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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* gcode.cpp - Temporary container for all gcode handlers
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* Most will migrate to classes, by feature.
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*/
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#include "gcode.h"
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GcodeSuite gcode;
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#include "parser.h"
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#include "queue.h"
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#include "../module/motion.h"
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#if ENABLED(PRINTCOUNTER)
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#include "../module/printcounter.h"
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#endif
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#include "../Marlin.h" // for idle()
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uint8_t GcodeSuite::target_extruder;
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millis_t GcodeSuite::previous_cmd_ms;
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bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
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#if ENABLED(HOST_KEEPALIVE_FEATURE)
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GcodeSuite::MarlinBusyState GcodeSuite::busy_state = NOT_BUSY;
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uint8_t GcodeSuite::host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
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#endif
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#if ENABLED(CNC_WORKSPACE_PLANES)
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GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
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#endif
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/**
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* Set target_extruder from the T parameter or the active_extruder
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*
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* Returns TRUE if the target is invalid
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*/
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bool GcodeSuite::get_target_extruder_from_command() {
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if (parser.seenval('T')) {
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const int8_t e = parser.value_byte();
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if (e >= EXTRUDERS) {
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SERIAL_ECHO_START();
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SERIAL_CHAR('M');
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SERIAL_ECHO(parser.codenum);
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SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
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return true;
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}
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target_extruder = e;
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}
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else
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target_extruder = active_extruder;
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return false;
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}
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/**
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* Set XYZE destination and feedrate from the current GCode command
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*
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* - Set destination from included axis codes
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* - Set to current for missing axis codes
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* - Set the feedrate, if included
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*/
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void GcodeSuite::get_destination_from_command() {
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LOOP_XYZE(i) {
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if (parser.seen(axis_codes[i]))
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destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
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else
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destination[i] = current_position[i];
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}
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if (parser.linearval('F') > 0.0)
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feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
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#if ENABLED(PRINTCOUNTER)
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if (!DEBUGGING(DRYRUN))
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print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
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#endif
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// Get ABCDHI mixing factors
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#if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
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gcode_get_mix();
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#endif
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}
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/**
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* Dwell waits immediately. It does not synchronize. Use M400 instead of G4
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*/
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void GcodeSuite::dwell(millis_t time) {
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refresh_cmd_timeout();
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time += previous_cmd_ms;
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while (PENDING(millis(), time)) idle();
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}
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//
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// Placeholders for non-migrated codes
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//
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extern void gcode_M18_M84();
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extern void gcode_M75();
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extern void gcode_M76();
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extern void gcode_M77();
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extern void gcode_M78();
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extern void gcode_M80();
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extern void gcode_M81();
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extern void gcode_M82();
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extern void gcode_M83();
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extern void gcode_M85();
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extern void gcode_M92();
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extern void gcode_M100();
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extern void gcode_M105();
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extern void gcode_M106();
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extern void gcode_M107();
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extern void gcode_M108();
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extern void gcode_M110();
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extern void gcode_M111();
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extern void gcode_M112();
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extern void gcode_M113();
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extern void gcode_M114();
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extern void gcode_M115();
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extern void gcode_M117();
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extern void gcode_M118();
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extern void gcode_M119();
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extern void gcode_M120();
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extern void gcode_M121();
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extern void gcode_M126();
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extern void gcode_M127();
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extern void gcode_M128();
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extern void gcode_M129();
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extern void gcode_M140();
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extern void gcode_M145();
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extern void gcode_M149();
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extern void gcode_M150();
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extern void gcode_M155();
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extern void gcode_M163();
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extern void gcode_M164();
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extern void gcode_M165();
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extern void gcode_M190();
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extern void gcode_M201();
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extern void gcode_M203();
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extern void gcode_M204();
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extern void gcode_M205();
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extern void gcode_M206();
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extern void gcode_M211();
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extern void gcode_M220();
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extern void gcode_M226();
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extern void gcode_M240();
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extern void gcode_M250();
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extern void gcode_M260();
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extern void gcode_M261();
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extern void gcode_M280();
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extern void gcode_M300();
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extern void gcode_M301();
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extern void gcode_M302();
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extern void gcode_M304();
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extern void gcode_M350();
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extern void gcode_M351();
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extern void gcode_M355();
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extern bool gcode_M360();
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extern bool gcode_M361();
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extern bool gcode_M362();
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extern bool gcode_M363();
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extern bool gcode_M364();
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extern void gcode_M380();
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extern void gcode_M381();
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extern void gcode_M400();
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extern void gcode_M401();
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extern void gcode_M402();
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extern void gcode_M410();
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extern void gcode_M428();
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extern void gcode_M500();
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extern void gcode_M501();
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extern void gcode_M502();
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extern void gcode_M503();
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extern void gcode_M540();
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extern void gcode_M605();
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extern void gcode_M665();
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extern void gcode_M666();
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extern void gcode_M702();
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extern void gcode_M900();
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extern void gcode_M906();
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extern void gcode_M911();
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extern void gcode_M912();
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extern void gcode_M913();
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extern void gcode_M914();
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extern void gcode_M907();
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extern void gcode_M908();
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extern void gcode_M909();
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extern void gcode_M910();
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extern void gcode_M999();
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extern void gcode_T(uint8_t tmp_extruder);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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extern void M100_dump_routine(const char * const title, const char *start, const char *end);
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#endif
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/**
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* Process a single command and dispatch it to its handler
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* This is called from the main loop()
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*/
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void GcodeSuite::process_next_command() {
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char * const current_command = command_queue[cmd_queue_index_r];
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if (DEBUGGING(ECHO)) {
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SERIAL_ECHO_START();
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SERIAL_ECHOLN(current_command);
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#if ENABLED(M100_FREE_MEMORY_WATCHER)
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SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
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M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
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#endif
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}
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KEEPALIVE_STATE(IN_HANDLER);
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// Parse the next command in the queue
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parser.parse(current_command);
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// Handle a known G, M, or T
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switch (parser.command_letter) {
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case 'G': switch (parser.codenum) {
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// G0, G1
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case 0:
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case 1:
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#if IS_SCARA
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G0_G1(parser.codenum == 0);
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#else
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G0_G1();
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#endif
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break;
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// G2, G3
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#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
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case 2: // G2: CW ARC
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case 3: // G3: CCW ARC
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G2_G3(parser.codenum == 2);
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break;
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#endif
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// G4 Dwell
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case 4:
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G4();
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break;
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#if ENABLED(BEZIER_CURVE_SUPPORT)
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case 5: // G5: Cubic B_spline
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G5();
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break;
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#endif // BEZIER_CURVE_SUPPORT
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#if ENABLED(FWRETRACT)
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case 10: // G10: retract
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G10();
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break;
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case 11: // G11: retract_recover
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G11();
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break;
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#endif // FWRETRACT
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#if ENABLED(NOZZLE_CLEAN_FEATURE)
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case 12:
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G12(); // G12: Nozzle Clean
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break;
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#endif // NOZZLE_CLEAN_FEATURE
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#if ENABLED(CNC_WORKSPACE_PLANES)
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case 17: // G17: Select Plane XY
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G17();
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break;
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case 18: // G18: Select Plane ZX
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G18();
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break;
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case 19: // G19: Select Plane YZ
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G19();
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break;
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#endif // CNC_WORKSPACE_PLANES
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#if ENABLED(INCH_MODE_SUPPORT)
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case 20: // G20: Inch Mode
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G20();
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break;
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case 21: // G21: MM Mode
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G21();
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break;
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#endif // INCH_MODE_SUPPORT
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#if ENABLED(UBL_G26_MESH_VALIDATION)
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case 26: // G26: Mesh Validation Pattern generation
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G26();
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break;
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#endif // AUTO_BED_LEVELING_UBL
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#if ENABLED(NOZZLE_PARK_FEATURE)
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case 27: // G27: Nozzle Park
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G27();
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break;
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#endif // NOZZLE_PARK_FEATURE
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case 28: // G28: Home all axes, one at a time
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G28(false);
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break;
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#if HAS_LEVELING
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case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
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// or provides access to the UBL System if enabled.
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G29();
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break;
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#endif // HAS_LEVELING
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#if HAS_BED_PROBE
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case 30: // G30 Single Z probe
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G30();
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break;
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#if ENABLED(Z_PROBE_SLED)
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case 31: // G31: dock the sled
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G31();
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break;
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case 32: // G32: undock the sled
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G32();
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break;
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#endif // Z_PROBE_SLED
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#endif // HAS_BED_PROBE
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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case 33: // G33: Delta Auto-Calibration
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G33();
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break;
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#endif // DELTA_AUTO_CALIBRATION
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#if ENABLED(G38_PROBE_TARGET)
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case 38: // G38.2 & G38.3
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if (parser.subcode == 2 || parser.subcode == 3)
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G38(parser.subcode == 2);
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break;
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#endif
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case 90: // G90
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relative_mode = false;
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break;
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case 91: // G91
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relative_mode = true;
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break;
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case 92: // G92 - Set current axis position(s)
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G92();
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break;
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#if HAS_MESH
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case 42: G42(); break; // G42: Coordinated move to a mesh point
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#endif
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#if ENABLED(DEBUG_GCODE_PARSER)
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case 800:
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parser.debug(); // GCode Parser Test for G
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break;
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#endif
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}
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break;
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case 'M': switch (parser.codenum) {
|
|
|
|
#if HAS_RESUME_CONTINUE
|
|
|
|
case 0: // M0: Unconditional stop - Wait for user button press on LCD
|
|
|
|
case 1: // M1: Conditional stop - Wait for user button press on LCD
|
|
|
|
M0_M1();
|
|
|
|
break;
|
|
|
|
#endif // ULTIPANEL
|
|
|
|
|
|
|
|
#if ENABLED(SPINDLE_LASER_ENABLE)
|
|
|
|
// These synchronize with movement commands...
|
|
|
|
case 3: M3_M4(true ); break; // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
|
|
|
|
case 4: M3_M4(false); break; // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
|
|
|
|
case 5: M5(); break; // M5 - turn spindle/laser off
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 17: // M17: Enable all stepper motors
|
|
|
|
M17();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
|
|
case 20: M20(); break; // M20: list SD card
|
|
|
|
case 21: M21(); break; // M21: init SD card
|
|
|
|
case 22: M22(); break; // M22: release SD card
|
|
|
|
case 23: M23(); break; // M23: Select file
|
|
|
|
case 24: M24(); break; // M24: Start SD print
|
|
|
|
case 25: M25(); break; // M25: Pause SD print
|
|
|
|
case 26: M26(); break; // M26: Set SD index
|
|
|
|
case 27: M27(); break; // M27: Get SD status
|
|
|
|
case 28: M28(); break; // M28: Start SD write
|
|
|
|
case 29: M29(); break; // M29: Stop SD write
|
|
|
|
case 30: M30(); break; // M30 <filename> Delete File
|
|
|
|
case 32: M32(); break; // M32: Select file and start SD print
|
|
|
|
|
|
|
|
#if ENABLED(LONG_FILENAME_HOST_SUPPORT)
|
|
|
|
case 33: M33(); break; // M33: Get the long full path to a file or folder
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
|
|
|
|
case 34: M34(); break; // M34: Set SD card sorting options
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 928: M928(); break; // M928: Start SD write
|
|
|
|
#endif // SDSUPPORT
|
|
|
|
|
|
|
|
case 31: M31(); break; // M31: Report time since the start of SD print or last M109
|
|
|
|
|
|
|
|
case 42: M42(); break; // M42: Change pin state
|
|
|
|
|
|
|
|
#if ENABLED(PINS_DEBUGGING)
|
|
|
|
case 43: M43(); break; // M43: Read pin state
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
|
|
|
|
case 48: M48(); break; // M48: Z probe repeatability test
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(UBL_G26_MESH_VALIDATION)
|
|
|
|
case 49: M49(); break; // M49: Turn on or off G26 debug flag for verbose output
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 75: // M75: Start print timer
|
|
|
|
gcode_M75(); break;
|
|
|
|
case 76: // M76: Pause print timer
|
|
|
|
gcode_M76(); break;
|
|
|
|
case 77: // M77: Stop print timer
|
|
|
|
gcode_M77(); break;
|
|
|
|
|
|
|
|
#if ENABLED(PRINTCOUNTER)
|
|
|
|
case 78: // M78: Show print statistics
|
|
|
|
gcode_M78(); break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(M100_FREE_MEMORY_WATCHER)
|
|
|
|
case 100: // M100: Free Memory Report
|
|
|
|
gcode_M100();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 104: M104(); break; // M104: Set hot end temperature
|
|
|
|
case 109: M109(); break; // M109: Wait for hotend temperature to reach target
|
|
|
|
|
|
|
|
case 110: // M110: Set Current Line Number
|
|
|
|
gcode_M110();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 111: // M111: Set debug level
|
|
|
|
gcode_M111();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if DISABLED(EMERGENCY_PARSER)
|
|
|
|
|
|
|
|
case 108: // M108: Cancel Waiting
|
|
|
|
gcode_M108();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 112: // M112: Emergency Stop
|
|
|
|
gcode_M112();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 410: // M410 quickstop - Abort all the planned moves.
|
|
|
|
gcode_M410();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
|
|
case 113: // M113: Set Host Keepalive interval
|
|
|
|
gcode_M113();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 140: // M140: Set bed temperature
|
|
|
|
gcode_M140();
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
|
|
case 105: // M105: Report current temperature
|
|
|
|
gcode_M105();
|
|
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
|
|
return; // "ok" already printed
|
|
|
|
|
|
|
|
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
|
|
|
|
case 155: // M155: Set temperature auto-report interval
|
|
|
|
gcode_M155();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_TEMP_BED
|
|
|
|
case 190: // M190: Wait for bed temperature to reach target
|
|
|
|
gcode_M190();
|
|
|
|
break;
|
|
|
|
#endif // HAS_TEMP_BED
|
|
|
|
|
|
|
|
#if FAN_COUNT > 0
|
|
|
|
case 106: // M106: Fan On
|
|
|
|
gcode_M106();
|
|
|
|
break;
|
|
|
|
case 107: // M107: Fan Off
|
|
|
|
gcode_M107();
|
|
|
|
break;
|
|
|
|
#endif // FAN_COUNT > 0
|
|
|
|
|
|
|
|
#if ENABLED(PARK_HEAD_ON_PAUSE)
|
|
|
|
case 125: // M125: Store current position and move to filament change position
|
|
|
|
M125(); break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(BARICUDA)
|
|
|
|
// PWM for HEATER_1_PIN
|
|
|
|
#if HAS_HEATER_1
|
|
|
|
case 126: // M126: valve open
|
|
|
|
gcode_M126();
|
|
|
|
break;
|
|
|
|
case 127: // M127: valve closed
|
|
|
|
gcode_M127();
|
|
|
|
break;
|
|
|
|
#endif // HAS_HEATER_1
|
|
|
|
|
|
|
|
// PWM for HEATER_2_PIN
|
|
|
|
#if HAS_HEATER_2
|
|
|
|
case 128: // M128: valve open
|
|
|
|
gcode_M128();
|
|
|
|
break;
|
|
|
|
case 129: // M129: valve closed
|
|
|
|
gcode_M129();
|
|
|
|
break;
|
|
|
|
#endif // HAS_HEATER_2
|
|
|
|
#endif // BARICUDA
|
|
|
|
|
|
|
|
#if HAS_POWER_SWITCH
|
|
|
|
|
|
|
|
case 80: // M80: Turn on Power Supply
|
|
|
|
gcode_M80();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif // HAS_POWER_SWITCH
|
|
|
|
|
|
|
|
case 81: // M81: Turn off Power, including Power Supply, if possible
|
|
|
|
gcode_M81();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 82: // M82: Set E axis normal mode (same as other axes)
|
|
|
|
gcode_M82();
|
|
|
|
break;
|
|
|
|
case 83: // M83: Set E axis relative mode
|
|
|
|
gcode_M83();
|
|
|
|
break;
|
|
|
|
case 18: // M18 => M84
|
|
|
|
case 84: // M84: Disable all steppers or set timeout
|
|
|
|
gcode_M18_M84();
|
|
|
|
break;
|
|
|
|
case 85: // M85: Set inactivity stepper shutdown timeout
|
|
|
|
gcode_M85();
|
|
|
|
break;
|
|
|
|
case 92: // M92: Set the steps-per-unit for one or more axes
|
|
|
|
gcode_M92();
|
|
|
|
break;
|
|
|
|
case 114: // M114: Report current position
|
|
|
|
gcode_M114();
|
|
|
|
break;
|
|
|
|
case 115: // M115: Report capabilities
|
|
|
|
gcode_M115();
|
|
|
|
break;
|
|
|
|
case 117: // M117: Set LCD message text, if possible
|
|
|
|
gcode_M117();
|
|
|
|
break;
|
|
|
|
case 118: // M118: Display a message in the host console
|
|
|
|
gcode_M118();
|
|
|
|
break;
|
|
|
|
case 119: // M119: Report endstop states
|
|
|
|
gcode_M119();
|
|
|
|
break;
|
|
|
|
case 120: // M120: Enable endstops
|
|
|
|
gcode_M120();
|
|
|
|
break;
|
|
|
|
case 121: // M121: Disable endstops
|
|
|
|
gcode_M121();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(ULTIPANEL)
|
|
|
|
|
|
|
|
case 145: // M145: Set material heatup parameters
|
|
|
|
gcode_M145();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
|
|
|
|
case 149: // M149: Set temperature units
|
|
|
|
gcode_M149();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_COLOR_LEDS
|
|
|
|
|
|
|
|
case 150: // M150: Set Status LED Color
|
|
|
|
gcode_M150();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif // HAS_COLOR_LEDS
|
|
|
|
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
|
|
case 163: // M163: Set a component weight for mixing extruder
|
|
|
|
gcode_M163();
|
|
|
|
break;
|
|
|
|
#if MIXING_VIRTUAL_TOOLS > 1
|
|
|
|
case 164: // M164: Save current mix as a virtual extruder
|
|
|
|
gcode_M164();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
#if ENABLED(DIRECT_MIXING_IN_G1)
|
|
|
|
case 165: // M165: Set multiple mix weights
|
|
|
|
gcode_M165();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 200: // M200: Set filament diameter, E to cubic units
|
|
|
|
M200();
|
|
|
|
break;
|
|
|
|
case 201: // M201: Set max acceleration for print moves (units/s^2)
|
|
|
|
gcode_M201();
|
|
|
|
break;
|
|
|
|
#if 0 // Not used for Sprinter/grbl gen6
|
|
|
|
case 202: // M202
|
|
|
|
gcode_M202();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
case 203: // M203: Set max feedrate (units/sec)
|
|
|
|
gcode_M203();
|
|
|
|
break;
|
|
|
|
case 204: // M204: Set acceleration
|
|
|
|
gcode_M204();
|
|
|
|
break;
|
|
|
|
case 205: // M205: Set advanced settings
|
|
|
|
gcode_M205();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if HAS_M206_COMMAND
|
|
|
|
case 206: // M206: Set home offsets
|
|
|
|
gcode_M206();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(DELTA)
|
|
|
|
case 665: // M665: Set delta configurations
|
|
|
|
gcode_M665();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
|
|
|
|
case 666: // M666: Set delta or dual endstop adjustment
|
|
|
|
gcode_M666();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
|
|
case 207: M207(); break; // M207: Set Retract Length, Feedrate, and Z lift
|
|
|
|
case 208: M208(); break; // M208: Set Recover (unretract) Additional Length and Feedrate
|
|
|
|
case 209: if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209(); break; // M209: Turn Automatic Retract Detection on/off
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 211: // M211: Enable, Disable, and/or Report software endstops
|
|
|
|
gcode_M211();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if HOTENDS > 1
|
|
|
|
case 218: // M218: Set a tool offset
|
|
|
|
M218();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
|
|
|
|
gcode_M220();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 221: // M221: Set Flow Percentage
|
|
|
|
M221();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 226: // M226: Wait until a pin reaches a state
|
|
|
|
gcode_M226();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if HAS_SERVOS
|
|
|
|
case 280: // M280: Set servo position absolute
|
|
|
|
gcode_M280();
|
|
|
|
break;
|
|
|
|
#endif // HAS_SERVOS
|
|
|
|
|
|
|
|
#if HAS_BUZZER
|
|
|
|
case 300: // M300: Play beep tone
|
|
|
|
gcode_M300();
|
|
|
|
break;
|
|
|
|
#endif // HAS_BUZZER
|
|
|
|
|
|
|
|
#if ENABLED(PIDTEMP)
|
|
|
|
case 301: // M301: Set hotend PID parameters
|
|
|
|
gcode_M301();
|
|
|
|
break;
|
|
|
|
#endif // PIDTEMP
|
|
|
|
|
|
|
|
#if ENABLED(PIDTEMPBED)
|
|
|
|
case 304: // M304: Set bed PID parameters
|
|
|
|
gcode_M304();
|
|
|
|
break;
|
|
|
|
#endif // PIDTEMPBED
|
|
|
|
|
|
|
|
#if defined(CHDK) || HAS_PHOTOGRAPH
|
|
|
|
case 240: // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
|
|
|
|
gcode_M240();
|
|
|
|
break;
|
|
|
|
#endif // CHDK || PHOTOGRAPH_PIN
|
|
|
|
|
|
|
|
#if HAS_LCD_CONTRAST
|
|
|
|
case 250: // M250: Set LCD contrast
|
|
|
|
gcode_M250();
|
|
|
|
break;
|
|
|
|
#endif // HAS_LCD_CONTRAST
|
|
|
|
|
|
|
|
#if ENABLED(EXPERIMENTAL_I2CBUS)
|
|
|
|
|
|
|
|
case 260: // M260: Send data to an i2c slave
|
|
|
|
gcode_M260();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 261: // M261: Request data from an i2c slave
|
|
|
|
gcode_M261();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif // EXPERIMENTAL_I2CBUS
|
|
|
|
|
|
|
|
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
|
|
|
case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
|
|
|
|
gcode_M302();
|
|
|
|
break;
|
|
|
|
#endif // PREVENT_COLD_EXTRUSION
|
|
|
|
|
|
|
|
case 303: // M303: PID autotune
|
|
|
|
M303();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(MORGAN_SCARA)
|
|
|
|
case 360: // M360: SCARA Theta pos1
|
|
|
|
if (gcode_M360()) return;
|
|
|
|
break;
|
|
|
|
case 361: // M361: SCARA Theta pos2
|
|
|
|
if (gcode_M361()) return;
|
|
|
|
break;
|
|
|
|
case 362: // M362: SCARA Psi pos1
|
|
|
|
if (gcode_M362()) return;
|
|
|
|
break;
|
|
|
|
case 363: // M363: SCARA Psi pos2
|
|
|
|
if (gcode_M363()) return;
|
|
|
|
break;
|
|
|
|
case 364: // M364: SCARA Psi pos3 (90 deg to Theta)
|
|
|
|
if (gcode_M364()) return;
|
|
|
|
break;
|
|
|
|
#endif // SCARA
|
|
|
|
|
|
|
|
#if ENABLED(EXT_SOLENOID)
|
|
|
|
case 380: // M380: Activate solenoid on active extruder
|
|
|
|
gcode_M380();
|
|
|
|
break;
|
|
|
|
case 381: // M381: Disable all solenoids
|
|
|
|
gcode_M381();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 400: // M400: Finish all moves
|
|
|
|
gcode_M400();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if HAS_BED_PROBE
|
|
|
|
case 401: // M401: Deploy probe
|
|
|
|
gcode_M401();
|
|
|
|
break;
|
|
|
|
case 402: // M402: Stow probe
|
|
|
|
gcode_M402();
|
|
|
|
break;
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
|
|
case 404: // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
|
|
|
|
M404();
|
|
|
|
break;
|
|
|
|
case 405: // M405: Turn on filament sensor for control
|
|
|
|
M405();
|
|
|
|
break;
|
|
|
|
case 406: // M406: Turn off filament sensor for control
|
|
|
|
M406();
|
|
|
|
break;
|
|
|
|
case 407: // M407: Display measured filament diameter
|
|
|
|
M407();
|
|
|
|
break;
|
|
|
|
#endif // FILAMENT_WIDTH_SENSOR
|
|
|
|
|
|
|
|
#if HAS_LEVELING
|
|
|
|
case 420: // M420: Enable/Disable Bed Leveling
|
|
|
|
M420();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_MESH
|
|
|
|
case 421: // M421: Set a Mesh Bed Leveling Z coordinate
|
|
|
|
M421();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_M206_COMMAND
|
|
|
|
case 428: // M428: Apply current_position to home_offset
|
|
|
|
gcode_M428();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 500: // M500: Store settings in EEPROM
|
|
|
|
gcode_M500();
|
|
|
|
break;
|
|
|
|
case 501: // M501: Read settings from EEPROM
|
|
|
|
gcode_M501();
|
|
|
|
break;
|
|
|
|
case 502: // M502: Revert to default settings
|
|
|
|
gcode_M502();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if DISABLED(DISABLE_M503)
|
|
|
|
case 503: // M503: print settings currently in memory
|
|
|
|
gcode_M503();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
|
|
|
|
case 540: // M540: Set abort on endstop hit for SD printing
|
|
|
|
gcode_M540();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_BED_PROBE
|
|
|
|
case 851: // M851: Set Z Probe Z Offset
|
|
|
|
M851();
|
|
|
|
break;
|
|
|
|
#endif // HAS_BED_PROBE
|
|
|
|
|
|
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
|
|
case 600: // M600: Pause for filament change
|
|
|
|
M600();
|
|
|
|
break;
|
|
|
|
#endif // ADVANCED_PAUSE_FEATURE
|
|
|
|
|
|
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
|
|
case 605: // M605: Set Dual X Carriage movement mode
|
|
|
|
gcode_M605();
|
|
|
|
break;
|
|
|
|
#endif // DUAL_X_CARRIAGE
|
|
|
|
|
|
|
|
#if ENABLED(MK2_MULTIPLEXER)
|
|
|
|
case 702: // M702: Unload all extruders
|
|
|
|
gcode_M702();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
case 900: // M900: Set advance K factor.
|
|
|
|
gcode_M900();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
case 906: // M906: Set motor current in milliamps using axis codes X, Y, Z, E
|
|
|
|
gcode_M906();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 907: // M907: Set digital trimpot motor current using axis codes.
|
|
|
|
gcode_M907();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
|
|
|
|
|
|
|
|
case 908: // M908: Control digital trimpot directly.
|
|
|
|
gcode_M908();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
|
|
|
|
|
|
|
|
case 909: // M909: Print digipot/DAC current value
|
|
|
|
gcode_M909();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 910: // M910: Commit digipot/DAC value to external EEPROM
|
|
|
|
gcode_M910();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
|
|
|
|
|
|
|
|
#if ENABLED(HAVE_TMC2130)
|
|
|
|
case 911: // M911: Report TMC2130 prewarn triggered flags
|
|
|
|
gcode_M911();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 912: // M911: Clear TMC2130 prewarn triggered flags
|
|
|
|
gcode_M912();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(HYBRID_THRESHOLD)
|
|
|
|
case 913: // M913: Set HYBRID_THRESHOLD speed.
|
|
|
|
gcode_M913();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(SENSORLESS_HOMING)
|
|
|
|
case 914: // M914: Set SENSORLESS_HOMING sensitivity.
|
|
|
|
gcode_M914();
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if HAS_MICROSTEPS
|
|
|
|
|
|
|
|
case 350: // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
|
|
gcode_M350();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 351: // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
|
|
gcode_M351();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#endif // HAS_MICROSTEPS
|
|
|
|
|
|
|
|
case 355: // M355 set case light brightness
|
|
|
|
gcode_M355();
|
|
|
|
break;
|
|
|
|
|
|
|
|
#if ENABLED(DEBUG_GCODE_PARSER)
|
|
|
|
case 800:
|
|
|
|
parser.debug(); // GCode Parser Test for M
|
|
|
|
break;
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
|
|
case 860: M860(); break; // M860: Report encoder module position
|
|
|
|
case 861: M861(); break; // M861: Report encoder module status
|
|
|
|
case 862: M862(); break; // M862: Perform axis test
|
|
|
|
case 863: M863(); break; // M863: Calibrate steps/mm
|
|
|
|
case 864: M864(); break; // M864: Change module address
|
|
|
|
case 865: M865(); break; // M865: Check module firmware version
|
|
|
|
case 866: M866(); break; // M866: Report axis error count
|
|
|
|
case 867: M867(); break; // M867: Toggle error correction
|
|
|
|
case 868: M868(); break; // M868: Set error correction threshold
|
|
|
|
case 869: M869(); break; // M869: Report axis error
|
|
|
|
#endif
|
|
|
|
|
|
|
|
case 999: // M999: Restart after being Stopped
|
|
|
|
gcode_M999();
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case 'T':
|
|
|
|
gcode_T(parser.codenum);
|
|
|
|
break;
|
|
|
|
|
|
|
|
default: parser.unknown_command_error();
|
|
|
|
}
|
|
|
|
|
|
|
|
KEEPALIVE_STATE(NOT_BUSY);
|
|
|
|
|
|
|
|
ok_to_send();
|
|
|
|
}
|
|
|
|
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Output a "busy" message at regular intervals
|
|
|
|
* while the machine is not accepting commands.
|
|
|
|
*/
|
|
|
|
void GcodeSuite::host_keepalive() {
|
|
|
|
const millis_t ms = millis();
|
|
|
|
static millis_t next_busy_signal_ms = 0;
|
|
|
|
if (host_keepalive_interval && busy_state != NOT_BUSY) {
|
|
|
|
if (PENDING(ms, next_busy_signal_ms)) return;
|
|
|
|
switch (busy_state) {
|
|
|
|
case IN_HANDLER:
|
|
|
|
case IN_PROCESS:
|
|
|
|
SERIAL_ECHO_START();
|
|
|
|
SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
|
|
|
|
break;
|
|
|
|
case PAUSED_FOR_USER:
|
|
|
|
SERIAL_ECHO_START();
|
|
|
|
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
|
|
|
|
break;
|
|
|
|
case PAUSED_FOR_INPUT:
|
|
|
|
SERIAL_ECHO_START();
|
|
|
|
SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
|
|
|
|
break;
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
|
|
|
|
}
|
|
|
|
|
|
|
|
#endif // HOST_KEEPALIVE_FEATURE
|