
1016 SERIAL_PROTOCOL((int)tmp_extruder);
1017 #ifdef TEMP_RESIDENCY_TIME
1018 SERIAL_PROTOCOLPGM(" W:");
1019 if(residencyStart > -1)
1021 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
1022 SERIAL_PROTOCOLLN( codenum );
1026 SERIAL_PROTOCOLLN( "?" );
1029 SERIAL_PROTOCOLLN("");
1034 manage_inactivity(1);
1036 #ifdef TEMP_RESIDENCY_TIME
1037 /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
1038 or when current temp falls outside the hysteresis after target temp was reached */
1039 if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
1040 (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
1041 (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
1043 residencyStart = millis();
1045 #endif //TEMP_RESIDENCY_TIME
1047 LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
1049 previous_millis_cmd = millis();
1052 case 190: // M190 - Wait for bed heater to reach target.
1053 #if TEMP_BED_PIN > -1
1054 LCD_MESSAGEPGM(MSG_BED_HEATING);
1055 if (code_seen('S')) setTargetBed(code_value());
1057 while(isHeatingBed())
1059 if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
1061 float tt=degHotend(active_extruder);
1062 SERIAL_PROTOCOLPGM("T:");
1063 SERIAL_PROTOCOL(tt);
1064 SERIAL_PROTOCOLPGM(" E:");
1065 SERIAL_PROTOCOL((int)active_extruder);
1066 SERIAL_PROTOCOLPGM(" B:");
1067 SERIAL_PROTOCOL_F(degBed(),1);
1068 SERIAL_PROTOCOLLN("");
1072 manage_inactivity(1);
1075 LCD_MESSAGEPGM(MSG_BED_DONE);
1076 previous_millis_cmd = millis();
1081 case 106: //M106 Fan On
1082 if (code_seen('S')){
1083 FanSpeed=constrain(code_value(),0,255);
1089 case 107: //M107 Fan Off
1094 #if (PS_ON_PIN > -1)
1095 case 80: // M80 - ATX Power On
1096 SET_OUTPUT(PS_ON_PIN); //GND
1097 WRITE(PS_ON_PIN, LOW);
1101 case 81: // M81 - ATX Power Off
1103 #if defined SUICIDE_PIN && SUICIDE_PIN > -1
1106 #elif (PS_ON_PIN > -1)
1107 SET_INPUT(PS_ON_PIN); //Floating
1112 axis_relative_modes[3] = false;
1115 axis_relative_modes[3] = true;
1117 case 18: //compatibility
1120 stepper_inactive_time = code_value() * 1000;
1124 bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
1131 finishAndDisableSteppers();
1136 if(code_seen('X')) disable_x();
1137 if(code_seen('Y')) disable_y();
1138 if(code_seen('Z')) disable_z();
1139 #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
1140 if(code_seen('E')) {
1146 LCD_MESSAGEPGM(MSG_PART_RELEASE);
1152 max_inactive_time = code_value() * 1000;
1155 for(int8_t i=0; i < NUM_AXIS; i++)
1157 if(code_seen(axis_codes[i]))
1160 float value = code_value();
1162 float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
1163 max_e_jerk *= factor;
1164 max_feedrate[i] *= factor;
1165 axis_steps_per_sqr_second[i] *= factor;
1167 axis_steps_per_unit[i] = value;
1170 axis_steps_per_unit[i] = code_value();
1175 SerialprintPGM(MSG_M115_REPORT);
1177 case 117: // M117 display message
1178 LCD_MESSAGE(cmdbuffer[bufindr]+5);
1181 SERIAL_PROTOCOLPGM("X:");
1182 SERIAL_PROTOCOL(current_position[X_AXIS]);
1183 SERIAL_PROTOCOLPGM("Y:");
1184 SERIAL_PROTOCOL(current_position[Y_AXIS]);
1185 SERIAL_PROTOCOLPGM("Z:");
1186 SERIAL_PROTOCOL(current_position[Z_AXIS]);
1187 SERIAL_PROTOCOLPGM("E:");
1188 SERIAL_PROTOCOL(current_position[E_AXIS]);
1190 SERIAL_PROTOCOLPGM(MSG_COUNT_X);
1191 SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
1192 SERIAL_PROTOCOLPGM("Y:");
1193 SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
1194 SERIAL_PROTOCOLPGM("Z:");
1195 SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
1197 SERIAL_PROTOCOLLN("");
1200 enable_endstops(false) ;
1203 enable_endstops(true) ;
1206 #if (X_MIN_PIN > -1)
1207 SERIAL_PROTOCOLPGM(MSG_X_MIN);
1208 SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1210 #if (X_MAX_PIN > -1)
1211 SERIAL_PROTOCOLPGM(MSG_X_MAX);
1212 SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1214 #if (Y_MIN_PIN > -1)
1215 SERIAL_PROTOCOLPGM(MSG_Y_MIN);
1216 SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1218 #if (Y_MAX_PIN > -1)
1219 SERIAL_PROTOCOLPGM(MSG_Y_MAX);
1220 SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1222 #if (Z_MIN_PIN > -1)
1223 SERIAL_PROTOCOLPGM(MSG_Z_MIN);
1224 SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1226 #if (Z_MAX_PIN > -1)
1227 SERIAL_PROTOCOLPGM(MSG_Z_MAX);
1228 SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1230 SERIAL_PROTOCOLLN("");
1232 //TODO: update for all axis, use for loop
1234 for(int8_t i=0; i < NUM_AXIS; i++)
1236 if(code_seen(axis_codes[i]))
1238 max_acceleration_units_per_sq_second[i] = code_value();
1239 axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1243 #if 0 // Not used for Sprinter/grbl gen6
1245 for(int8_t i=0; i < NUM_AXIS; i++) {
1246 if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1250 case 203: // M203 max feedrate mm/sec
1251 for(int8_t i=0; i < NUM_AXIS; i++) {
1252 if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
1255 case 204: // M204 acclereration S normal moves T filmanent only moves
1257 if(code_seen('S')) acceleration = code_value() ;
1258 if(code_seen('T')) retract_acceleration = code_value() ;
1261 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
1263 if(code_seen('S')) minimumfeedrate = code_value();
1264 if(code_seen('T')) mintravelfeedrate = code_value();
1265 if(code_seen('B')) minsegmenttime = code_value() ;
1266 if(code_seen('X')) max_xy_jerk = code_value() ;
1267 if(code_seen('Z')) max_z_jerk = code_value() ;
1268 if(code_seen('E')) max_e_jerk = code_value() ;
1271 case 206: // M206 additional homeing offset
1272 for(int8_t i=0; i < 3; i++)
1274 if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
1278 case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
1282 retract_length = code_value() ;
1286 retract_feedrate = code_value() ;
1290 retract_zlift = code_value() ;
1293 case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
1297 retract_recover_length = code_value() ;
1301 retract_recover_feedrate = code_value() ;
1305 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.
1309 int t= code_value() ;
1312 case 0: autoretract_enabled=false;retracted=false;break;
1313 case 1: autoretract_enabled=true;retracted=false;break;
1316 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1317 SERIAL_ECHO(cmdbuffer[bufindr]);
1318 SERIAL_ECHOLNPGM("\"");
1324 case 220: // M220 S<factor in percent>- set speed factor override percentage
1328 feedmultiply = code_value() ;
1329 feedmultiplychanged=true;
1333 case 221: // M221 S<factor in percent>- set extrude factor override percentage
1337 extrudemultiply = code_value() ;
1345 if(code_seen('P')) Kp = code_value();
1346 if(code_seen('I')) Ki = code_value()*PID_dT;
1347 if(code_seen('D')) Kd = code_value()/PID_dT;
1348 #ifdef PID_ADD_EXTRUSION_RATE
1349 if(code_seen('C')) Kc = code_value();
1352 SERIAL_PROTOCOL(MSG_OK);
1353 SERIAL_PROTOCOL(" p:");
1354 SERIAL_PROTOCOL(Kp);
1355 SERIAL_PROTOCOL(" i:");
1356 SERIAL_PROTOCOL(Ki/PID_dT);
1357 SERIAL_PROTOCOL(" d:");
1358 SERIAL_PROTOCOL(Kd*PID_dT);
1359 #ifdef PID_ADD_EXTRUSION_RATE
1360 SERIAL_PROTOCOL(" c:");
1361 SERIAL_PROTOCOL(Kc*PID_dT);
1363 SERIAL_PROTOCOLLN("");
1367 case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
1369 #ifdef PHOTOGRAPH_PIN
1370 #if (PHOTOGRAPH_PIN > -1)
1371 const uint8_t NUM_PULSES=16;
1372 const float PULSE_LENGTH=0.01524;
1373 for(int i=0; i < NUM_PULSES; i++) {
1374 WRITE(PHOTOGRAPH_PIN, HIGH);
1375 _delay_ms(PULSE_LENGTH);
1376 WRITE(PHOTOGRAPH_PIN, LOW);
1377 _delay_ms(PULSE_LENGTH);
1380 for(int i=0; i < NUM_PULSES; i++) {
1381 WRITE(PHOTOGRAPH_PIN, HIGH);
1382 _delay_ms(PULSE_LENGTH);
1383 WRITE(PHOTOGRAPH_PIN, LOW);
1384 _delay_ms(PULSE_LENGTH);
1391 case 302: // allow cold extrudes
1393 allow_cold_extrudes(true);
1396 case 303: // M303 PID autotune
1399 if (code_seen('S')) temp=code_value();
1403 case 400: // M400 finish all moves
1408 case 500: // Store settings in EEPROM
1410 EEPROM_StoreSettings();
1413 case 501: // Read settings from EEPROM
1415 EEPROM_RetrieveSettings();
1418 case 502: // Revert to default settings
1420 EEPROM_RetrieveSettings(true);
1423 case 503: // print settings currently in memory
1425 EEPROM_printSettings();
1428 case 999: // Restart after being stopped
1430 gcode_LastN = Stopped_gcode_LastN;
1431 FlushSerialRequestResend();
1436 else if(code_seen('T'))
1438 tmp_extruder = code_value();
1439 if(tmp_extruder >= EXTRUDERS) {
1442 SERIAL_ECHO(tmp_extruder);
1443 SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
1446 active_extruder = tmp_extruder;
1448 SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
1449 SERIAL_PROTOCOLLN((int)active_extruder);
1456 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1457 SERIAL_ECHO(cmdbuffer[bufindr]);
1458 SERIAL_ECHOLNPGM("\"");
1464 void FlushSerialRequestResend()
1466 //char cmdbuffer[bufindr][100]="Resend:";
1468 SERIAL_PROTOCOLPGM(MSG_RESEND);
1469 SERIAL_PROTOCOLLN(gcode_LastN + 1);
1475 previous_millis_cmd = millis();
1480 SERIAL_PROTOCOLLNPGM(MSG_OK);
1483 void get_coordinates()
1485 bool seen[4]={false,false,false,false};
1486 for(int8_t i=0; i < NUM_AXIS; i++) {
1487 if(code_seen(axis_codes[i]))
1489 destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
1492 else destination[i] = current_position[i]; //Are these else lines really needed?
1494 if(code_seen('F')) {
1495 next_feedrate = code_value();
1496 if(next_feedrate > 0.0) feedrate = next_feedrate;
1499 if(autoretract_enabled)
1500 if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
1502 float echange=destination[E_AXIS]-current_position[E_AXIS];
1503 if(echange<-MIN_RETRACT) //retract
1508 destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
1509 //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
1510 float correctede=-echange-retract_length;
1511 //to generate the additional steps, not the destination is changed, but inversely the current position
1512 current_position[E_AXIS]+=-correctede;
1513 feedrate=retract_feedrate;
1519 if(echange>MIN_RETRACT) //retract_recover
1523 //current_position[Z_AXIS]+=-retract_zlift;
1524 //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
1525 float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
1526 current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
1527 feedrate=retract_recover_feedrate;
1536 void get_arc_coordinates()
1539 if(code_seen('I')) {
1540 offset[0] = code_value();
1545 if(code_seen('J')) {
1546 offset[1] = code_value();
1555 if (min_software_endstops) {
1556 if (destination[X_AXIS] < min_pos[0]) destination[X_AXIS] = min_pos[0];
1557 if (destination[Y_AXIS] < min_pos[1]) destination[Y_AXIS] = min_pos[1];
1558 if (destination[Z_AXIS] < min_pos[2]) destination[Z_AXIS] = min_pos[2];
1561 if (max_software_endstops) {
1562 if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
1563 if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
1564 if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
1566 previous_millis_cmd = millis();
1567 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
1568 for(int8_t i=0; i < NUM_AXIS; i++) {
1569 current_position[i] = destination[i];
1573 void prepare_arc_move(char isclockwise) {
1574 float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
1577 mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
1579 // As far as the parser is concerned, the position is now == target. In reality the
1580 // motion control system might still be processing the action and the real tool position
1581 // in any intermediate location.
1582 for(int8_t i=0; i < NUM_AXIS; i++) {
1583 current_position[i] = destination[i];
1585 previous_millis_cmd = millis();
1588 #ifdef CONTROLLERFAN_PIN
1589 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
1590 unsigned long lastMotorCheck = 0;
1592 void controllerFan()
1594 if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
1596 lastMotorCheck = millis();
1598 if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
1600 || !READ(E2_ENABLE_PIN)
1603 || !READ(E2_ENABLE_PIN)
1605 || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
1607 lastMotor = millis(); //... set time to NOW so the fan will turn on
1610 if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
1612 WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
1616 WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
1622 void manage_inactivity(byte debug)
1624 if( (millis() - previous_millis_cmd) > max_inactive_time )
1625 if(max_inactive_time)
1627 if(stepper_inactive_time) {
1628 if( (millis() - previous_millis_cmd) > stepper_inactive_time )
1630 if(blocks_queued() == false) {
1640 #ifdef CONTROLLERFAN_PIN
1641 controllerFan(); //Check if fan should be turned on to cool stepper drivers down
1643 #ifdef EXTRUDER_RUNOUT_PREVENT
1644 if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
1645 if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
1647 bool oldstatus=READ(E0_ENABLE_PIN);
1649 float oldepos=current_position[E_AXIS];
1650 float oldedes=destination[E_AXIS];
1651 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
1652 current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
1653 EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
1654 current_position[E_AXIS]=oldepos;
1655 destination[E_AXIS]=oldedes;
1656 plan_set_e_position(oldepos);
1657 previous_millis_cmd=millis();
1659 WRITE(E0_ENABLE_PIN,oldstatus);
1662 check_axes_activity();
1667 cli(); // Stop interrupts
1677 if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
1679 SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
1680 LCD_MESSAGEPGM(MSG_KILLED);
1682 while(1); // Wait for reset
1688 if(Stopped == false) {
1690 Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
1692 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
1693 LCD_MESSAGEPGM(MSG_STOPPED);
1697 bool IsStopped() { return Stopped; };
1700 void setPwmFrequency(uint8_t pin, int val)
1703 switch(digitalPinToTimer(pin))
1709 // TCCR0B &= ~(CS00 | CS01 | CS02);
1717 // TCCR1B &= ~(CS10 | CS11 | CS12);
1725 TCCR2 &= ~(CS10 | CS11 | CS12);
1733 TCCR2B &= ~(CS20 | CS21 | CS22);
1742 TCCR3B &= ~(CS30 | CS31 | CS32);
1751 TCCR4B &= ~(CS40 | CS41 | CS42);
1760 TCCR5B &= ~(CS50 | CS51 | CS52);