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Marlin_main.cpp
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Marlin_main.cpp
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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 "ultralcd.h"
#include "UltiLCD2.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "motion_control.h"
#include "cardreader.h"
#include "watchdog.h"
#include "ConfigurationStore.h"
#include "lifetime_stats.h"
#include "electronics_test.h"
#include "language.h"
#include "pins_arduino.h"
#include "tinkergnome.h"
#include "powerbudget.h"
#include "machinesettings.h"
#include "filament_sensor.h"
#include "preferences.h"
#if NUM_SERVOS > 0
#include "Servo.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif
#define VERSION_STRING "1.0.0"
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// 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
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to coordinates given
//RepRap M Codes
// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
// M1 - Same as M0
// 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.
// M114 - Display current position
//Custom M Codes
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M30 - Delete file from SD (M30 filename.g)
// M31 - Output time since last M109 or SD card start to serial
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// 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
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M200 - Set filament diameter
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// 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
// M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop]
// M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
// M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
// M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beepsound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
// M401 - Cancel as many moves as possible
// 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)
// M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
// M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
// M907 - Set digital trimpot motor current using axis codes.
// M908 - Control digital trimpot directly.
// M350 - Set microstepping mode.
// M351 - Toggle MS1 MS2 pins directly.
// M923 - Select file and start printing directly (can be used from other SD file)
// M928 - Start SD logging (M928 filename.g) - ended by M29
// M999 - Restart after being stopped by error
//Stepper Movement Variables
//===========================================================================
//=============================imported variables============================
//===========================================================================
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
int feedmultiply=100; //100->1 200->2
int extrudemultiply[EXTRUDERS]=ARRAY_BY_EXTRUDERS(100, 100, 100); //100->1 200->2
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homing[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 };
// Extruder offset, only in XY plane
#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
uint8_t active_extruder = 0;
uint8_t tmp_extruder = 0;
uint8_t fanSpeed=0;
uint8_t fanSpeedPercent=100;
MachineSettings machinesettings;
#ifdef SERVO_ENDSTOPS
int servo_endstops[] = SERVO_ENDSTOPS;
int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#ifdef BARICUDA
int ValvePressure=0;
int EtoPPressure=0;
#endif
bool position_error;
#ifdef FWRETRACT
bool autoretract_enabled=false;
bool retracted=false;
float retract_length=4.5, retract_feedrate=25*60, retract_zlift=0.8;
#if EXTRUDERS > 1
float extruder_swap_retract_length=16.0;
#endif
float retract_recover_length=0, retract_recover_feedrate=25*60;
#endif
uint8_t printing_state;
//===========================================================================
//=============================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};
#ifdef DELTA
static float delta[3] = {0.0, 0.0, 0.0};
#endif
static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0;
static long gcode_LastN, Stopped_gcode_LastN = 0;
// static bool relative_mode = false; //Determines Absolute or Relative Coordinates
#define RELATIVE_MODE 128
uint8_t axis_relative_state = 0;
static char cmd_line_buffer[MAX_CMD_SIZE] = {'\0'};
static char cmdbuffer[BUFSIZE][MAX_CMD_SIZE] = {'\0'};
#if BUFSIZE > 8
uint16_t serialCmd = 0;
#else
uint8_t serialCmd = 0;
#endif // BUFSIZE
static uint8_t bufindr = 0;
static uint8_t bufindw = 0;
static uint8_t buflen = 0;
static int serial_count = 0;
static bool comment_mode = false;
static char *strchr_pointer = 0; // 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;
#if DISABLE_X || DISABLE_Y || DISABLE_Z || DISABLE_E
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000l;
#endif
unsigned long starttime=0;
unsigned long stoptime=0;
static uint8_t Stopped = 0x0;
#if NUM_SERVOS > 0
Servo servos[NUM_SERVOS];
#endif
#define roundTemperature(x) ((x)>0?(uint16_t)((x)+0.5):0)
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
static void manage_inactivity();
static void get_coordinates(const char *cmd);
static void get_arc_coordinates(const char *cmd);
static bool setTargetedHotend(const char *cmd, int code);
static void prepare_arc_move(char isclockwise);
static void prepare_move(const char *cmd);
static void get_command();
static void FlushSerialRequestResend();
static void ClearToSend();
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); }
void serial_echopair_P(const char *s_P, unsigned int v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_action_P(const char *s_P)
{ serialprintPGM(PSTR("//action:")); serialprintPGM(s_P); SERIAL_EOL; }
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;
}
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
static void commit_command(bool isSerialCmd)
{
++buflen;
if (isSerialCmd)
{
//set serial flag for new command
serialCmd |= (1 << bufindw);
}
else
{
//clear serial flag
serialCmd &= ~(1 << bufindw);
}
++bufindw;
bufindw &= BUFMASK;
}
/**
* Once the current command is interpreted, remove it from the ring buffer
*/
static void remove_command()
{
serialCmd &= ~(1 << bufindr);
++bufindr;
bufindr &= BUFMASK;
--buflen;
}
//Clear all the commands in the ASCII command buffer
void clear_command_queue()
{
while (buflen)
{
remove_command();
}
bufindw = bufindr = 0;
serialCmd = 0;
}
static void next_command()
{
#ifdef SDSUPPORT
if(card.saving())
{
if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL)
{
card.write_command(cmdbuffer[bufindr]);
if(card.logging())
{
process_command(cmdbuffer[bufindr], serialCmd & (1 << bufindr));
}
else
{
SERIAL_PROTOCOLLNPGM(MSG_OK);
}
}
else
{
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
}
}
else
{
process_command(cmdbuffer[bufindr], serialCmd & (1 << bufindr));
}
#else
process_command(cmdbuffer[bufindr], serialCmd & (1 << bufindr));
#endif //SDSUPPORT
if (buflen)
{
remove_command();
}
}
static void prepareenque()
{
while (buflen >= BUFSIZE)
{
next_command();
checkHitEndstops();
idle();
}
}
static void finishenque()
{
SERIAL_ECHO_START;
SERIAL_ECHOPGM("enqueing \"");
SERIAL_ECHO(cmdbuffer[bufindw]);
SERIAL_ECHOLNPGM("\"");
commit_command(false);
}
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
void enquecommand(const char *cmd)
{
prepareenque();
//this is dangerous if a mixing of serial and this happens
strcpy(cmdbuffer[bufindw], cmd);
finishenque();
}
void enquecommand_P(const char *cmd)
{
prepareenque();
//this is dangerous if a mixing of serial and this happens
strcpy_P(cmdbuffer[bufindw], cmd);
finishenque();
}
uint8_t commands_queued()
{
return buflen;
}
void cmd_synchronize()
{
while(buflen)
{
// process next command
next_command();
idle();
checkHitEndstops();
}
}
void setup_killpin()
{
#if defined(KILL_PIN) && KILL_PIN > -1
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN,HIGH);
#endif
}
void setup_photpin()
{
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
}
void suicide()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init()
{
#if (NUM_SERVOS >= 1) && defined(SERVO0_PIN) && (SERVO0_PIN > -1)
servos[0].attach(SERVO0_PIN);
#endif
#if (NUM_SERVOS >= 2) && defined(SERVO1_PIN) && (SERVO1_PIN > -1)
servos[1].attach(SERVO1_PIN);
#endif
#if (NUM_SERVOS >= 3) && defined(SERVO2_PIN) && (SERVO2_PIN > -1)
servos[2].attach(SERVO2_PIN);
#endif
#if (NUM_SERVOS >= 4) && defined(SERVO3_PIN) && (SERVO3_PIN > -1)
servos[3].attach(SERVO3_PIN);
#endif
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#endif
// Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS
for(int8_t i = 0; i < 3; i++)
{
if(servo_endstops[i] > -1) {
servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
}
}
#endif
}
void setup()
{
setup_killpin();
setup_powerhold();
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
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);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#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);
serialCmd = 0;
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
PowerBudget_RetrieveSettings();
lifetime_stats_init();
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
filament_sensor_init(); // Initialize filament sensor
watchdog_init();
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
lcd_init();
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
}
void loop()
{
if (printing_state == PRINT_STATE_ABORT)
{
abortPrint(true);
}
#ifdef SDSUPPORT
card.checkautostart(false);
#endif
if(buflen)
{
// process next command
next_command();
}
if(buflen < BUFSIZE)
{
// get next command
get_command();
}
// manage heater and inactivity
checkHitEndstops();
idle();
}
FORCE_INLINE float code_value()
{
return (strtod(strchr_pointer + 1, NULL));
}
FORCE_INLINE long code_value_long()
{
return (strtol(strchr_pointer + 1, NULL, 10));
}
static bool code_seen(const char *cmd, char code)
{
strchr_pointer = strchr(cmd, code);
return (strchr_pointer != NULL); //Return True if a character was found
}
/**
* Copy a command directly into the main command buffer, from RAM.
* Returns true if successfully adds the command
*/
static bool insertcommand(const char* cmd, bool isSerialCmd)
{
if (*cmd == ';' || buflen >= BUFSIZE)
{
return false;
}
strcpy(cmdbuffer[bufindw], cmd);
commit_command(isSerialCmd);
return true;
}
static void gcode_line_error(const char* err, bool doFlush) {
SERIAL_ERROR_START;
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
if (doFlush) FlushSerialRequestResend();
serial_count = 0;
}
inline void get_serial_commands()
{
long gcode_N;
while( buflen < BUFSIZE && MYSERIAL.available() > 0)
{
char serial_char = MYSERIAL.read();
/**
* If the character ends the line
*/
if (serial_char == '\n' || serial_char == '\r')
{
comment_mode = false; // end of line == end of comment
if (!serial_count) continue; // skip empty lines
cmd_line_buffer[serial_count] = 0; // terminate string
serial_count = 0; //reset buffer
char* command = cmd_line_buffer;
while (*command == ' ') command++; // skip any leading spaces
char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
char* apos = strchr(command, '*');
if (npos) {
boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
if (M110) {
char* n2pos = strchr(command + 4, 'N');
if (n2pos) npos = n2pos;
}
gcode_N = strtol(npos + 1, NULL, 10);
if (gcode_N != gcode_LastN + 1 && !M110) {
gcode_line_error(PSTR(MSG_ERR_LINE_NO), true);
return;
}
if (apos) {
byte checksum = 0, count = 0;
while (command[count] != '*') checksum ^= command[count++];
if (strtol(apos + 1, NULL, 10) != checksum) {
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH), true);
return;
}
// if no errors, continue parsing
}
else {
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM), true);
return;
}
gcode_LastN = gcode_N;
// if no errors, continue parsing
}
else if (apos) { // No '*' without 'N'
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
}
// Movement commands alert when stopped
if (IsStopped()) {
char* gpos = strchr(command, 'G');
if (gpos) {
int codenum = strtol(gpos + 1, NULL, 10);
switch (codenum) {
case 0:
case 1:
case 2:
case 3:
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
break;
}
}
}
// Add the command to the queue
#ifdef ENABLE_ULTILCD2
// no printing screen for unrelated commands
bool isSerialCmd = true;
char* cmdpos = strchr(command, 'M');
if (cmdpos)
{
if (++cmdpos)
{
int codenum = strtol(cmdpos, NULL, 10);
switch (codenum) {
case 20:
case 21:
case 22:
case 27:
case 105:
isSerialCmd = false;
break;
}
}
}
insertcommand(command, isSerialCmd);
#else
insertcommand(command, true);
#endif
}
else if (serial_count >= MAX_CMD_SIZE - 1) {
// Keep fetching, but ignore normal characters beyond the max length
// The command will be injected when EOL is reached
}
else if (serial_char == '\\') { // Handle escapes
if (MYSERIAL.available() > 0) {
// if we have one more character, copy it over
serial_char = MYSERIAL.read();
if (!comment_mode) cmd_line_buffer[serial_count++] = serial_char;
}
// otherwise do nothing
}
else { // it's not a newline, carriage return or escape char
if (serial_char == ';') comment_mode = true;
if (!comment_mode) cmd_line_buffer[serial_count++] = serial_char;
}
}
}
#ifdef SDSUPPORT
inline void get_sdcard_commands()
{
if (!card.sdprinting() || card.pause() || (printing_state == PRINT_STATE_ABORT)) return;
uint16_t sd_count = 0;
char sd_char = '\0';
static uint32_t endOfLineFilePosition = 0;
bool card_eof = card.eof();
while (buflen < BUFSIZE && !card_eof)
{
int16_t n = card.get();
if (card.errorCode())
{
if (!card.sdInserted())
{
card.release();
return;
}
SERIAL_ECHO("SD Card error: ");
SERIAL_ECHOLN((int)card.errorCode());
//On an error, reset the error, reset the file position and try again.
card.clearError();
//Screw it, if we are near the end of a file with an error, act if the file is finished. Hopefully preventing the hang at the end.
if (endOfLineFilePosition > card.getFileSize() - 512) {
card.stopPrinting();
return;
}
// Try to seek for several times and stop printing if we could not do seek to start point of previous command.
// This happens when fatGet inside SdBaseFile::seekSet can not be done and curPosition_
// will never be set to actual position.
uint8_t retryCnt = 10;
while (retryCnt --) {
if(card.setIndex(endOfLineFilePosition)) {
SERIAL_ECHO("Restart reading last command from position: ");
SERIAL_ECHOLN((unsigned int)endOfLineFilePosition);
return; // seek done, try to restart command reading without stopping the entire process.
}
}
// we can not seek to end of previous command due to SD card error.
SERIAL_ECHO("Number of SD Card reading tries exceeded. Stopping...");
card.stopPrinting();
return;
}
if (n<=0)
{
card_eof = true;
sd_char = '\0';
}
else
{
card_eof = card.eof();
sd_char = (char)n;
}
if (card_eof
|| sd_char == '\n' || sd_char == '\r'
|| ((sd_char == '#' || sd_char == ':') && !comment_mode))
{
if (card_eof) {
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int minutes=(t/60)%60;
int hours=t/60/60;
sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
card.printingHasFinished();
card.checkautostart(true);
}
comment_mode = false; //for new command
if (!sd_count) continue; //skip empty lines
cmd_line_buffer[sd_count] = '\0'; //terminate string
sd_count = 0; //clear buffer
endOfLineFilePosition = card.getFilePos();
insertcommand(cmd_line_buffer, false);
}
else if (sd_count < MAX_CMD_SIZE - 1)
{
if (sd_char == ';')
{
comment_mode = true;
}
else if (!comment_mode)
{
// add char to line buffer
cmd_line_buffer[sd_count++] = sd_char;
}
}
/**
* Keep fetching, but ignore normal characters beyond the max length
* The command will be injected when EOL is reached
*/
}
}
#endif //SDSUPPORT
static void get_command()
{
if (printing_state != PRINT_STATE_ABORT)
{
get_serial_commands();
#ifdef SDSUPPORT
get_sdcard_commands();
#endif //SDSUPPORT
}
}
#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)
{
float baseHomePos;
#ifdef BED_CENTER_AT_0_0
float maxLength = max_pos[axis] - min_pos[axis];
#endif
if (axis == Z_AXIS)
{
if (home_dir(axis) == -1)
{
baseHomePos = min_pos[axis];
}
else
{
baseHomePos = max_pos[axis];
}
}
else
{
if (home_dir(axis) == -1)
{
#ifdef BED_CENTER_AT_0_0
baseHomePos = maxLength * -0.5;
#else
baseHomePos = min_pos[axis];
#endif
}
else
{
#ifdef BED_CENTER_AT_0_0
baseHomePos = maxLength * 0.5;
#else
baseHomePos = max_pos[axis];
#endif
}
}
current_position[axis] = baseHomePos + add_homing[axis];
#if (EXTRUDERS > 1)
if (axis <= Y_AXIS)
{
current_position[axis] += extruder_offset[axis][active_extruder];
}
#endif
// min_pos[axis] = base_min_pos(axis);// + add_homing[axis];
// max_pos[axis] = base_max_pos(axis);// + add_homing[axis];
}
// Move the given axis to the home position.
// Movement is in two parts:
// 1) A quick move until the endstop switch is reached.
// 2) A short backup and then slow move to home for accurately determining the home position.
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) {
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[axis] > -1) servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
#endif
// Do a fast run to the home position.
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], active_extruder, true);
destination[axis] = 1.5 * (max_pos[axis]-min_pos[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();
if (!isEndstopHit())
{
if (axis == Z_AXIS)
{
//Move the bed upwards, as most likely something is stuck under the bed when we cannot reach the endstop.
// We need to move up, as the Z screw is quite strong and will lodge the bed into a position where it is hard to remove by hand.
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], active_extruder, true);
destination[axis] = -5 * home_dir(axis);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
//Disable the motor power so the bed can be moved by hand
finishAndDisableSteppers();
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Endstop not pressed after homing down. Endstop broken?");
Stop(STOP_REASON_Z_ENDSTOP_BROKEN_ERROR);
}else{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Endstop not pressed after homing down. Endstop broken?");
Stop(STOP_REASON_XY_ENDSTOP_BROKEN_ERROR);
}
return;
}
// Move back a little bit.
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], active_extruder, true);
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();
// Verify the endstop switch isn't stuck.
bool endstop_pressed = false;
switch(axis)
{
case X_AXIS:
#if defined(X_MIN_PIN) && X_MIN_PIN > -1 && X_HOME_DIR == -1
endstop_pressed = (READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);