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Copy pathXcel_2.8.2.ino
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Xcel_2.8.2.ino
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/* -*- c++ -*- */
/*
Reprap firmware 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/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include "Marlin.h"
#include "math3d.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "EEPROMwrite.h"
#include "language.h"
#include "pins_arduino.h"
#define VERSION_STRING "1.0.0"
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G10 - retract filament according to settings of M207
// G11 - retract recover filament according to settings of M208
// G28 - Home all Axis
// G29 - Test if Zprobe solenoid is working
// G32 - level printing bed
// G40 - Print amount of steps missed since last reset
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
// M Codes
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M42 - Change pin status via gcode
// M50 - Set Extruder 2 Offset. Does NOT reset with firmware reset M502.
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M114 - Output current position to serial port
// M119 - Output Endstop status to serial port
// M200 - Set filament diameter
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - set additional homeing offset
// M220 - S<factor in percent> set speed factor override percentage (M220 S110)
// M221 - S<factor in percent> set extrude factor override percentage (M221 S75)
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - print the current settings (from memory not from eeprom)
// M601 - Set calibration offsets (X, Y, Z)
// M999 - Restart after being stopped by error
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 1000->2
int saved_feedmultiply;
volatile bool feedmultiplychanged=false;
volatile int extrudemultiply=100; //100->1 1000->2
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
uint8_t active_extruder = 0;
unsigned char FanSpeed=0;
int Z_STEPPER_SINGLE = 0;
bool door_status = false;
// Extruder offset, only in XY plane // Extruder Offset not required in Xcel as there is only one Extruder.
/*#if EXTRUDERS > 1
float extruder_offset[2][EXTRUDERS] = {
#if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y)
EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y
#endif
#endif*/
//===========================================================================
//=============================private variables=============================
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
static bool relative_mode = false; //Determines Absolute or Relative Coordinates
static bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
static bool fromsd[BUFSIZE];
static int bufindr = 0;
static int bufindw = 0;
static int buflen = 0;
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//========================================================================================================================
//=================================Inactivity shutdown variables==========================================================
//========================================================================================================================
static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
static bool break_heating_wait = false;
static unsigned long starttime=0;
static unsigned long stoptime=0;
static uint8_t tmp_extruder;
static uint8_t target_extruder;
bool Stopped=false;
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
bool setTargetedHotend(int code);
void serial_echopair_P(const char *s_P, float v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, double v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, unsigned long v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
extern "C"{
extern unsigned int __bss_end;
extern unsigned int __heap_start;
extern void *__brkval;
int freeMemory() {
int free_memory;
if((int)__brkval == 0)
free_memory = ((int)&free_memory) - ((int)&__bss_end);
else
free_memory = ((int)&free_memory) - ((int)__brkval);
return free_memory;
}
}
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
void enquecommand(const char *cmd)
{
if(buflen < BUFSIZE)
{
//this is dangerous if a mixing of serial and this happsens
strcpy(&(cmdbuffer[bufindw][0]),cmd);
SERIAL_ECHO_START;
SERIAL_ECHOPGM("enqueing \"");
SERIAL_ECHO(cmdbuffer[bufindw]);
SERIAL_ECHOLNPGM("\"");
bufindw= (bufindw + 1)%BUFSIZE;
buflen += 1;
}
}
void setup_killpin()
{
#if( KILL_PIN>-1 )
pinMode(KILL_PIN,INPUT);
WRITE(KILL_PIN,HIGH);
#endif
}
void setup_doorpin()
{
#if defined(DOOR_PIN) && DOOR_PIN > -1
pinMode(DOOR_PIN,INPUT);
WRITE(DOOR_PIN,LOW);
door_status = READ(DOOR_PIN);
#endif
}
void setup_filament_pins()
{
#if defined(FILAMENT_E0) && FILAMENT_E0 > -1
pinMode(FILAMENT_E0,INPUT);
WRITE(FILAMENT_E0,HIGH);
#endif
#if defined(FILAMENT_E1) && FILAMENT_E1 > -1
pinMode(FILAMENT_E1,INPUT);
WRITE(FILAMENT_E1,HIGH);
#endif
}
void setup_powerhold()
{
#ifdef SUICIDE_PIN
#if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#endif
}
void suicide()
{
#ifdef SUICIDE_PIN
#if (SUICIDE_PIN> -1)
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
#endif
}
void solenoidpin() // Om solenoid-pin te definieren en laag te maken TvdG
{
SET_OUTPUT(SOL2_PIN);
SET_OUTPUT(SOL1_PIN);
digitalWrite(SOL1_PIN, LOW); // Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL2_PIN, LOW);
}
void setup()
{
setup_killpin();
setup_powerhold();
solenoidpin();
MYSERIAL.begin(BAUDRATE);
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if(mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if(mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if(mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if(mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if(mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR=0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_ECHOLNPGM(VERSION_STRING);
#ifdef STRING_VERSION_CONFIG_H
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
SERIAL_ECHOPGM(MSG_AUTHOR);
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
#endif
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_FREE_MEMORY);
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
for(int8_t i = 0; i < BUFSIZE; i++)
{
fromsd[i] = false;
}
EEPROM_RetrieveSettings(); // loads data from EEPROM if available
for(int8_t i=0; i < NUM_AXIS; i++)
{
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
setup_doorpin();
setup_filament_pins();
SERIAL_PROTOCOLLNPGM("start");
}
void readCommand()
{
if (buflen < (BUFSIZE - 1))
get_command();
}
void loop()
{
if(buflen < (BUFSIZE-1))
get_command();
if(buflen)
{
process_commands();
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity();
checkHitEndstops();
}
void get_command()
{
while( MYSERIAL.available() > 0 && buflen < BUFSIZE)
{
serial_char = MYSERIAL.read();
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count)
{ //if empty line
comment_mode = false; //for new command
return;
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode)
{
comment_mode = false; //for new command
fromsd[bufindw] = false;
if(strstr(cmdbuffer[bufindw], "N") != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) )
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(cmdbuffer[bufindw], "*") != NULL)
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum)
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if((strstr(cmdbuffer[bufindw], "*") != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
}
if((strstr(cmdbuffer[bufindw], "G") != NULL))
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL))))
{
case 0:
case 1:
case 2:
case 3:
if (Stopped == true) {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
}
break;
default:
break;
}
}
if (strstr(cmdbuffer[bufindw], "M108") != NULL)
{
// Don't add the command to the buffer and pretend this never happened.
break_heating_wait= true;
// It never happened, so we don't send OK
// SERIAL_PROTOCOLLNPGM(MSG_OK);
}
else
{
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
}
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
}
float code_value()
{
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
long code_value_long()
{
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
bool code_seen(char code_string[]) //Return True if the string was found
{
return (strstr(cmdbuffer[bufindr], code_string) != NULL);
}
bool code_seen(char code)
{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static void axis_is_at_home(int axis)
{
current_position[axis] = base_home_pos(axis) + add_homeing[axis]; //+ extruder_offset[axis][active_extruder];
min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
}
static void homeaxis(int axis)
{
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if (axis==X_AXIS ? HOMEAXIS_DO(X) :
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
0)
{
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * home_dir(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
}
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
// Planner shorthand inline functions
inline void line_to_current_position() {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
}
inline void line_to_z(float zPosition) {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
}
inline void line_to_destination(float mm_m) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m/60, active_extruder);
}
inline void line_to_destination() {
line_to_destination(feedrate);
}
inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
bool relative_mode_backup;
float maxAdjust;
int probeIterations;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
if(Stopped == false)
{
get_coordinates(); // For X Y Z E F
prepare_move();
#ifdef FILAMENT_DETECTION
checkFilamentError();
#endif
//ClearToSend();
}
break;
case 4: // G4 dwell
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum ){
manage_heater();
manage_inactivity();
}
break;
case 28: //G28 Home all Axis one at a time
{
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
enable_endstops(true);
set_destination_to_current();
feedrate = 0.0;
bool homeX = code_seen(axis_codes[X_AXIS]),
homeY = code_seen(axis_codes[Y_AXIS]),
homeZ = code_seen(axis_codes[Z_AXIS]);
bool HomeZNotDone = false;
home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
// Raise Z before homing any other axes
// Edb
/* if (home_all_axis || homeZ) {
destination[Z_AXIS] = -2 * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination();
st_synchronize();
}*/
// The Solenoid of the Z-probe should always be retracted.
digitalWrite(SOL2_PIN, HIGH); // Direction of Solenoid2 is retracting of the Z-probe back. (remove this and manipulate)
delay(300);
digitalWrite(SOL2_PIN, LOW);
// The Z axis always lowers 30mm before the travel of the Head along the X and Y axis to avoid collsion of the head with Bed exclusively in the Xcel.
if (home_all_axis) {
if (HomeZNotDone == false){
feedrate = 120;
destination[Z_AXIS] = current_position[Z_AXIS] + 30;
line_to_destination();
st_synchronize();
HomeZNotDone = true;
destination[Z_AXIS] = current_position[Z_AXIS];
}
}
// Home Y First
if (homeY || home_all_axis) HOMEAXIS(Y);
// Home X
if (home_all_axis || homeX) HOMEAXIS(X);
// Home Z
if (home_all_axis || homeZ)
{
destination[Z_AXIS] = current_position[Z_AXIS] + 2;
feedrate = 120;
line_to_destination();
st_synchronize();
// Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL1_PIN, HIGH); // Direction of Solenoid1 is extending of the Z-probe to touch the bed.
delay(500);
digitalWrite(SOL1_PIN, LOW);
HOMEAXIS(Z);
delay(500);
digitalWrite(SOL2_PIN, HIGH); // Direction of Solenoid2 is retracting of the Z-probe back.
delay(800);
digitalWrite(SOL2_PIN, LOW);
HomeZNotDone = false;
}
sync_plan_position();
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose(); // clear endstop hit flags
break;
}
#ifdef ENABLE_ZPROBE
case 29: // G29 - Test z_probe solenoid
// Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL1_PIN, HIGH); // Direction of Solenoid1 is extending of the Z-probe to touch the bed.
delay(500);
digitalWrite(SOL1_PIN, LOW);
delay(800);
digitalWrite(SOL2_PIN, HIGH); // Direction of Solenoid2 is retracting of the Z-probe back.
delay(500);
digitalWrite(SOL2_PIN, LOW);
delay(400);
break;
case 30: // G30 - solenoid uitklappen
// Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL1_PIN, HIGH);
delay(500);
digitalWrite(SOL1_PIN, LOW);
break;
case 31: // G31 - solenoid inklappen
// Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL2_PIN, HIGH);
delay(500);
digitalWrite(SOL2_PIN, LOW);
break;
case 32: // G32 - Z Probe at 3 points place the bed straight
{
relative_mode_backup = relative_mode; // Relative mode might be changed by probing algorithm. So store it, to be restored at the end
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
enable_endstops(true);
set_destination_to_current();
feedrate = 0.0;
bool homeX = code_seen(axis_codes[X_AXIS]),
homeY = code_seen(axis_codes[Y_AXIS]),
homeZ = code_seen(axis_codes[Z_AXIS]);
home_all_axis = !(homeX || homeY || homeZ) || (homeX && homeY && homeZ);
// Raise Z before homing any other axes
// Removed Edb
//if (home_all_axis || homeZ) {
// destination[Z_AXIS] = -2 * home_dir(Z_AXIS); // Set destination away from bed
// feedrate = max_feedrate[Z_AXIS] * 60;
// line_to_destination();
// st_synchronize();
//}
// Home Y
if (home_all_axis || homeY) HOMEAXIS(Y);
// Home X
if (home_all_axis || homeX) HOMEAXIS(X);
// Set the X position and add M206
if (code_seen(axis_codes[X_AXIS])) {
float v = code_value();
if (v) current_position[X_AXIS] = v + add_homeing[0];
}
// Set the Y position and add M206
if (code_seen(axis_codes[Y_AXIS])) {
float v = code_value();
if (v) current_position[Y_AXIS] = v + add_homeing[1];
}
// Home Z
//CHECK EDO 4
if (home_all_axis || homeZ)
{
destination[Z_AXIS] = current_position[Z_AXIS] + 2; //Edb 13.04.2015
feedrate = 120;
line_to_destination();
st_synchronize();
// Implementation of logic for bi-directional solenoid for auto bed-levelling.
digitalWrite(SOL1_PIN, HIGH);
delay(500);
digitalWrite(SOL1_PIN, LOW);
HOMEAXIS(Z);
delay(400);
digitalWrite(SOL2_PIN, HIGH);
delay(500);
digitalWrite(SOL2_PIN, LOW);
}
// Set the Z position and add M206
if (code_seen(axis_codes[Z_AXIS])) {
float v = code_value();
if (v) current_position[Z_AXIS] = v + add_homeing[2];
}
sync_plan_position();
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
endstops_hit_on_purpose(); // clear endstop hit flags
enable_endstops(true);
enable_z();
while(zprobe_4points_Willem(true)>0.05 );
enable_endstops(false);
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
relative_mode = relative_mode_backup;
previous_millis_cmd = millis();
break;
}
#endif
case 33:
Z_STEPPER_SINGLE = 0;
////SERIAL_PROTOCOLPGM("3 spindles active");
break;
case 34: // G34 alleen 1ste z-as bewegen Z connection
Z_STEPPER_SINGLE = 1;
////SERIAL_PROTOCOLPGM(" right front spindle active");
break;
case 35: // G35 alleen 2de z-as bewegen X connection
Z_STEPPER_SINGLE = 2;
////SERIAL_PROTOCOLPGM("back spindle active");
break;
case 36: // G36 alleen 3de z-as bewegen Y Connection
Z_STEPPER_SINGLE = 3;
////SERIAL_PROTOCOLPGM("left front spindle active");
break;
case 37: // G37 - inladen filament
// move head to right front position to release tension on filament tubes Edb
//quick load filament
destination[E_AXIS] = current_position[E_AXIS] + 1800; //Edb
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 3000/60, active_extruder);
current_position[E_AXIS] = destination[E_AXIS];
for(int8_t i=0; i < NUM_AXIS; i++)
{
current_position[i] = destination[i];
}
st_synchronize();
//slow load last part filament Edb
destination[E_AXIS] = current_position[E_AXIS] + 300; //Edb
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 20, active_extruder);
////SERIAL_PROTOCOLPGM("filament ingeladen");
////SERIAL_PROTOCOLLN("");
for(int8_t i=0; i < NUM_AXIS; i++)
{
current_position[i] = destination[i];
}
st_synchronize();
break;
case 38: // G38 - uitladen filament
// move head to right front position to release tension on filament tubes Edb
// slowly unload filament from head Edb 13.04.2015
destination[E_AXIS] = current_position[E_AXIS] + 150;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 20, active_extruder);
current_position[E_AXIS] = destination[E_AXIS];
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
st_synchronize();
// slowly unload filament from head Edb 13.04.2015
destination[E_AXIS] = current_position[E_AXIS] - 200;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 20, active_extruder);
current_position[E_AXIS] = destination[E_AXIS];
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
st_synchronize();
// quick unload filament from head Edb 13.04.2015
destination[E_AXIS] = current_position[E_AXIS] - 1900;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], 3000/60, active_extruder);
current_position[E_AXIS] = destination[E_AXIS];
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
st_synchronize();
////SERIAL_PROTOCOLPGM("filament uitgeladen");
////SERIAL_PROTOCOLLN("");
break;
#ifdef FILAMENT_DETECTION
case 40: // Test FILAMENT_PIN_E0 / FILAMENT_PIN_E1
SERIAL_PROTOCOLPGM("Total errors: ");
SERIAL_PROTOCOLLN(total_errors);
SERIAL_PROTOCOLPGM("Short errors: ");
SERIAL_PROTOCOL(total_s_errors);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOLLN(s_error);
SERIAL_PROTOCOLPGM("Long errors: ");
SERIAL_PROTOCOL(total_l_errors);
SERIAL_PROTOCOLPGM(", ");
SERIAL_PROTOCOLLN(l_error);
break;
case 41:
SERIAL_PROTOCOLLN("Reset errors");
total_errors = 0;
total_l_errors = 0;
total_s_errors = 0;
l_error = 0;
s_error = 0;
#endif
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
if(i == E_AXIS)
{
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else
{
current_position[i] = code_value()+add_homeing[i];
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
{
int pin_number = code_value();
for(int8_t i = 0; i < (int8_t)sizeof(sensitive_pins); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
}
break;
case 104: // M104
if(setTargetedHotend(104))
{
break;
}
if (code_seen('S')) setTargetHotend(code_value(), target_extruder);
setWatch();
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());