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@ -40,11 +40,11 @@
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#include "language.h"
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#include "pins_arduino.h"
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#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
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#if NUM_SERVOS > 0
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#include "Servo.h"
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#endif
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#if DIGIPOTSS_PIN > -1
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#if DIGIPOTSS_PIN > 0
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#include <SPI.h>
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#endif
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@ -102,7 +102,7 @@
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M114 - Output current position to serial port
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// M115 - Capabilities string
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// M115 - Capabilities string
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// M117 - display message
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// M119 - Output Endstop status to serial port
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// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
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@ -230,7 +230,7 @@ static uint8_t tmp_extruder;
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bool Stopped=false;
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#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
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#if NUM_SERVOS > 0
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Servo servos[NUM_SERVOS];
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#endif
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@ -309,7 +309,7 @@ void setup_killpin()
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void setup_photpin()
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{
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#ifdef PHOTOGRAPH_PIN
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#if (PHOTOGRAPH_PIN > -1)
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#if (PHOTOGRAPH_PIN > 0)
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SET_OUTPUT(PHOTOGRAPH_PIN);
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WRITE(PHOTOGRAPH_PIN, LOW);
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#endif
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@ -324,7 +324,7 @@ void setup_powerhold()
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WRITE(SUICIDE_PIN, HIGH);
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#endif
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#endif
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#if (PS_ON_PIN > -1)
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#if (PS_ON_PIN > 0)
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SET_OUTPUT(PS_ON_PIN);
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WRITE(PS_ON_PIN, PS_ON_AWAKE);
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#endif
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@ -333,7 +333,7 @@ void setup_powerhold()
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void suicide()
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{
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#ifdef SUICIDE_PIN
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#if (SUICIDE_PIN> -1)
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#if (SUICIDE_PIN > 0)
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SET_OUTPUT(SUICIDE_PIN);
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WRITE(SUICIDE_PIN, LOW);
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#endif
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@ -342,16 +342,16 @@ void suicide()
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void servo_init()
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{
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#if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
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#if (NUM_SERVOS >= 1) && (SERVO0_PIN > 0)
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servos[0].attach(SERVO0_PIN);
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#endif
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#if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
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#if (NUM_SERVOS >= 2) && (SERVO1_PIN > 0)
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servos[1].attach(SERVO1_PIN);
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#endif
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#if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
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#if (NUM_SERVOS >= 3) && (SERVO2_PIN > 0)
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servos[2].attach(SERVO2_PIN);
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#endif
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#if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
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#if (NUM_SERVOS >= 4) && (SERVO3_PIN > 0)
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servos[3].attach(SERVO3_PIN);
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#endif
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#if (NUM_SERVOS >= 5)
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@ -433,9 +433,9 @@ void loop()
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#ifdef SDSUPPORT
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if(card.saving)
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{
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if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
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{
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card.write_command(cmdbuffer[bufindr]);
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if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
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{
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card.write_command(cmdbuffer[bufindr]);
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if(card.logging)
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{
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process_commands();
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@ -444,16 +444,16 @@ void loop()
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{
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SERIAL_PROTOCOLLNPGM(MSG_OK);
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}
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}
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else
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{
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card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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}
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}
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else
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{
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card.closefile();
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SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
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}
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}
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else
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{
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process_commands();
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process_commands();
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}
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#else
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process_commands();
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@ -548,10 +548,10 @@ void get_command()
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case 2:
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case 3:
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if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored.
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#ifdef SDSUPPORT
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#ifdef SDSUPPORT
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if(card.saving)
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break;
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#endif //SDSUPPORT
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#endif //SDSUPPORT
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SERIAL_PROTOCOLLNPGM(MSG_OK);
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}
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else {
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@ -645,17 +645,17 @@ bool code_seen(char code)
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return (strchr_pointer != NULL); //Return True if a character was found
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}
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#define DEFINE_PGM_READ_ANY(type, reader) \
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static inline type pgm_read_any(const type *p) \
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{ return pgm_read_##reader##_near(p); }
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#define DEFINE_PGM_READ_ANY(type, reader) \
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static inline type pgm_read_any(const type *p) \
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{ return pgm_read_##reader##_near(p); }
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DEFINE_PGM_READ_ANY(float, float);
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DEFINE_PGM_READ_ANY(signed char, byte);
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#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
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static const PROGMEM type array##_P[3] = \
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{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
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static inline type array(int axis) \
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#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
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static const PROGMEM type array##_P[3] = \
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{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
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static inline type array(int axis) \
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{ return pgm_read_any(&array##_P[axis]); }
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XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
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@ -673,7 +673,7 @@ static void axis_is_at_home(int axis) {
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static void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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((LETTER##_MIN_PIN > 0 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > 0 && LETTER##_HOME_DIR==1))
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if (axis==X_AXIS ? HOMEAXIS_DO(X) :
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axis==Y_AXIS ? HOMEAXIS_DO(Y) :
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@ -911,13 +911,13 @@ void process_commands()
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previous_millis_cmd = millis();
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if (codenum > 0){
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codenum += millis(); // keep track of when we started waiting
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while(millis() < codenum && !LCD_CLICKED){
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while(millis() < codenum && !lcd_clicked()){
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manage_heater();
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manage_inactivity();
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lcd_update();
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}
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}else{
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while(!LCD_CLICKED){
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while(!lcd_clicked()){
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manage_heater();
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manage_inactivity();
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lcd_update();
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@ -987,17 +987,17 @@ void process_commands()
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//card,saving = false;
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break;
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case 30: //M30 <filename> Delete File
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if (card.cardOK){
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card.closefile();
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starpos = (strchr(strchr_pointer + 4,'*'));
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if(starpos != NULL){
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char* npos = strchr(cmdbuffer[bufindr], 'N');
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strchr_pointer = strchr(npos,' ') + 1;
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*(starpos-1) = '\0';
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}
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card.removeFile(strchr_pointer + 4);
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}
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break;
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if (card.cardOK){
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card.closefile();
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starpos = (strchr(strchr_pointer + 4,'*'));
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if(starpos != NULL){
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char* npos = strchr(cmdbuffer[bufindr], 'N');
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strchr_pointer = strchr(npos,' ') + 1;
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*(starpos-1) = '\0';
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}
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card.removeFile(strchr_pointer + 4);
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}
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break;
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case 928: //M928 - Start SD write
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starpos = (strchr(strchr_pointer + 5,'*'));
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if(starpos != NULL){
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@ -1062,12 +1062,12 @@ void process_commands()
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if(setTargetedHotend(105)){
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break;
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}
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#if (TEMP_0_PIN > -1)
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#if (TEMP_0_PIN > 0)
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SERIAL_PROTOCOLPGM("ok T:");
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SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
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SERIAL_PROTOCOLPGM(" /");
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SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
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#if TEMP_BED_PIN > -1
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#if TEMP_BED_PIN > 0
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SERIAL_PROTOCOLPGM(" B:");
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SERIAL_PROTOCOL_F(degBed(),1);
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SERIAL_PROTOCOLPGM(" /");
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@ -1165,7 +1165,7 @@ void process_commands()
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}
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break;
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case 190: // M190 - Wait for bed heater to reach target.
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#if TEMP_BED_PIN > -1
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#if TEMP_BED_PIN > 0
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LCD_MESSAGEPGM(MSG_BED_HEATING);
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if (code_seen('S')) setTargetBed(code_value());
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codenum = millis();
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@ -1192,7 +1192,7 @@ void process_commands()
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#endif
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break;
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#if FAN_PIN > -1
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#if FAN_PIN > 0
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case 106: //M106 Fan On
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if (code_seen('S')){
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fanSpeed=constrain(code_value(),0,255);
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@ -1206,8 +1206,8 @@ void process_commands()
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break;
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#endif //FAN_PIN
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#ifdef BARICUDA
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// PWM for HEATER_1_PIN
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#if HEATER_1_PIN > -1
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// PWM for HEATER_1_PIN
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#if HEATER_1_PIN > 0
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case 126: //M126 valve open
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if (code_seen('S')){
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ValvePressure=constrain(code_value(),0,255);
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@ -1221,8 +1221,8 @@ void process_commands()
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break;
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#endif //HEATER_1_PIN
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// PWM for HEATER_2_PIN
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#if HEATER_2_PIN > -1
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// PWM for HEATER_2_PIN
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#if HEATER_2_PIN > 0
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case 128: //M128 valve open
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if (code_seen('S')){
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EtoPPressure=constrain(code_value(),0,255);
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@ -1237,7 +1237,7 @@ void process_commands()
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#endif //HEATER_2_PIN
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#endif
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#if (PS_ON_PIN > -1)
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#if (PS_ON_PIN > 0)
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case 80: // M80 - ATX Power On
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SET_OUTPUT(PS_ON_PIN); //GND
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WRITE(PS_ON_PIN, PS_ON_AWAKE);
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@ -1246,14 +1246,14 @@ void process_commands()
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case 81: // M81 - ATX Power Off
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#if defined SUICIDE_PIN && SUICIDE_PIN > -1
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#if defined SUICIDE_PIN && SUICIDE_PIN > 0
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st_synchronize();
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suicide();
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#elif (PS_ON_PIN > -1)
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#elif (PS_ON_PIN > 0)
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SET_OUTPUT(PS_ON_PIN);
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WRITE(PS_ON_PIN, PS_ON_ASLEEP);
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#endif
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break;
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break;
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case 82:
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axis_relative_modes[3] = false;
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@ -1354,27 +1354,27 @@ void process_commands()
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break;
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case 119: // M119
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SERIAL_PROTOCOLLN(MSG_M119_REPORT);
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#if (X_MIN_PIN > -1)
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#if (X_MIN_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_X_MIN);
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SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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#if (X_MAX_PIN > -1)
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#if (X_MAX_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_X_MAX);
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SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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#if (Y_MIN_PIN > -1)
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#if (Y_MIN_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_Y_MIN);
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SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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#if (Y_MAX_PIN > -1)
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#if (Y_MAX_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_Y_MAX);
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SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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#if (Z_MIN_PIN > -1)
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#if (Z_MIN_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_Z_MIN);
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SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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#if (Z_MAX_PIN > -1)
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#if (Z_MAX_PIN > 0)
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SERIAL_PROTOCOLPGM(MSG_Z_MAX);
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SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
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#endif
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@ -1389,7 +1389,7 @@ void process_commands()
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}
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}
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// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
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reset_acceleration_rates();
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reset_acceleration_rates();
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break;
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#if 0 // Not used for Sprinter/grbl gen6
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case 202: // M202
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@ -1513,8 +1513,8 @@ void process_commands()
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}
|
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}
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break;
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|
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
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|
|
#if NUM_SERVOS > 0
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|
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
|
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{
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int servo_index = -1;
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@ -1545,16 +1545,20 @@ void process_commands()
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break;
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#endif // NUM_SERVOS > 0
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#if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
|
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|
#if LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) )
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|
case 300: // M300
|
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|
{
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|
int beepS = 1;
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|
|
int beepS = 400;
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|
int beepP = 1000;
|
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|
|
if(code_seen('S')) beepS = code_value();
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|
|
if(code_seen('P')) beepP = code_value();
|
|
|
|
|
tone(BEEPER, beepS);
|
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|
|
delay(beepP);
|
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|
|
noTone(BEEPER);
|
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|
|
#if BEEPER > 0
|
|
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|
|
tone(BEEPER, beepS);
|
|
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|
|
delay(beepP);
|
|
|
|
|
noTone(BEEPER);
|
|
|
|
|
#elif defined(ULTRALCD)
|
|
|
|
|
lcd_buzz(beepS, beepP);
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
break;
|
|
|
|
|
#endif // M300
|
|
|
|
|
@ -1572,7 +1576,7 @@ void process_commands()
|
|
|
|
|
|
|
|
|
|
updatePID();
|
|
|
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
|
|
|
SERIAL_PROTOCOL(" p:");
|
|
|
|
|
SERIAL_PROTOCOL(" p:");
|
|
|
|
|
SERIAL_PROTOCOL(Kp);
|
|
|
|
|
SERIAL_PROTOCOL(" i:");
|
|
|
|
|
SERIAL_PROTOCOL(unscalePID_i(Ki));
|
|
|
|
|
@ -1596,7 +1600,7 @@ void process_commands()
|
|
|
|
|
|
|
|
|
|
updatePID();
|
|
|
|
|
SERIAL_PROTOCOL(MSG_OK);
|
|
|
|
|
SERIAL_PROTOCOL(" p:");
|
|
|
|
|
SERIAL_PROTOCOL(" p:");
|
|
|
|
|
SERIAL_PROTOCOL(bedKp);
|
|
|
|
|
SERIAL_PROTOCOL(" i:");
|
|
|
|
|
SERIAL_PROTOCOL(unscalePID_i(bedKi));
|
|
|
|
|
@ -1609,7 +1613,7 @@ void process_commands()
|
|
|
|
|
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
|
|
|
|
|
{
|
|
|
|
|
#ifdef PHOTOGRAPH_PIN
|
|
|
|
|
#if (PHOTOGRAPH_PIN > -1)
|
|
|
|
|
#if (PHOTOGRAPH_PIN > 0)
|
|
|
|
|
const uint8_t NUM_PULSES=16;
|
|
|
|
|
const float PULSE_LENGTH=0.01524;
|
|
|
|
|
for(int i=0; i < NUM_PULSES; i++) {
|
|
|
|
|
@ -1641,8 +1645,8 @@ void process_commands()
|
|
|
|
|
int e=0;
|
|
|
|
|
int c=5;
|
|
|
|
|
if (code_seen('E')) e=code_value();
|
|
|
|
|
if (e<0)
|
|
|
|
|
temp=70;
|
|
|
|
|
if (e<0)
|
|
|
|
|
temp=70;
|
|
|
|
|
if (code_seen('S')) temp=code_value();
|
|
|
|
|
if (code_seen('C')) c=code_value();
|
|
|
|
|
PID_autotune(temp, e, c);
|
|
|
|
|
@ -1765,23 +1769,24 @@ void process_commands()
|
|
|
|
|
delay(100);
|
|
|
|
|
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
|
|
|
|
|
uint8_t cnt=0;
|
|
|
|
|
while(!LCD_CLICKED){
|
|
|
|
|
while(!lcd_clicked()){
|
|
|
|
|
cnt++;
|
|
|
|
|
manage_heater();
|
|
|
|
|
manage_inactivity();
|
|
|
|
|
lcd_update();
|
|
|
|
|
|
|
|
|
|
#if BEEPER > -1
|
|
|
|
|
if(cnt==0)
|
|
|
|
|
{
|
|
|
|
|
#if BEEPER > 0
|
|
|
|
|
SET_OUTPUT(BEEPER);
|
|
|
|
|
|
|
|
|
|
WRITE(BEEPER,HIGH);
|
|
|
|
|
delay(3);
|
|
|
|
|
WRITE(BEEPER,LOW);
|
|
|
|
|
delay(3);
|
|
|
|
|
}
|
|
|
|
|
#else
|
|
|
|
|
lcd_buzz(1000/6,100);
|
|
|
|
|
#endif
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
//return to normal
|
|
|
|
|
@ -1806,7 +1811,7 @@ void process_commands()
|
|
|
|
|
#endif //FILAMENTCHANGEENABLE
|
|
|
|
|
case 907: // M907 Set digital trimpot motor current using axis codes.
|
|
|
|
|
{
|
|
|
|
|
#if DIGIPOTSS_PIN > -1
|
|
|
|
|
#if DIGIPOTSS_PIN > 0
|
|
|
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
|
|
|
|
|
if(code_seen('B')) digipot_current(4,code_value());
|
|
|
|
|
if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
|
|
|
|
|
@ -1815,7 +1820,7 @@ void process_commands()
|
|
|
|
|
break;
|
|
|
|
|
case 908: // M908 Control digital trimpot directly.
|
|
|
|
|
{
|
|
|
|
|
#if DIGIPOTSS_PIN > -1
|
|
|
|
|
#if DIGIPOTSS_PIN > 0
|
|
|
|
|
uint8_t channel,current;
|
|
|
|
|
if(code_seen('P')) channel=code_value();
|
|
|
|
|
if(code_seen('S')) current=code_value();
|
|
|
|
|
@ -1825,7 +1830,7 @@ void process_commands()
|
|
|
|
|
break;
|
|
|
|
|
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
|
|
|
|
|
{
|
|
|
|
|
#if X_MS1_PIN > -1
|
|
|
|
|
#if X_MS1_PIN > 0
|
|
|
|
|
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
|
|
|
|
|
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
|
|
|
|
|
if(code_seen('B')) microstep_mode(4,code_value());
|
|
|
|
|
@ -1835,7 +1840,7 @@ void process_commands()
|
|
|
|
|
break;
|
|
|
|
|
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
|
|
|
|
|
{
|
|
|
|
|
#if X_MS1_PIN > -1
|
|
|
|
|
#if X_MS1_PIN > 0
|
|
|
|
|
if(code_seen('S')) switch((int)code_value())
|
|
|
|
|
{
|
|
|
|
|
case 1:
|
|
|
|
|
@ -2173,7 +2178,7 @@ void kill()
|
|
|
|
|
disable_e1();
|
|
|
|
|
disable_e2();
|
|
|
|
|
|
|
|
|
|
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
|
|
|
|
|
if(PS_ON_PIN > 0) pinMode(PS_ON_PIN,INPUT);
|
|
|
|
|
SERIAL_ERROR_START;
|
|
|
|
|
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
|
|
|
|
|
LCD_ALERTMESSAGEPGM(MSG_KILLED);
|
|
|
|
|
|
ErikZalm
12 years ago