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scube/Marlin/src/gcode/gcode.cpp

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* gcode.cpp - Temporary container for all gcode handlers
* Most will migrate to classes, by feature.
*/
#include "gcode.h"
GcodeSuite gcode;
#include "parser.h"
#include "queue.h"
#include "../module/motion.h"
#if ENABLED(PRINTCOUNTER)
#include "../module/printcounter.h"
#endif
#include "../Marlin.h" // for idle()
uint8_t GcodeSuite::target_extruder;
millis_t GcodeSuite::previous_cmd_ms;
bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES;
#if ENABLED(HOST_KEEPALIVE_FEATURE)
GcodeSuite::MarlinBusyState GcodeSuite::busy_state = NOT_BUSY;
uint8_t GcodeSuite::host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
#endif
#if ENABLED(CNC_WORKSPACE_PLANES)
GcodeSuite::WorkspacePlane GcodeSuite::workspace_plane = PLANE_XY;
#endif
/**
* Set target_extruder from the T parameter or the active_extruder
*
* Returns TRUE if the target is invalid
*/
bool GcodeSuite::get_target_extruder_from_command() {
if (parser.seenval('T')) {
const int8_t e = parser.value_byte();
if (e >= EXTRUDERS) {
SERIAL_ECHO_START();
SERIAL_CHAR('M');
SERIAL_ECHO(parser.codenum);
SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e);
return true;
}
target_extruder = e;
}
else
target_extruder = active_extruder;
return false;
}
/**
* Set XYZE destination and feedrate from the current GCode command
*
* - Set destination from included axis codes
* - Set to current for missing axis codes
* - Set the feedrate, if included
*/
void GcodeSuite::get_destination_from_command() {
LOOP_XYZE(i) {
if (parser.seen(axis_codes[i]))
destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
else
destination[i] = current_position[i];
}
if (parser.linearval('F') > 0.0)
feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate());
#if ENABLED(PRINTCOUNTER)
if (!DEBUGGING(DRYRUN))
print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
#endif
// Get ABCDHI mixing factors
#if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
gcode_get_mix();
#endif
}
/**
* Dwell waits immediately. It does not synchronize. Use M400 instead of G4
*/
void GcodeSuite::dwell(millis_t time) {
refresh_cmd_timeout();
time += previous_cmd_ms;
while (PENDING(millis(), time)) idle();
}
//
// Placeholders for non-migrated codes
//
extern void gcode_M100();
extern void gcode_M114();
extern void gcode_M115();
extern void gcode_M117();
extern void gcode_M118();
extern void gcode_M119();
extern void gcode_M120();
extern void gcode_M121();
extern void gcode_M150();
extern void gcode_M163();
extern void gcode_M164();
extern void gcode_M165();
extern void gcode_M201();
extern void gcode_M203();
extern void gcode_M204();
extern void gcode_M205();
extern void gcode_M206();
extern void gcode_M211();
extern void gcode_M220();
extern void gcode_M226();
extern void gcode_M240();
extern void gcode_M250();
extern void gcode_M260();
extern void gcode_M261();
extern void gcode_M280();
extern void gcode_M300();
extern void gcode_M301();
extern void gcode_M302();
extern void gcode_M304();
extern void gcode_M350();
extern void gcode_M351();
extern void gcode_M355();
extern bool gcode_M360();
extern bool gcode_M361();
extern bool gcode_M362();
extern bool gcode_M363();
extern bool gcode_M364();
extern void gcode_M380();
extern void gcode_M381();
extern void gcode_M400();
extern void gcode_M401();
extern void gcode_M402();
extern void gcode_M428();
extern void gcode_M500();
extern void gcode_M501();
extern void gcode_M502();
extern void gcode_M503();
extern void gcode_M540();
extern void gcode_M605();
extern void gcode_M665();
extern void gcode_M666();
extern void gcode_M702();
extern void gcode_M900();
extern void gcode_M906();
extern void gcode_M911();
extern void gcode_M912();
extern void gcode_M913();
extern void gcode_M914();
extern void gcode_M907();
extern void gcode_M908();
extern void gcode_M909();
extern void gcode_M910();
extern void gcode_M999();
extern void gcode_T(uint8_t tmp_extruder);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
extern void M100_dump_routine(const char * const title, const char *start, const char *end);
#endif
/**
* Process a single command and dispatch it to its handler
* This is called from the main loop()
*/
void GcodeSuite::process_next_command() {
char * const current_command = command_queue[cmd_queue_index_r];
if (DEBUGGING(ECHO)) {
SERIAL_ECHO_START();
SERIAL_ECHOLN(current_command);
#if ENABLED(M100_FREE_MEMORY_WATCHER)
SERIAL_ECHOPAIR("slot:", cmd_queue_index_r);
M100_dump_routine(" Command Queue:", (const char*)command_queue, (const char*)(command_queue + sizeof(command_queue)));
#endif
}
KEEPALIVE_STATE(IN_HANDLER);
// Parse the next command in the queue
parser.parse(current_command);
// Handle a known G, M, or T
switch (parser.command_letter) {
case 'G': switch (parser.codenum) {
// G0, G1
case 0:
case 1:
#if IS_SCARA
G0_G1(parser.codenum == 0);
#else
G0_G1();
#endif
break;
// G2, G3
#if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
case 2: // G2: CW ARC
case 3: // G3: CCW ARC
G2_G3(parser.codenum == 2);
break;
#endif
// G4 Dwell
case 4:
G4();
break;
#if ENABLED(BEZIER_CURVE_SUPPORT)
case 5: // G5: Cubic B_spline
G5();
break;
#endif // BEZIER_CURVE_SUPPORT
#if ENABLED(FWRETRACT)
case 10: // G10: retract
G10();
break;
case 11: // G11: retract_recover
G11();
break;
#endif // FWRETRACT
#if ENABLED(NOZZLE_CLEAN_FEATURE)
case 12:
G12(); // G12: Nozzle Clean
break;
#endif // NOZZLE_CLEAN_FEATURE
#if ENABLED(CNC_WORKSPACE_PLANES)
case 17: // G17: Select Plane XY
G17();
break;
case 18: // G18: Select Plane ZX
G18();
break;
case 19: // G19: Select Plane YZ
G19();
break;
#endif // CNC_WORKSPACE_PLANES
#if ENABLED(INCH_MODE_SUPPORT)
case 20: // G20: Inch Mode
G20();
break;
case 21: // G21: MM Mode
G21();
break;
#endif // INCH_MODE_SUPPORT
#if ENABLED(UBL_G26_MESH_VALIDATION)
case 26: // G26: Mesh Validation Pattern generation
G26();
break;
#endif // AUTO_BED_LEVELING_UBL
#if ENABLED(NOZZLE_PARK_FEATURE)
case 27: // G27: Nozzle Park
G27();
break;
#endif // NOZZLE_PARK_FEATURE
case 28: // G28: Home all axes, one at a time
G28(false);
break;
#if HAS_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled.
G29();
break;
#endif // HAS_LEVELING
#if HAS_BED_PROBE
case 30: // G30 Single Z probe
G30();
break;
#if ENABLED(Z_PROBE_SLED)
case 31: // G31: dock the sled
G31();
break;
case 32: // G32: undock the sled
G32();
break;
#endif // Z_PROBE_SLED
#endif // HAS_BED_PROBE
#if ENABLED(DELTA_AUTO_CALIBRATION)
case 33: // G33: Delta Auto-Calibration
G33();
break;
#endif // DELTA_AUTO_CALIBRATION
#if ENABLED(G38_PROBE_TARGET)
case 38: // G38.2 & G38.3
if (parser.subcode == 2 || parser.subcode == 3)
G38(parser.subcode == 2);
break;
#endif
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92 - Set current axis position(s)
G92();
break;
#if HAS_MESH
case 42: G42(); break; // G42: Coordinated move to a mesh point
#endif
#if ENABLED(DEBUG_GCODE_PARSER)
case 800:
parser.debug(); // GCode Parser Test for G
break;
#endif
}
break;
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(); break; // M75: Start print timer
case 76: M76(); break; // M76: Pause print timer
case 77: M77(); break; // M77: Stop print timer
#if ENABLED(PRINTCOUNTER)
case 78: M78(); break; // M78: Show print statistics
#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(); break; // M110: Set Current Line Number
case 111: M111(); break; // M111: Set debug level
#if DISABLED(EMERGENCY_PARSER)
case 108: M108(); break; // M108: Cancel Waiting
case 112: M112(); break; // M112: Emergency Stop
case 410: M410(); break; // M410: Quickstop - Abort all the planned moves.
#endif
#if ENABLED(HOST_KEEPALIVE_FEATURE)
case 113: M113(); break; // M113: Set Host Keepalive interval
#endif
#if HAS_HEATER_BED && HAS_TEMP_BED
case 140: M140(); break; // M140: Set bed temperature
case 190: M190(); break; // M190: Wait for bed temperature to reach target
#endif
case 105: // M105: Report current temperature
M105();
KEEPALIVE_STATE(NOT_BUSY);
return; // "ok" already printed
#if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
case 155: M155(); break; // M155: Set temperature auto-report interval
#endif
#if FAN_COUNT > 0
case 106: M106(); break; // M106: Fan On
case 107: M107(); break; // M107: Fan Off
#endif
#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(); break; // M126: valve open
case 127: M127(); break; // M127: valve closed
#endif
// PWM for HEATER_2_PIN
#if HAS_HEATER_2
case 128: M128(); break; // M128: valve open
case 129: M129(); break; // M129: valve closed
#endif
#endif // BARICUDA
#if HAS_POWER_SWITCH
case 80: M80(); break; // M80: Turn on Power Supply
#endif
case 81: M81(); break; // M81: Turn off Power, including Power Supply, if possible
case 82: M82(); break; // M82: Set E axis normal mode (same as other axes)
case 83: M83(); break; // M83: Set E axis relative mode
case 18: // M18 => M84
case 84: M18_M84(); break; // M84: Disable all steppers or set timeout
case 85: M85(); break; // M85: Set inactivity stepper shutdown timeout
case 92: M92(); break; // M92: Set the steps-per-unit for one or more axes
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(); break; // M145: Set material heatup parameters
#endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
case 149: M149(); break; // M149: Set temperature units
#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
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