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 // G28 - Home all Axis
54 // G90 - Use Absolute Coordinates
55 // G91 - Use Relative Coordinates
56 // G92 - Set current position to cordinates given
59 // M104 - Set extruder target temp
60 // M105 - Read current temp
63 // M109 - Wait for extruder current temp to reach target temp.
64 // M114 - Display current position
67 // M17 - Enable/Power all stepper motors
68 // M18 - Disable all stepper motors; same as M84
71 // M22 - Release SD card
72 // M23 - Select SD file (M23 filename.g)
73 // M24 - Start/resume SD print
74 // M25 - Pause SD print
75 // M26 - Set SD position in bytes (M26 S12345)
76 // M27 - Report SD print status
77 // M28 - Start SD write (M28 filename.g)
78 // M29 - Stop SD write
79 // M30 - Delete file from SD (M30 filename.g)
80 // M31 - Output time since last M109 or SD card start to serial
81 // M42 - Change pin status via gcode
82 // M80 - Turn on Power Supply
83 // M81 - Turn off Power Supply
84 // M82 - Set E codes absolute (default)
85 // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
86 // M84 - Disable steppers until next move,
87 // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
88 // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
89 // M92 - Set axis_steps_per_unit - same syntax as G92
90 // M114 - Output current position to serial port
91 // M115 - Capabilities string
92 // M117 - display message
93 // M119 - Output Endstop status to serial port
94 // M140 - Set bed target temp
95 // M190 - Wait for bed current temp to reach target temp.
96 // M200 - Set filament diameter
97 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
98 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
99 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
100 // 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
101 // 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
102 // M206 - set additional homeing offset
103 // M220 S<factor in percent>- set speed factor override percentage
104 // M221 S<factor in percent>- set extrude factor override percentage
105 // M240 - Trigger a camera to take a photograph
106 // M301 - Set PID parameters P I and D
107 // M302 - Allow cold extrudes
108 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
109 // M400 - Finish all moves
110 // M401 - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
111 // M500 - stores paramters in EEPROM
112 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
113 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
114 // M503 - print the current settings (from memory not from eeprom)
115 // M999 - Restart after being stopped by error
117 //Stepper Movement Variables
119 //===========================================================================
120 //=============================imported variables============================
121 //===========================================================================
124 //===========================================================================
125 //=============================public variables=============================
126 //===========================================================================
130 float homing_feedrate[] = HOMING_FEEDRATE;
131 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
132 volatile int feedmultiply=100; //100->1 200->2
133 int saved_feedmultiply;
134 volatile bool feedmultiplychanged=false;
135 volatile int extrudemultiply=100; //100->1 200->2
136 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
137 float add_homeing[3]={0,0,0};
138 uint8_t active_extruder = 0;
139 unsigned char FanSpeed=0;
142 //===========================================================================
143 //=============================private variables=============================
144 //===========================================================================
145 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
146 static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
147 static float offset[3] = {0.0, 0.0, 0.0};
148 static bool home_all_axis = true;
149 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
150 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
152 static bool relative_mode = false; //Determines Absolute or Relative Coordinates
153 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.
155 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
156 static bool fromsd[BUFSIZE];
157 static int bufindr = 0;
158 static int bufindw = 0;
159 static int buflen = 0;
161 static char serial_char;
162 static int serial_count = 0;
163 static boolean comment_mode = false;
164 static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
166 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
168 //static float tt = 0;
169 //static float bt = 0;
171 //Inactivity shutdown variables
172 static unsigned long previous_millis_cmd = 0;
173 static unsigned long max_inactive_time = 0;
174 static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
176 static unsigned long starttime=0;
177 static unsigned long stoptime=0;
179 static uint8_t tmp_extruder;
183 //===========================================================================
184 //=============================ROUTINES=============================
185 //===========================================================================
187 void get_arc_coordinates();
190 extern unsigned int __bss_end;
191 extern unsigned int __heap_start;
192 extern void *__brkval;
197 if((int)__brkval == 0)
198 free_memory = ((int)&free_memory) - ((int)&__bss_end);
200 free_memory = ((int)&free_memory) - ((int)__brkval);
206 //adds an command to the main command buffer
207 //thats really done in a non-safe way.
208 //needs overworking someday
209 void enquecommand(const char *cmd)
213 //this is dangerous if a mixing of serial and this happsens
214 strcpy(&(cmdbuffer[bufindw][0]),cmd);
216 SERIAL_ECHOPGM("enqueing \"");
217 SERIAL_ECHO(cmdbuffer[bufindw]);
218 SERIAL_ECHOLNPGM("\"");
219 bufindw= (bufindw + 1)%BUFSIZE;
226 #ifdef PHOTOGRAPH_PIN
227 #if (PHOTOGRAPH_PIN > -1)
228 SET_OUTPUT(PHOTOGRAPH_PIN);
229 WRITE(PHOTOGRAPH_PIN, LOW);
234 void setup_powerhold()
237 #if (SUICIDE_PIN> -1)
238 SET_OUTPUT(SUICIDE_PIN);
239 WRITE(SUICIDE_PIN, HIGH);
247 #if (SUICIDE_PIN> -1)
248 SET_OUTPUT(SUICIDE_PIN);
249 WRITE(SUICIDE_PIN, LOW);
257 MYSERIAL.begin(BAUDRATE);
258 SERIAL_PROTOCOLLNPGM("start");
261 // Check startup - does nothing if bootloader sets MCUSR to 0
263 if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
264 if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
265 if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
266 if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
267 if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
270 SERIAL_ECHOPGM(MSG_MARLIN);
271 SERIAL_ECHOLNPGM(VERSION_STRING);
272 #ifdef STRING_VERSION_CONFIG_H
273 #ifdef STRING_CONFIG_H_AUTHOR
275 SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
276 SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
277 SERIAL_ECHOPGM(MSG_AUTHOR);
278 SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
282 SERIAL_ECHOPGM(MSG_FREE_MEMORY);
283 SERIAL_ECHO(freeMemory());
284 SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
285 SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
286 for(int8_t i = 0; i < BUFSIZE; i++)
291 EEPROM_RetrieveSettings(); // loads data from EEPROM if available
293 for(int8_t i=0; i < NUM_AXIS; i++)
295 axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
299 tp_init(); // Initialize temperature loop
300 plan_init(); // Initialize planner;
301 st_init(); // Initialize stepper;
311 if(buflen < (BUFSIZE-1))
314 card.checkautostart(false);
321 if(strstr(cmdbuffer[bufindr],"M29") == NULL)
323 card.write_command(cmdbuffer[bufindr]);
324 SERIAL_PROTOCOLLNPGM(MSG_OK);
329 SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
340 bufindr = (bufindr + 1)%BUFSIZE;
342 //check heater every n milliseconds
344 manage_inactivity(1);
351 while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
352 serial_char = MYSERIAL.read();
353 if(serial_char == '\n' ||
354 serial_char == '\r' ||
355 (serial_char == ':' && comment_mode == false) ||
356 serial_count >= (MAX_CMD_SIZE - 1) )
358 if(!serial_count) { //if empty line
359 comment_mode = false; //for new command
362 cmdbuffer[bufindw][serial_count] = 0; //terminate string
364 comment_mode = false; //for new command
365 fromsd[bufindw] = false;
366 if(strstr(cmdbuffer[bufindw], "N") != NULL)
368 strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
369 gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
370 if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
372 SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
373 SERIAL_ERRORLN(gcode_LastN);
374 //Serial.println(gcode_N);
375 FlushSerialRequestResend();
380 if(strstr(cmdbuffer[bufindw], "*") != NULL)
384 while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
385 strchr_pointer = strchr(cmdbuffer[bufindw], '*');
387 if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
389 SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
390 SERIAL_ERRORLN(gcode_LastN);
391 FlushSerialRequestResend();
395 //if no errors, continue parsing
400 SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
401 SERIAL_ERRORLN(gcode_LastN);
402 FlushSerialRequestResend();
407 gcode_LastN = gcode_N;
408 //if no errors, continue parsing
410 else // if we don't receive 'N' but still see '*'
412 if((strstr(cmdbuffer[bufindw], "*") != NULL))
415 SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
416 SERIAL_ERRORLN(gcode_LastN);
421 if((strstr(cmdbuffer[bufindw], "G") != NULL)){
422 strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
423 switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
428 if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
433 SERIAL_PROTOCOLLNPGM(MSG_OK);
436 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
437 LCD_MESSAGEPGM(MSG_STOPPED);
445 bufindw = (bufindw + 1)%BUFSIZE;
448 serial_count = 0; //clear buffer
452 if(serial_char == ';') comment_mode = true;
453 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
457 if(!card.sdprinting || serial_count!=0){
460 while( !card.eof() && buflen < BUFSIZE) {
461 int16_t n=card.get();
462 serial_char = (char)n;
463 if(serial_char == '\n' ||
464 serial_char == '\r' ||
465 (serial_char == ':' && comment_mode == false) ||
466 serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
469 SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
472 unsigned long t=(stoptime-starttime)/1000;
476 sprintf(time,"%i min, %i sec",min,sec);
480 card.printingHasFinished();
481 card.checkautostart(true);
486 comment_mode = false; //for new command
487 return; //if empty line
489 cmdbuffer[bufindw][serial_count] = 0; //terminate string
490 // if(!comment_mode){
491 fromsd[bufindw] = true;
493 bufindw = (bufindw + 1)%BUFSIZE;
495 comment_mode = false; //for new command
496 serial_count = 0; //clear buffer
500 if(serial_char == ';') comment_mode = true;
501 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
512 return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
515 long code_value_long()
517 return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
520 bool code_seen(char code_string[]) //Return True if the string was found
522 return (strstr(cmdbuffer[bufindr], code_string) != NULL);
525 bool code_seen(char code)
527 strchr_pointer = strchr(cmdbuffer[bufindr], code);
528 return (strchr_pointer != NULL); //Return True if a character was found
531 #define HOMEAXIS(LETTER) \
532 if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
534 current_position[LETTER##_AXIS] = 0; \
535 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
536 destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
537 feedrate = homing_feedrate[LETTER##_AXIS]; \
538 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
541 current_position[LETTER##_AXIS] = 0;\
542 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
543 destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
544 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
547 destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
548 feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
549 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
552 current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? LETTER##_HOME_POS : LETTER##_MAX_LENGTH;\
553 destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
555 endstops_hit_on_purpose();\
558 void process_commands()
560 unsigned long codenum; //throw away variable
561 char *starpos = NULL;
565 switch((int)code_value())
569 if(Stopped == false) {
570 get_coordinates(); // For X Y Z E F
576 case 2: // G2 - CW ARC
577 if(Stopped == false) {
578 get_arc_coordinates();
579 prepare_arc_move(true);
582 case 3: // G3 - CCW ARC
583 if(Stopped == false) {
584 get_arc_coordinates();
585 prepare_arc_move(false);
589 LCD_MESSAGEPGM(MSG_DWELL);
591 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
592 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
595 codenum += millis(); // keep track of when we started waiting
596 previous_millis_cmd = millis();
597 while(millis() < codenum ){
599 manage_inactivity(1);
603 case 28: //G28 Home all Axis one at a time
604 saved_feedrate = feedrate;
605 saved_feedmultiply = feedmultiply;
607 previous_millis_cmd = millis();
609 enable_endstops(true);
611 for(int8_t i=0; i < NUM_AXIS; i++) {
612 destination[i] = current_position[i];
615 home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
617 if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
619 current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
621 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
622 destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
623 feedrate = homing_feedrate[X_AXIS];
624 if(homing_feedrate[Y_AXIS]<feedrate)
625 feedrate =homing_feedrate[Y_AXIS];
626 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
629 current_position[X_AXIS] = (X_HOME_DIR == -1) ? X_HOME_POS : X_MAX_LENGTH;
630 current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? Y_HOME_POS : Y_MAX_LENGTH;
631 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
632 destination[X_AXIS] = current_position[X_AXIS];
633 destination[Y_AXIS] = current_position[Y_AXIS];
634 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
637 endstops_hit_on_purpose();
641 if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
646 if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
650 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
654 if(code_seen(axis_codes[X_AXIS]))
656 if(code_value_long() != 0) {
657 current_position[X_AXIS]=code_value()+add_homeing[0];
661 if(code_seen(axis_codes[Y_AXIS])) {
662 if(code_value_long() != 0) {
663 current_position[Y_AXIS]=code_value()+add_homeing[1];
667 if(code_seen(axis_codes[Z_AXIS])) {
668 if(code_value_long() != 0) {
669 current_position[Z_AXIS]=code_value()+add_homeing[2];
672 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
674 #ifdef ENDSTOPS_ONLY_FOR_HOMING
675 enable_endstops(false);
678 feedrate = saved_feedrate;
679 feedmultiply = saved_feedmultiply;
680 previous_millis_cmd = millis();
681 endstops_hit_on_purpose();
684 relative_mode = false;
687 relative_mode = true;
690 if(!code_seen(axis_codes[E_AXIS]))
692 for(int8_t i=0; i < NUM_AXIS; i++) {
693 if(code_seen(axis_codes[i])) {
695 current_position[i] = code_value();
696 plan_set_e_position(current_position[E_AXIS]);
699 current_position[i] = code_value()+add_homeing[i];
700 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
708 else if(code_seen('M'))
710 switch( (int)code_value() )
713 LCD_MESSAGEPGM(MSG_NO_MOVE);
723 case 20: // M20 - list SD card
724 SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
726 SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
728 case 21: // M21 - init SD card
733 case 22: //M22 - release SD card
737 case 23: //M23 - Select file
738 starpos = (strchr(strchr_pointer + 4,'*'));
741 card.openFile(strchr_pointer + 4,true);
743 case 24: //M24 - Start SD print
744 card.startFileprint();
747 case 25: //M25 - Pause SD print
750 case 26: //M26 - Set SD index
751 if(card.cardOK && code_seen('S')) {
752 card.setIndex(code_value_long());
755 case 27: //M27 - Get SD status
758 case 28: //M28 - Start SD write
759 starpos = (strchr(strchr_pointer + 4,'*'));
761 char* npos = strchr(cmdbuffer[bufindr], 'N');
762 strchr_pointer = strchr(npos,' ') + 1;
765 card.openFile(strchr_pointer+4,false);
767 case 29: //M29 - Stop SD write
768 //processed in write to file routine above
769 //card,saving = false;
771 case 30: //M30 <filename> Delete File
774 starpos = (strchr(strchr_pointer + 4,'*'));
776 char* npos = strchr(cmdbuffer[bufindr], 'N');
777 strchr_pointer = strchr(npos,' ') + 1;
780 card.removeFile(strchr_pointer + 4);
786 case 31: //M31 take time since the start of the SD print or an M109 command
790 unsigned long t=(stoptime-starttime)/1000;
794 sprintf(time,"%i min, %i sec",min,sec);
801 case 42: //M42 -Change pin status via gcode
804 int pin_status = code_value();
805 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
807 int pin_number = code_value();
808 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
810 if (sensitive_pins[i] == pin_number)
819 pinMode(pin_number, OUTPUT);
820 digitalWrite(pin_number, pin_status);
821 analogWrite(pin_number, pin_status);
827 tmp_extruder = active_extruder;
829 tmp_extruder = code_value();
830 if(tmp_extruder >= EXTRUDERS) {
832 SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
833 SERIAL_ECHOLN(tmp_extruder);
837 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
840 case 140: // M140 set bed temp
841 if (code_seen('S')) setTargetBed(code_value());
844 tmp_extruder = active_extruder;
846 tmp_extruder = code_value();
847 if(tmp_extruder >= EXTRUDERS) {
849 SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
850 SERIAL_ECHOLN(tmp_extruder);
854 #if (TEMP_0_PIN > -1)
855 SERIAL_PROTOCOLPGM("ok T:");
856 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
857 SERIAL_PROTOCOLPGM(" /");
858 SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
859 #if TEMP_BED_PIN > -1
860 SERIAL_PROTOCOLPGM(" B:");
861 SERIAL_PROTOCOL_F(degBed(),1);
862 SERIAL_PROTOCOLPGM(" /");
863 SERIAL_PROTOCOL_F(degTargetBed(),1);
864 #endif //TEMP_BED_PIN
867 SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
870 SERIAL_PROTOCOLPGM(" @:");
871 SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
873 SERIAL_PROTOCOLLN("");
877 {// M109 - Wait for extruder heater to reach target.
878 tmp_extruder = active_extruder;
880 tmp_extruder = code_value();
881 if(tmp_extruder >= EXTRUDERS) {
883 SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
884 SERIAL_ECHOLN(tmp_extruder);
888 LCD_MESSAGEPGM(MSG_HEATING);
890 autotemp_enabled=false;
892 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
894 if (code_seen('S')) autotemp_min=code_value();
895 if (code_seen('B')) autotemp_max=code_value();
898 autotemp_factor=code_value();
899 autotemp_enabled=true;
906 /* See if we are heating up or cooling down */
907 bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
909 #ifdef TEMP_RESIDENCY_TIME
912 /* continue to loop until we have reached the target temp
913 _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
914 while((residencyStart == -1) ||
915 (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
917 while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
918 #endif //TEMP_RESIDENCY_TIME
919 if( (millis() - codenum) > 1000UL )
920 { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
921 SERIAL_PROTOCOLPGM("T:");
922 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
923 SERIAL_PROTOCOLPGM(" E:");
924 SERIAL_PROTOCOL((int)tmp_extruder);
925 #ifdef TEMP_RESIDENCY_TIME
926 SERIAL_PROTOCOLPGM(" W:");
927 if(residencyStart > -1)
929 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
930 SERIAL_PROTOCOLLN( codenum );
934 SERIAL_PROTOCOLLN( "?" );
937 SERIAL_PROTOCOLLN("");
942 manage_inactivity(1);
944 #ifdef TEMP_RESIDENCY_TIME
945 /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
946 or when current temp falls outside the hysteresis after target temp was reached */
947 if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
948 (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
949 (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
951 residencyStart = millis();
953 #endif //TEMP_RESIDENCY_TIME
955 LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
957 previous_millis_cmd = millis();
960 case 190: // M190 - Wait for bed heater to reach target.
961 #if TEMP_BED_PIN > -1
962 LCD_MESSAGEPGM(MSG_BED_HEATING);
963 if (code_seen('S')) setTargetBed(code_value());
965 while(isHeatingBed())
967 if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
969 float tt=degHotend(active_extruder);
970 SERIAL_PROTOCOLPGM("T:");
972 SERIAL_PROTOCOLPGM(" E:");
973 SERIAL_PROTOCOL((int)active_extruder);
974 SERIAL_PROTOCOLPGM(" B:");
975 SERIAL_PROTOCOL_F(degBed(),1);
976 SERIAL_PROTOCOLLN("");
980 manage_inactivity(1);
983 LCD_MESSAGEPGM(MSG_BED_DONE);
984 previous_millis_cmd = millis();
989 case 106: //M106 Fan On
991 FanSpeed=constrain(code_value(),0,255);
997 case 107: //M107 Fan Off
1002 #if (PS_ON_PIN > -1)
1003 case 80: // M80 - ATX Power On
1004 SET_OUTPUT(PS_ON_PIN); //GND
1005 WRITE(PS_ON_PIN, LOW);
1009 case 81: // M81 - ATX Power Off
1011 #if defined SUICIDE_PIN && SUICIDE_PIN > -1
1014 #elif (PS_ON_PIN > -1)
1015 SET_INPUT(PS_ON_PIN); //Floating
1020 axis_relative_modes[3] = false;
1023 axis_relative_modes[3] = true;
1025 case 18: //compatibility
1028 stepper_inactive_time = code_value() * 1000;
1032 bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
1039 finishAndDisableSteppers();
1044 if(code_seen('X')) disable_x();
1045 if(code_seen('Y')) disable_y();
1046 if(code_seen('Z')) disable_z();
1047 #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
1048 if(code_seen('E')) {
1054 LCD_MESSAGEPGM(MSG_PART_RELEASE);
1060 max_inactive_time = code_value() * 1000;
1063 for(int8_t i=0; i < NUM_AXIS; i++)
1065 if(code_seen(axis_codes[i]))
1068 float value = code_value();
1070 float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
1071 max_e_jerk *= factor;
1072 max_feedrate[i] *= factor;
1073 axis_steps_per_sqr_second[i] *= factor;
1075 axis_steps_per_unit[i] = value;
1078 axis_steps_per_unit[i] = code_value();
1083 SerialprintPGM(MSG_M115_REPORT);
1085 case 117: // M117 display message
1086 LCD_MESSAGE(cmdbuffer[bufindr]+5);
1089 SERIAL_PROTOCOLPGM("X:");
1090 SERIAL_PROTOCOL(current_position[X_AXIS]);
1091 SERIAL_PROTOCOLPGM("Y:");
1092 SERIAL_PROTOCOL(current_position[Y_AXIS]);
1093 SERIAL_PROTOCOLPGM("Z:");
1094 SERIAL_PROTOCOL(current_position[Z_AXIS]);
1095 SERIAL_PROTOCOLPGM("E:");
1096 SERIAL_PROTOCOL(current_position[E_AXIS]);
1098 SERIAL_PROTOCOLPGM(MSG_COUNT_X);
1099 SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
1100 SERIAL_PROTOCOLPGM("Y:");
1101 SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
1102 SERIAL_PROTOCOLPGM("Z:");
1103 SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
1105 SERIAL_PROTOCOLLN("");
1108 enable_endstops(false) ;
1111 enable_endstops(true) ;
1114 #if (X_MIN_PIN > -1)
1115 SERIAL_PROTOCOLPGM(MSG_X_MIN);
1116 SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1118 #if (X_MAX_PIN > -1)
1119 SERIAL_PROTOCOLPGM(MSG_X_MAX);
1120 SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1122 #if (Y_MIN_PIN > -1)
1123 SERIAL_PROTOCOLPGM(MSG_Y_MIN);
1124 SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1126 #if (Y_MAX_PIN > -1)
1127 SERIAL_PROTOCOLPGM(MSG_Y_MAX);
1128 SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1130 #if (Z_MIN_PIN > -1)
1131 SERIAL_PROTOCOLPGM(MSG_Z_MIN);
1132 SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1134 #if (Z_MAX_PIN > -1)
1135 SERIAL_PROTOCOLPGM(MSG_Z_MAX);
1136 SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1138 SERIAL_PROTOCOLLN("");
1140 //TODO: update for all axis, use for loop
1142 for(int8_t i=0; i < NUM_AXIS; i++)
1144 if(code_seen(axis_codes[i]))
1146 max_acceleration_units_per_sq_second[i] = code_value();
1147 axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1151 #if 0 // Not used for Sprinter/grbl gen6
1153 for(int8_t i=0; i < NUM_AXIS; i++) {
1154 if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1158 case 203: // M203 max feedrate mm/sec
1159 for(int8_t i=0; i < NUM_AXIS; i++) {
1160 if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
1163 case 204: // M204 acclereration S normal moves T filmanent only moves
1165 if(code_seen('S')) acceleration = code_value() ;
1166 if(code_seen('T')) retract_acceleration = code_value() ;
1169 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
1171 if(code_seen('S')) minimumfeedrate = code_value();
1172 if(code_seen('T')) mintravelfeedrate = code_value();
1173 if(code_seen('B')) minsegmenttime = code_value() ;
1174 if(code_seen('X')) max_xy_jerk = code_value() ;
1175 if(code_seen('Z')) max_z_jerk = code_value() ;
1176 if(code_seen('E')) max_e_jerk = code_value() ;
1179 case 206: // M206 additional homeing offset
1180 for(int8_t i=0; i < 3; i++)
1182 if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
1185 case 220: // M220 S<factor in percent>- set speed factor override percentage
1189 feedmultiply = code_value() ;
1190 feedmultiplychanged=true;
1194 case 221: // M221 S<factor in percent>- set extrude factor override percentage
1198 extrudemultiply = code_value() ;
1206 if(code_seen('P')) Kp = code_value();
1207 if(code_seen('I')) Ki = code_value()*PID_dT;
1208 if(code_seen('D')) Kd = code_value()/PID_dT;
1209 #ifdef PID_ADD_EXTRUSION_RATE
1210 if(code_seen('C')) Kc = code_value();
1213 SERIAL_PROTOCOL(MSG_OK);
1214 SERIAL_PROTOCOL(" p:");
1215 SERIAL_PROTOCOL(Kp);
1216 SERIAL_PROTOCOL(" i:");
1217 SERIAL_PROTOCOL(Ki/PID_dT);
1218 SERIAL_PROTOCOL(" d:");
1219 SERIAL_PROTOCOL(Kd*PID_dT);
1220 #ifdef PID_ADD_EXTRUSION_RATE
1221 SERIAL_PROTOCOL(" c:");
1222 SERIAL_PROTOCOL(Kc*PID_dT);
1224 SERIAL_PROTOCOLLN("");
1228 case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
1230 #ifdef PHOTOGRAPH_PIN
1231 #if (PHOTOGRAPH_PIN > -1)
1232 const uint8_t NUM_PULSES=16;
1233 const float PULSE_LENGTH=0.01524;
1234 for(int i=0; i < NUM_PULSES; i++) {
1235 WRITE(PHOTOGRAPH_PIN, HIGH);
1236 _delay_ms(PULSE_LENGTH);
1237 WRITE(PHOTOGRAPH_PIN, LOW);
1238 _delay_ms(PULSE_LENGTH);
1241 for(int i=0; i < NUM_PULSES; i++) {
1242 WRITE(PHOTOGRAPH_PIN, HIGH);
1243 _delay_ms(PULSE_LENGTH);
1244 WRITE(PHOTOGRAPH_PIN, LOW);
1245 _delay_ms(PULSE_LENGTH);
1252 case 302: // allow cold extrudes
1254 allow_cold_extrudes(true);
1257 case 303: // M303 PID autotune
1260 if (code_seen('S')) temp=code_value();
1264 case 400: // M400 finish all moves
1270 case 401: // M401 - Wait for user button press on LCD
1272 LCD_MESSAGEPGM(MSG_USERWAIT);
1274 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
1275 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
1278 previous_millis_cmd = millis();
1281 codenum += millis(); // keep track of when we started waiting
1282 while(millis() < codenum && buttons == 0){
1284 manage_inactivity(1);
1287 while(buttons == 0) {
1289 manage_inactivity(1);
1295 case 500: // Store settings in EEPROM
1297 EEPROM_StoreSettings();
1300 case 501: // Read settings from EEPROM
1302 EEPROM_RetrieveSettings();
1305 case 502: // Revert to default settings
1307 EEPROM_RetrieveSettings(true);
1310 case 503: // print settings currently in memory
1312 EEPROM_printSettings();
1315 case 999: // Restart after being stopped
1317 gcode_LastN = Stopped_gcode_LastN;
1318 FlushSerialRequestResend();
1323 else if(code_seen('T'))
1325 tmp_extruder = code_value();
1326 if(tmp_extruder >= EXTRUDERS) {
1329 SERIAL_ECHO(tmp_extruder);
1330 SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
1333 active_extruder = tmp_extruder;
1335 SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
1336 SERIAL_PROTOCOLLN((int)active_extruder);
1343 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1344 SERIAL_ECHO(cmdbuffer[bufindr]);
1345 SERIAL_ECHOLNPGM("\"");
1351 void FlushSerialRequestResend()
1353 //char cmdbuffer[bufindr][100]="Resend:";
1355 SERIAL_PROTOCOLPGM(MSG_RESEND);
1356 SERIAL_PROTOCOLLN(gcode_LastN + 1);
1362 previous_millis_cmd = millis();
1367 SERIAL_PROTOCOLLNPGM(MSG_OK);
1370 void get_coordinates()
1372 for(int8_t i=0; i < NUM_AXIS; i++) {
1373 if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
1374 else destination[i] = current_position[i]; //Are these else lines really needed?
1376 if(code_seen('F')) {
1377 next_feedrate = code_value();
1378 if(next_feedrate > 0.0) feedrate = next_feedrate;
1382 void get_arc_coordinates()
1385 if(code_seen('I')) {
1386 offset[0] = code_value();
1391 if(code_seen('J')) {
1392 offset[1] = code_value();
1401 if (min_software_endstops) {
1402 if (destination[X_AXIS] < X_HOME_POS) destination[X_AXIS] = X_HOME_POS;
1403 if (destination[Y_AXIS] < Y_HOME_POS) destination[Y_AXIS] = Y_HOME_POS;
1404 if (destination[Z_AXIS] < Z_HOME_POS) destination[Z_AXIS] = Z_HOME_POS;
1407 if (max_software_endstops) {
1408 if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
1409 if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
1410 if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
1412 previous_millis_cmd = millis();
1413 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
1414 for(int8_t i=0; i < NUM_AXIS; i++) {
1415 current_position[i] = destination[i];
1419 void prepare_arc_move(char isclockwise) {
1420 float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
1423 mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
1425 // As far as the parser is concerned, the position is now == target. In reality the
1426 // motion control system might still be processing the action and the real tool position
1427 // in any intermediate location.
1428 for(int8_t i=0; i < NUM_AXIS; i++) {
1429 current_position[i] = destination[i];
1431 previous_millis_cmd = millis();
1434 #ifdef CONTROLLERFAN_PIN
1435 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
1436 unsigned long lastMotorCheck = 0;
1438 void controllerFan()
1440 if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
1442 lastMotorCheck = millis();
1444 if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
1446 || !READ(E2_ENABLE_PIN)
1449 || !READ(E2_ENABLE_PIN)
1451 || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
1453 lastMotor = millis(); //... set time to NOW so the fan will turn on
1456 if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
1458 WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
1462 WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
1468 void manage_inactivity(byte debug)
1470 if( (millis() - previous_millis_cmd) > max_inactive_time )
1471 if(max_inactive_time)
1473 if(stepper_inactive_time) {
1474 if( (millis() - previous_millis_cmd) > stepper_inactive_time )
1476 if(blocks_queued() == false) {
1486 #ifdef CONTROLLERFAN_PIN
1487 controllerFan(); //Check if fan should be turned on to cool stepper drivers down
1489 #ifdef EXTRUDER_RUNOUT_PREVENT
1490 if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
1491 if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
1493 bool oldstatus=READ(E0_ENABLE_PIN);
1495 float oldepos=current_position[E_AXIS];
1496 float oldedes=destination[E_AXIS];
1497 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
1498 current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
1499 EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
1500 current_position[E_AXIS]=oldepos;
1501 destination[E_AXIS]=oldedes;
1502 plan_set_e_position(oldepos);
1503 previous_millis_cmd=millis();
1505 WRITE(E0_ENABLE_PIN,oldstatus);
1508 check_axes_activity();
1513 cli(); // Stop interrupts
1523 if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
1525 SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
1526 LCD_MESSAGEPGM(MSG_KILLED);
1528 while(1); // Wait for reset
1534 if(Stopped == false) {
1536 Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
1538 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
1539 LCD_MESSAGEPGM(MSG_STOPPED);
1543 bool IsStopped() { return Stopped; };
1546 void setPwmFrequency(uint8_t pin, int val)
1549 switch(digitalPinToTimer(pin))
1555 TCCR0B &= ~(CS00 | CS01 | CS02);
1563 TCCR1B &= ~(CS10 | CS11 | CS12);
1571 TCCR2 &= ~(CS10 | CS11 | CS12);
1579 TCCR2B &= ~(CS20 | CS21 | CS22);
1588 TCCR3B &= ~(CS30 | CS31 | CS32);
1597 TCCR4B &= ~(CS40 | CS41 | CS42);
1606 TCCR5B &= ~(CS50 | CS51 | CS52);