4 Reprap firmware based on Sprinter and grbl.
5 Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
7 This program is free software: you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation, either version 3 of the License, or
10 (at your option) any later version.
12 This program is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
17 You should have received a copy of the GNU General Public License
18 along with this program. If not, see <http://www.gnu.org/licenses/>.
22 This firmware is a mashup between Sprinter and grbl.
23 (https://github.com/kliment/Sprinter)
24 (https://github.com/simen/grbl/tree)
26 It has preliminary support for Matthew Roberts advance algorithm
27 http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
35 #include "temperature.h"
36 #include "motion_control.h"
37 #include "cardreader.h"
39 #include "EEPROMwrite.h"
41 #include "pins_arduino.h"
43 #define VERSION_STRING "1.0.0 RC2"
45 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
46 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
51 // G1 - Coordinated Movement X Y Z E
54 // G4 - Dwell S<seconds> or P<milliseconds>
55 // G10 - retract filament according to settings of M207
56 // G11 - retract recover filament according to settings of M208
57 // G28 - Home all Axis
58 // G90 - Use Absolute Coordinates
59 // G91 - Use Relative Coordinates
60 // G92 - Set current position to cordinates given
63 // M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
65 // M104 - Set extruder target temp
66 // M105 - Read current temp
69 // M109 - Wait for extruder current temp to reach target temp.
70 // M114 - Display current position
73 // M17 - Enable/Power all stepper motors
74 // M18 - Disable all stepper motors; same as M84
77 // M22 - Release SD card
78 // M23 - Select SD file (M23 filename.g)
79 // M24 - Start/resume SD print
80 // M25 - Pause SD print
81 // M26 - Set SD position in bytes (M26 S12345)
82 // M27 - Report SD print status
83 // M28 - Start SD write (M28 filename.g)
84 // M29 - Stop SD write
85 // M30 - Delete file from SD (M30 filename.g)
86 // M31 - Output time since last M109 or SD card start to serial
87 // M42 - Change pin status via gcode
88 // M80 - Turn on Power Supply
89 // M81 - Turn off Power Supply
90 // M82 - Set E codes absolute (default)
91 // M83 - Set E codes relative while in Absolute Coordinates (G90) mode
92 // M84 - Disable steppers until next move,
93 // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
94 // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
95 // M92 - Set axis_steps_per_unit - same syntax as G92
96 // M114 - Output current position to serial port
97 // M115 - Capabilities string
98 // M117 - display message
99 // M119 - Output Endstop status to serial port
100 // M140 - Set bed target temp
101 // M190 - Wait for bed current temp to reach target temp.
102 // M200 - Set filament diameter
103 // M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
104 // M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
105 // M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
106 // M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
107 // M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
108 // M206 - set additional homeing offset
109 // M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
110 // M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
111 // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
112 // M220 S<factor in percent>- set speed factor override percentage
113 // M221 S<factor in percent>- set extrude factor override percentage
114 // M240 - Trigger a camera to take a photograph
115 // M301 - Set PID parameters P I and D
116 // M302 - Allow cold extrudes
117 // M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
118 // M400 - Finish all moves
119 // M500 - stores paramters in EEPROM
120 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
121 // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
122 // M503 - print the current settings (from memory not from eeprom)
123 // M999 - Restart after being stopped by error
125 //Stepper Movement Variables
127 //===========================================================================
128 //=============================imported variables============================
129 //===========================================================================
132 //===========================================================================
133 //=============================public variables=============================
134 //===========================================================================
138 float homing_feedrate[] = HOMING_FEEDRATE;
139 bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
140 volatile int feedmultiply=100; //100->1 200->2
141 int saved_feedmultiply;
142 volatile bool feedmultiplychanged=false;
143 volatile int extrudemultiply=100; //100->1 200->2
144 float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
145 float add_homeing[3]={0,0,0};
146 float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
147 float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
148 uint8_t active_extruder = 0;
149 unsigned char FanSpeed=0;
152 bool autoretract_enabled=true;
153 bool retracted=false;
154 float retract_length=3, retract_feedrate=17*60, retract_zlift=0.8;
155 float retract_recover_length=0, retract_recover_feedrate=8*60;
158 //===========================================================================
159 //=============================private variables=============================
160 //===========================================================================
161 const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
162 static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
163 static float offset[3] = {0.0, 0.0, 0.0};
164 static bool home_all_axis = true;
165 static float feedrate = 1500.0, next_feedrate, saved_feedrate;
166 static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
168 static bool relative_mode = false; //Determines Absolute or Relative Coordinates
169 static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
171 static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
172 static bool fromsd[BUFSIZE];
173 static int bufindr = 0;
174 static int bufindw = 0;
175 static int buflen = 0;
177 static char serial_char;
178 static int serial_count = 0;
179 static boolean comment_mode = false;
180 static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
182 const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
184 //static float tt = 0;
185 //static float bt = 0;
187 //Inactivity shutdown variables
188 static unsigned long previous_millis_cmd = 0;
189 static unsigned long max_inactive_time = 0;
190 static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
192 static unsigned long starttime=0;
193 static unsigned long stoptime=0;
195 static uint8_t tmp_extruder;
200 //===========================================================================
201 //=============================ROUTINES=============================
202 //===========================================================================
204 void get_arc_coordinates();
206 void serial_echopair(const PROGMEM char *s, float v)
207 { serialprintPGM(s); SERIAL_ECHO(v); }
208 void serial_echopair(const PROGMEM char *s, double v)
209 { serialprintPGM(s); SERIAL_ECHO(v); }
210 void serial_echopair(const PROGMEM char *s, unsigned long v)
211 { serialprintPGM(s); SERIAL_ECHO(v); }
214 extern unsigned int __bss_end;
215 extern unsigned int __heap_start;
216 extern void *__brkval;
221 if((int)__brkval == 0)
222 free_memory = ((int)&free_memory) - ((int)&__bss_end);
224 free_memory = ((int)&free_memory) - ((int)__brkval);
230 //adds an command to the main command buffer
231 //thats really done in a non-safe way.
232 //needs overworking someday
233 void enquecommand(const char *cmd)
237 //this is dangerous if a mixing of serial and this happsens
238 strcpy(&(cmdbuffer[bufindw][0]),cmd);
240 SERIAL_ECHOPGM("enqueing \"");
241 SERIAL_ECHO(cmdbuffer[bufindw]);
242 SERIAL_ECHOLNPGM("\"");
243 bufindw= (bufindw + 1)%BUFSIZE;
250 #ifdef PHOTOGRAPH_PIN
251 #if (PHOTOGRAPH_PIN > -1)
252 SET_OUTPUT(PHOTOGRAPH_PIN);
253 WRITE(PHOTOGRAPH_PIN, LOW);
258 void setup_powerhold()
261 #if (SUICIDE_PIN> -1)
262 SET_OUTPUT(SUICIDE_PIN);
263 WRITE(SUICIDE_PIN, HIGH);
271 #if (SUICIDE_PIN> -1)
272 SET_OUTPUT(SUICIDE_PIN);
273 WRITE(SUICIDE_PIN, LOW);
281 MYSERIAL.begin(BAUDRATE);
282 SERIAL_PROTOCOLLNPGM("start");
285 // Check startup - does nothing if bootloader sets MCUSR to 0
287 if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
288 if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
289 if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
290 if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
291 if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
294 SERIAL_ECHOPGM(MSG_MARLIN);
295 SERIAL_ECHOLNPGM(VERSION_STRING);
296 #ifdef STRING_VERSION_CONFIG_H
297 #ifdef STRING_CONFIG_H_AUTHOR
299 SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
300 SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
301 SERIAL_ECHOPGM(MSG_AUTHOR);
302 SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
306 SERIAL_ECHOPGM(MSG_FREE_MEMORY);
307 SERIAL_ECHO(freeMemory());
308 SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
309 SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
310 for(int8_t i = 0; i < BUFSIZE; i++)
315 EEPROM_RetrieveSettings(); // loads data from EEPROM if available
317 for(int8_t i=0; i < NUM_AXIS; i++)
319 axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
323 tp_init(); // Initialize temperature loop
324 plan_init(); // Initialize planner;
325 st_init(); // Initialize stepper;
335 if(buflen < (BUFSIZE-1))
338 card.checkautostart(false);
345 if(strstr(cmdbuffer[bufindr],"M29") == NULL)
347 card.write_command(cmdbuffer[bufindr]);
348 SERIAL_PROTOCOLLNPGM(MSG_OK);
353 SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
364 bufindr = (bufindr + 1)%BUFSIZE;
366 //check heater every n milliseconds
368 manage_inactivity(1);
375 while( MYSERIAL.available() > 0 && buflen < BUFSIZE) {
376 serial_char = MYSERIAL.read();
377 if(serial_char == '\n' ||
378 serial_char == '\r' ||
379 (serial_char == ':' && comment_mode == false) ||
380 serial_count >= (MAX_CMD_SIZE - 1) )
382 if(!serial_count) { //if empty line
383 comment_mode = false; //for new command
386 cmdbuffer[bufindw][serial_count] = 0; //terminate string
388 comment_mode = false; //for new command
389 fromsd[bufindw] = false;
390 if(strstr(cmdbuffer[bufindw], "N") != NULL)
392 strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
393 gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
394 if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
396 SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
397 SERIAL_ERRORLN(gcode_LastN);
398 //Serial.println(gcode_N);
399 FlushSerialRequestResend();
404 if(strstr(cmdbuffer[bufindw], "*") != NULL)
408 while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
409 strchr_pointer = strchr(cmdbuffer[bufindw], '*');
411 if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
413 SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
414 SERIAL_ERRORLN(gcode_LastN);
415 FlushSerialRequestResend();
419 //if no errors, continue parsing
424 SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
425 SERIAL_ERRORLN(gcode_LastN);
426 FlushSerialRequestResend();
431 gcode_LastN = gcode_N;
432 //if no errors, continue parsing
434 else // if we don't receive 'N' but still see '*'
436 if((strstr(cmdbuffer[bufindw], "*") != NULL))
439 SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
440 SERIAL_ERRORLN(gcode_LastN);
445 if((strstr(cmdbuffer[bufindw], "G") != NULL)){
446 strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
447 switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
452 if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
457 SERIAL_PROTOCOLLNPGM(MSG_OK);
460 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
461 LCD_MESSAGEPGM(MSG_STOPPED);
469 bufindw = (bufindw + 1)%BUFSIZE;
472 serial_count = 0; //clear buffer
476 if(serial_char == ';') comment_mode = true;
477 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
481 if(!card.sdprinting || serial_count!=0){
484 while( !card.eof() && buflen < BUFSIZE) {
485 int16_t n=card.get();
486 serial_char = (char)n;
487 if(serial_char == '\n' ||
488 serial_char == '\r' ||
489 (serial_char == ':' && comment_mode == false) ||
490 serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
493 SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
496 unsigned long t=(stoptime-starttime)/1000;
500 sprintf(time,"%i min, %i sec",min,sec);
504 card.printingHasFinished();
505 card.checkautostart(true);
510 comment_mode = false; //for new command
511 return; //if empty line
513 cmdbuffer[bufindw][serial_count] = 0; //terminate string
514 // if(!comment_mode){
515 fromsd[bufindw] = true;
517 bufindw = (bufindw + 1)%BUFSIZE;
519 comment_mode = false; //for new command
520 serial_count = 0; //clear buffer
524 if(serial_char == ';') comment_mode = true;
525 if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
536 return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
539 long code_value_long()
541 return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
544 bool code_seen(char code_string[]) //Return True if the string was found
546 return (strstr(cmdbuffer[bufindr], code_string) != NULL);
549 bool code_seen(char code)
551 strchr_pointer = strchr(cmdbuffer[bufindr], code);
552 return (strchr_pointer != NULL); //Return True if a character was found
555 static const PROGMEM float base_min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
556 static const PROGMEM float base_max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
557 static const PROGMEM float base_home_pos[3] = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS };
559 static void axis_is_at_home(int axis) {
560 current_position[axis] = base_home_pos[axis] + add_homeing[axis];
561 min_pos[axis] = base_min_pos[axis] + add_homeing[axis];
562 max_pos[axis] = base_max_pos[axis] + add_homeing[axis];
565 #define HOMEAXIS(LETTER) \
566 if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
568 current_position[LETTER##_AXIS] = 0; \
569 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
570 destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
571 feedrate = homing_feedrate[LETTER##_AXIS]; \
572 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
575 current_position[LETTER##_AXIS] = 0;\
576 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
577 destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
578 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
581 destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
582 feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
583 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
586 axis_is_at_home(LETTER##_AXIS); \
587 destination[LETTER##_AXIS] = current_position[LETTER##_AXIS]; \
589 endstops_hit_on_purpose();\
592 void process_commands()
594 unsigned long codenum; //throw away variable
595 char *starpos = NULL;
599 switch((int)code_value())
603 if(Stopped == false) {
604 get_coordinates(); // For X Y Z E F
610 case 2: // G2 - CW ARC
611 if(Stopped == false) {
612 get_arc_coordinates();
613 prepare_arc_move(true);
616 case 3: // G3 - CCW ARC
617 if(Stopped == false) {
618 get_arc_coordinates();
619 prepare_arc_move(false);
623 LCD_MESSAGEPGM(MSG_DWELL);
625 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
626 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
629 codenum += millis(); // keep track of when we started waiting
630 previous_millis_cmd = millis();
631 while(millis() < codenum ){
633 manage_inactivity(1);
638 case 10: // G10 retract
641 destination[X_AXIS]=current_position[X_AXIS];
642 destination[Y_AXIS]=current_position[Y_AXIS];
643 destination[Z_AXIS]=current_position[Z_AXIS];
644 current_position[Z_AXIS]+=-retract_zlift;
645 destination[E_AXIS]=current_position[E_AXIS]-retract_length;
646 feedrate=retract_feedrate;
652 case 11: // G10 retract_recover
655 destination[X_AXIS]=current_position[X_AXIS];
656 destination[Y_AXIS]=current_position[Y_AXIS];
657 destination[Z_AXIS]=current_position[Z_AXIS];
659 current_position[Z_AXIS]+=retract_zlift;
660 current_position[E_AXIS]+=-retract_recover_length;
661 feedrate=retract_recover_feedrate;
667 case 28: //G28 Home all Axis one at a time
668 saved_feedrate = feedrate;
669 saved_feedmultiply = feedmultiply;
671 previous_millis_cmd = millis();
673 enable_endstops(true);
675 for(int8_t i=0; i < NUM_AXIS; i++) {
676 destination[i] = current_position[i];
679 home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
681 #if Z_HOME_DIR > 0 // If homing away from BED do Z first
682 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
688 if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
690 current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
692 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
693 destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
694 feedrate = homing_feedrate[X_AXIS];
695 if(homing_feedrate[Y_AXIS]<feedrate)
696 feedrate =homing_feedrate[Y_AXIS];
697 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
700 axis_is_at_home(X_AXIS);
701 axis_is_at_home(Y_AXIS);
702 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
703 destination[X_AXIS] = current_position[X_AXIS];
704 destination[Y_AXIS] = current_position[Y_AXIS];
705 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
708 endstops_hit_on_purpose();
712 if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
717 if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
721 #if Z_HOME_DIR < 0 // If homing towards BED do Z last
722 if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
727 if(code_seen(axis_codes[X_AXIS]))
729 if(code_value_long() != 0) {
730 current_position[X_AXIS]=code_value()+add_homeing[0];
734 if(code_seen(axis_codes[Y_AXIS])) {
735 if(code_value_long() != 0) {
736 current_position[Y_AXIS]=code_value()+add_homeing[1];
740 if(code_seen(axis_codes[Z_AXIS])) {
741 if(code_value_long() != 0) {
742 current_position[Z_AXIS]=code_value()+add_homeing[2];
745 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
747 #ifdef ENDSTOPS_ONLY_FOR_HOMING
748 enable_endstops(false);
751 feedrate = saved_feedrate;
752 feedmultiply = saved_feedmultiply;
753 previous_millis_cmd = millis();
754 endstops_hit_on_purpose();
757 relative_mode = false;
760 relative_mode = true;
763 if(!code_seen(axis_codes[E_AXIS]))
765 for(int8_t i=0; i < NUM_AXIS; i++) {
766 if(code_seen(axis_codes[i])) {
768 current_position[i] = code_value();
769 plan_set_e_position(current_position[E_AXIS]);
772 current_position[i] = code_value()+add_homeing[i];
773 plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
781 else if(code_seen('M'))
783 switch( (int)code_value() )
786 case 0: // M0 - Unconditional stop - Wait for user button press on LCD
787 case 1: // M1 - Conditional stop - Wait for user button press on LCD
789 LCD_MESSAGEPGM(MSG_USERWAIT);
791 if(code_seen('P')) codenum = code_value(); // milliseconds to wait
792 if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
795 previous_millis_cmd = millis();
798 codenum += millis(); // keep track of when we started waiting
799 while(millis() < codenum && !CLICKED){
801 manage_inactivity(1);
807 manage_inactivity(1);
815 LCD_MESSAGEPGM(MSG_NO_MOVE);
825 case 20: // M20 - list SD card
826 SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
828 SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
830 case 21: // M21 - init SD card
835 case 22: //M22 - release SD card
839 case 23: //M23 - Select file
840 starpos = (strchr(strchr_pointer + 4,'*'));
843 card.openFile(strchr_pointer + 4,true);
845 case 24: //M24 - Start SD print
846 card.startFileprint();
849 case 25: //M25 - Pause SD print
852 case 26: //M26 - Set SD index
853 if(card.cardOK && code_seen('S')) {
854 card.setIndex(code_value_long());
857 case 27: //M27 - Get SD status
860 case 28: //M28 - Start SD write
861 starpos = (strchr(strchr_pointer + 4,'*'));
863 char* npos = strchr(cmdbuffer[bufindr], 'N');
864 strchr_pointer = strchr(npos,' ') + 1;
867 card.openFile(strchr_pointer+4,false);
869 case 29: //M29 - Stop SD write
870 //processed in write to file routine above
871 //card,saving = false;
873 case 30: //M30 <filename> Delete File
876 starpos = (strchr(strchr_pointer + 4,'*'));
878 char* npos = strchr(cmdbuffer[bufindr], 'N');
879 strchr_pointer = strchr(npos,' ') + 1;
882 card.removeFile(strchr_pointer + 4);
888 case 31: //M31 take time since the start of the SD print or an M109 command
892 unsigned long t=(stoptime-starttime)/1000;
896 sprintf(time,"%i min, %i sec",min,sec);
903 case 42: //M42 -Change pin status via gcode
906 int pin_status = code_value();
907 if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
909 int pin_number = code_value();
910 for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
912 if (sensitive_pins[i] == pin_number)
921 pinMode(pin_number, OUTPUT);
922 digitalWrite(pin_number, pin_status);
923 analogWrite(pin_number, pin_status);
929 tmp_extruder = active_extruder;
931 tmp_extruder = code_value();
932 if(tmp_extruder >= EXTRUDERS) {
934 SERIAL_ECHO(MSG_M104_INVALID_EXTRUDER);
935 SERIAL_ECHOLN(tmp_extruder);
939 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
942 case 140: // M140 set bed temp
943 if (code_seen('S')) setTargetBed(code_value());
946 tmp_extruder = active_extruder;
948 tmp_extruder = code_value();
949 if(tmp_extruder >= EXTRUDERS) {
951 SERIAL_ECHO(MSG_M105_INVALID_EXTRUDER);
952 SERIAL_ECHOLN(tmp_extruder);
956 #if (TEMP_0_PIN > -1)
957 SERIAL_PROTOCOLPGM("ok T:");
958 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
959 SERIAL_PROTOCOLPGM(" /");
960 SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
961 #if TEMP_BED_PIN > -1
962 SERIAL_PROTOCOLPGM(" B:");
963 SERIAL_PROTOCOL_F(degBed(),1);
964 SERIAL_PROTOCOLPGM(" /");
965 SERIAL_PROTOCOL_F(degTargetBed(),1);
966 #endif //TEMP_BED_PIN
969 SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
972 SERIAL_PROTOCOLPGM(" @:");
973 SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
975 SERIAL_PROTOCOLLN("");
979 {// M109 - Wait for extruder heater to reach target.
980 tmp_extruder = active_extruder;
982 tmp_extruder = code_value();
983 if(tmp_extruder >= EXTRUDERS) {
985 SERIAL_ECHO(MSG_M109_INVALID_EXTRUDER);
986 SERIAL_ECHOLN(tmp_extruder);
990 LCD_MESSAGEPGM(MSG_HEATING);
992 autotemp_enabled=false;
994 if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
996 if (code_seen('S')) autotemp_min=code_value();
997 if (code_seen('B')) autotemp_max=code_value();
1000 autotemp_factor=code_value();
1001 autotemp_enabled=true;
1008 /* See if we are heating up or cooling down */
1009 bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
1011 #ifdef TEMP_RESIDENCY_TIME
1012 long residencyStart;
1013 residencyStart = -1;
1014 /* continue to loop until we have reached the target temp
1015 _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
1016 while((residencyStart == -1) ||
1017 (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) {
1019 while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
1020 #endif //TEMP_RESIDENCY_TIME
1021 if( (millis() - codenum) > 1000UL )
1022 { //Print Temp Reading and remaining time every 1 second while heating up/cooling down
1023 SERIAL_PROTOCOLPGM("T:");
1024 SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
1025 SERIAL_PROTOCOLPGM(" E:");
1026 SERIAL_PROTOCOL((int)tmp_extruder);
1027 #ifdef TEMP_RESIDENCY_TIME
1028 SERIAL_PROTOCOLPGM(" W:");
1029 if(residencyStart > -1)
1031 codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
1032 SERIAL_PROTOCOLLN( codenum );
1036 SERIAL_PROTOCOLLN( "?" );
1039 SERIAL_PROTOCOLLN("");
1044 manage_inactivity(1);
1046 #ifdef TEMP_RESIDENCY_TIME
1047 /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
1048 or when current temp falls outside the hysteresis after target temp was reached */
1049 if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
1050 (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
1051 (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
1053 residencyStart = millis();
1055 #endif //TEMP_RESIDENCY_TIME
1057 LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
1059 previous_millis_cmd = millis();
1062 case 190: // M190 - Wait for bed heater to reach target.
1063 #if TEMP_BED_PIN > -1
1064 LCD_MESSAGEPGM(MSG_BED_HEATING);
1065 if (code_seen('S')) setTargetBed(code_value());
1067 while(isHeatingBed())
1069 if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
1071 float tt=degHotend(active_extruder);
1072 SERIAL_PROTOCOLPGM("T:");
1073 SERIAL_PROTOCOL(tt);
1074 SERIAL_PROTOCOLPGM(" E:");
1075 SERIAL_PROTOCOL((int)active_extruder);
1076 SERIAL_PROTOCOLPGM(" B:");
1077 SERIAL_PROTOCOL_F(degBed(),1);
1078 SERIAL_PROTOCOLLN("");
1082 manage_inactivity(1);
1085 LCD_MESSAGEPGM(MSG_BED_DONE);
1086 previous_millis_cmd = millis();
1091 case 106: //M106 Fan On
1092 if (code_seen('S')){
1093 FanSpeed=constrain(code_value(),0,255);
1099 case 107: //M107 Fan Off
1104 #if (PS_ON_PIN > -1)
1105 case 80: // M80 - ATX Power On
1106 SET_OUTPUT(PS_ON_PIN); //GND
1107 WRITE(PS_ON_PIN, LOW);
1111 case 81: // M81 - ATX Power Off
1113 #if defined SUICIDE_PIN && SUICIDE_PIN > -1
1116 #elif (PS_ON_PIN > -1)
1117 SET_INPUT(PS_ON_PIN); //Floating
1122 axis_relative_modes[3] = false;
1125 axis_relative_modes[3] = true;
1127 case 18: //compatibility
1130 stepper_inactive_time = code_value() * 1000;
1134 bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
1141 finishAndDisableSteppers();
1146 if(code_seen('X')) disable_x();
1147 if(code_seen('Y')) disable_y();
1148 if(code_seen('Z')) disable_z();
1149 #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
1150 if(code_seen('E')) {
1156 LCD_MESSAGEPGM(MSG_PART_RELEASE);
1162 max_inactive_time = code_value() * 1000;
1165 for(int8_t i=0; i < NUM_AXIS; i++)
1167 if(code_seen(axis_codes[i]))
1170 float value = code_value();
1172 float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
1173 max_e_jerk *= factor;
1174 max_feedrate[i] *= factor;
1175 axis_steps_per_sqr_second[i] *= factor;
1177 axis_steps_per_unit[i] = value;
1180 axis_steps_per_unit[i] = code_value();
1185 SerialprintPGM(MSG_M115_REPORT);
1187 case 117: // M117 display message
1188 LCD_MESSAGE(cmdbuffer[bufindr]+5);
1191 SERIAL_PROTOCOLPGM("X:");
1192 SERIAL_PROTOCOL(current_position[X_AXIS]);
1193 SERIAL_PROTOCOLPGM("Y:");
1194 SERIAL_PROTOCOL(current_position[Y_AXIS]);
1195 SERIAL_PROTOCOLPGM("Z:");
1196 SERIAL_PROTOCOL(current_position[Z_AXIS]);
1197 SERIAL_PROTOCOLPGM("E:");
1198 SERIAL_PROTOCOL(current_position[E_AXIS]);
1200 SERIAL_PROTOCOLPGM(MSG_COUNT_X);
1201 SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
1202 SERIAL_PROTOCOLPGM("Y:");
1203 SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
1204 SERIAL_PROTOCOLPGM("Z:");
1205 SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
1207 SERIAL_PROTOCOLLN("");
1210 enable_endstops(false) ;
1213 enable_endstops(true) ;
1216 #if (X_MIN_PIN > -1)
1217 SERIAL_PROTOCOLPGM(MSG_X_MIN);
1218 SERIAL_PROTOCOL(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1220 #if (X_MAX_PIN > -1)
1221 SERIAL_PROTOCOLPGM(MSG_X_MAX);
1222 SERIAL_PROTOCOL(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?"H ":"L "));
1224 #if (Y_MIN_PIN > -1)
1225 SERIAL_PROTOCOLPGM(MSG_Y_MIN);
1226 SERIAL_PROTOCOL(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1228 #if (Y_MAX_PIN > -1)
1229 SERIAL_PROTOCOLPGM(MSG_Y_MAX);
1230 SERIAL_PROTOCOL(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?"H ":"L "));
1232 #if (Z_MIN_PIN > -1)
1233 SERIAL_PROTOCOLPGM(MSG_Z_MIN);
1234 SERIAL_PROTOCOL(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1236 #if (Z_MAX_PIN > -1)
1237 SERIAL_PROTOCOLPGM(MSG_Z_MAX);
1238 SERIAL_PROTOCOL(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?"H ":"L "));
1240 SERIAL_PROTOCOLLN("");
1242 //TODO: update for all axis, use for loop
1244 for(int8_t i=0; i < NUM_AXIS; i++)
1246 if(code_seen(axis_codes[i]))
1248 max_acceleration_units_per_sq_second[i] = code_value();
1249 axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1253 #if 0 // Not used for Sprinter/grbl gen6
1255 for(int8_t i=0; i < NUM_AXIS; i++) {
1256 if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
1260 case 203: // M203 max feedrate mm/sec
1261 for(int8_t i=0; i < NUM_AXIS; i++) {
1262 if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
1265 case 204: // M204 acclereration S normal moves T filmanent only moves
1267 if(code_seen('S')) acceleration = code_value() ;
1268 if(code_seen('T')) retract_acceleration = code_value() ;
1271 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
1273 if(code_seen('S')) minimumfeedrate = code_value();
1274 if(code_seen('T')) mintravelfeedrate = code_value();
1275 if(code_seen('B')) minsegmenttime = code_value() ;
1276 if(code_seen('X')) max_xy_jerk = code_value() ;
1277 if(code_seen('Z')) max_z_jerk = code_value() ;
1278 if(code_seen('E')) max_e_jerk = code_value() ;
1281 case 206: // M206 additional homeing offset
1282 for(int8_t i=0; i < 3; i++)
1284 if(code_seen(axis_codes[i])) add_homeing[i] = code_value();
1288 case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
1292 retract_length = code_value() ;
1296 retract_feedrate = code_value() ;
1300 retract_zlift = code_value() ;
1303 case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
1307 retract_recover_length = code_value() ;
1311 retract_recover_feedrate = code_value() ;
1315 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.
1319 int t= code_value() ;
1322 case 0: autoretract_enabled=false;retracted=false;break;
1323 case 1: autoretract_enabled=true;retracted=false;break;
1326 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1327 SERIAL_ECHO(cmdbuffer[bufindr]);
1328 SERIAL_ECHOLNPGM("\"");
1334 case 220: // M220 S<factor in percent>- set speed factor override percentage
1338 feedmultiply = code_value() ;
1339 feedmultiplychanged=true;
1343 case 221: // M221 S<factor in percent>- set extrude factor override percentage
1347 extrudemultiply = code_value() ;
1355 if(code_seen('P')) Kp = code_value();
1356 if(code_seen('I')) Ki = code_value()*PID_dT;
1357 if(code_seen('D')) Kd = code_value()/PID_dT;
1358 #ifdef PID_ADD_EXTRUSION_RATE
1359 if(code_seen('C')) Kc = code_value();
1362 SERIAL_PROTOCOL(MSG_OK);
1363 SERIAL_PROTOCOL(" p:");
1364 SERIAL_PROTOCOL(Kp);
1365 SERIAL_PROTOCOL(" i:");
1366 SERIAL_PROTOCOL(Ki/PID_dT);
1367 SERIAL_PROTOCOL(" d:");
1368 SERIAL_PROTOCOL(Kd*PID_dT);
1369 #ifdef PID_ADD_EXTRUSION_RATE
1370 SERIAL_PROTOCOL(" c:");
1371 SERIAL_PROTOCOL(Kc*PID_dT);
1373 SERIAL_PROTOCOLLN("");
1377 case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
1379 #ifdef PHOTOGRAPH_PIN
1380 #if (PHOTOGRAPH_PIN > -1)
1381 const uint8_t NUM_PULSES=16;
1382 const float PULSE_LENGTH=0.01524;
1383 for(int i=0; i < NUM_PULSES; i++) {
1384 WRITE(PHOTOGRAPH_PIN, HIGH);
1385 _delay_ms(PULSE_LENGTH);
1386 WRITE(PHOTOGRAPH_PIN, LOW);
1387 _delay_ms(PULSE_LENGTH);
1390 for(int i=0; i < NUM_PULSES; i++) {
1391 WRITE(PHOTOGRAPH_PIN, HIGH);
1392 _delay_ms(PULSE_LENGTH);
1393 WRITE(PHOTOGRAPH_PIN, LOW);
1394 _delay_ms(PULSE_LENGTH);
1401 case 302: // allow cold extrudes
1403 allow_cold_extrudes(true);
1406 case 303: // M303 PID autotune
1409 if (code_seen('S')) temp=code_value();
1413 case 400: // M400 finish all moves
1418 case 500: // Store settings in EEPROM
1420 EEPROM_StoreSettings();
1423 case 501: // Read settings from EEPROM
1425 EEPROM_RetrieveSettings();
1428 case 502: // Revert to default settings
1430 EEPROM_RetrieveSettings(true);
1433 case 503: // print settings currently in memory
1435 EEPROM_printSettings();
1438 case 999: // Restart after being stopped
1440 gcode_LastN = Stopped_gcode_LastN;
1441 FlushSerialRequestResend();
1446 else if(code_seen('T'))
1448 tmp_extruder = code_value();
1449 if(tmp_extruder >= EXTRUDERS) {
1452 SERIAL_ECHO(tmp_extruder);
1453 SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
1456 active_extruder = tmp_extruder;
1458 SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
1459 SERIAL_PROTOCOLLN((int)active_extruder);
1466 SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
1467 SERIAL_ECHO(cmdbuffer[bufindr]);
1468 SERIAL_ECHOLNPGM("\"");
1474 void FlushSerialRequestResend()
1476 //char cmdbuffer[bufindr][100]="Resend:";
1478 SERIAL_PROTOCOLPGM(MSG_RESEND);
1479 SERIAL_PROTOCOLLN(gcode_LastN + 1);
1485 previous_millis_cmd = millis();
1490 SERIAL_PROTOCOLLNPGM(MSG_OK);
1493 void get_coordinates()
1495 bool seen[4]={false,false,false,false};
1496 for(int8_t i=0; i < NUM_AXIS; i++) {
1497 if(code_seen(axis_codes[i]))
1499 destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
1502 else destination[i] = current_position[i]; //Are these else lines really needed?
1504 if(code_seen('F')) {
1505 next_feedrate = code_value();
1506 if(next_feedrate > 0.0) feedrate = next_feedrate;
1509 if(autoretract_enabled)
1510 if( !(seen[X_AXIS] || seen[Y_AXIS] || seen[Z_AXIS]) && seen[E_AXIS])
1512 float echange=destination[E_AXIS]-current_position[E_AXIS];
1513 if(echange<-MIN_RETRACT) //retract
1518 destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work.
1519 //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally
1520 float correctede=-echange-retract_length;
1521 //to generate the additional steps, not the destination is changed, but inversely the current position
1522 current_position[E_AXIS]+=-correctede;
1523 feedrate=retract_feedrate;
1529 if(echange>MIN_RETRACT) //retract_recover
1533 //current_position[Z_AXIS]+=-retract_zlift;
1534 //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally
1535 float correctede=-echange+1*retract_length+retract_recover_length; //total unretract=retract_length+retract_recover_length[surplus]
1536 current_position[E_AXIS]+=correctede; //to generate the additional steps, not the destination is changed, but inversely the current position
1537 feedrate=retract_recover_feedrate;
1546 void get_arc_coordinates()
1549 if(code_seen('I')) {
1550 offset[0] = code_value();
1555 if(code_seen('J')) {
1556 offset[1] = code_value();
1563 void clamp_to_software_endstops(float target[3])
1565 if (min_software_endstops) {
1566 if (destination[X_AXIS] < min_pos[X_AXIS]) destination[X_AXIS] = min_pos[X_AXIS];
1567 if (destination[Y_AXIS] < min_pos[Y_AXIS]) destination[Y_AXIS] = min_pos[Y_AXIS];
1568 if (destination[Z_AXIS] < min_pos[Z_AXIS]) destination[Z_AXIS] = min_pos[Z_AXIS];
1571 if (max_software_endstops) {
1572 if (destination[X_AXIS] > max_pos[X_AXIS]) destination[X_AXIS] = max_pos[X_AXIS];
1573 if (destination[Y_AXIS] > max_pos[Y_AXIS]) destination[Y_AXIS] = max_pos[Y_AXIS];
1574 if (destination[Z_AXIS] > max_pos[Z_AXIS]) destination[Z_AXIS] = max_pos[Z_AXIS];
1580 clamp_to_software_endstops(destination);
1582 previous_millis_cmd = millis();
1583 plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
1584 for(int8_t i=0; i < NUM_AXIS; i++) {
1585 current_position[i] = destination[i];
1589 void prepare_arc_move(char isclockwise) {
1590 float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
1593 mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
1595 // As far as the parser is concerned, the position is now == target. In reality the
1596 // motion control system might still be processing the action and the real tool position
1597 // in any intermediate location.
1598 for(int8_t i=0; i < NUM_AXIS; i++) {
1599 current_position[i] = destination[i];
1601 previous_millis_cmd = millis();
1604 #ifdef CONTROLLERFAN_PIN
1605 unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
1606 unsigned long lastMotorCheck = 0;
1608 void controllerFan()
1610 if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
1612 lastMotorCheck = millis();
1614 if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN)
1616 || !READ(E2_ENABLE_PIN)
1619 || !READ(E2_ENABLE_PIN)
1621 || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
1623 lastMotor = millis(); //... set time to NOW so the fan will turn on
1626 if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
1628 WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
1632 WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
1638 void manage_inactivity(byte debug)
1640 if( (millis() - previous_millis_cmd) > max_inactive_time )
1641 if(max_inactive_time)
1643 if(stepper_inactive_time) {
1644 if( (millis() - previous_millis_cmd) > stepper_inactive_time )
1646 if(blocks_queued() == false) {
1656 #ifdef CONTROLLERFAN_PIN
1657 controllerFan(); //Check if fan should be turned on to cool stepper drivers down
1659 #ifdef EXTRUDER_RUNOUT_PREVENT
1660 if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
1661 if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
1663 bool oldstatus=READ(E0_ENABLE_PIN);
1665 float oldepos=current_position[E_AXIS];
1666 float oldedes=destination[E_AXIS];
1667 plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
1668 current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
1669 EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
1670 current_position[E_AXIS]=oldepos;
1671 destination[E_AXIS]=oldedes;
1672 plan_set_e_position(oldepos);
1673 previous_millis_cmd=millis();
1675 WRITE(E0_ENABLE_PIN,oldstatus);
1678 check_axes_activity();
1683 cli(); // Stop interrupts
1693 if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
1695 SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
1696 LCD_MESSAGEPGM(MSG_KILLED);
1698 while(1); // Wait for reset
1704 if(Stopped == false) {
1706 Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
1708 SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
1709 LCD_MESSAGEPGM(MSG_STOPPED);
1713 bool IsStopped() { return Stopped; };
1716 void setPwmFrequency(uint8_t pin, int val)
1719 switch(digitalPinToTimer(pin))
1725 // TCCR0B &= ~(CS00 | CS01 | CS02);
1733 // TCCR1B &= ~(CS10 | CS11 | CS12);
1741 TCCR2 &= ~(CS10 | CS11 | CS12);
1749 TCCR2B &= ~(CS20 | CS21 | CS22);
1758 TCCR3B &= ~(CS30 | CS31 | CS32);
1767 TCCR4B &= ~(CS40 | CS41 | CS42);
1776 TCCR5B &= ~(CS50 | CS51 | CS52);