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Marlin_main.cpp
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Marlin_main.cpp
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/**
* Marlin 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/>.
*
* About Marlin
*
* 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"
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_GRID)
#include "qr_solve.h"
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "cardreader.h"
#include "watchdog.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "buzzer.h"
#if ENABLED(BLINKM)
#include "blinkm.h"
#include "Wire.h"
#endif
#if HAS_SERVOS
#include "servo.h"
#endif
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
/**
* Look here for descriptions of G-codes:
* - http://linuxcnc.org/handbook/gcode/g-code.html
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
*
* Help us document these G-codes online:
* - http://marlinfirmware.org/index.php/G-Code
* - http://reprap.org/wiki/G-code
*
* -----------------
* Implemented Codes
* -----------------
*
* "G" 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 one or more axes
* G29 - Detailed Z probe, probes the bed at 3 or more points. Will fail if you haven't homed yet.
* G30 - Single Z probe, probes bed at current XY location.
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
*
* "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
* 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
* M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
* syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
* Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
* The '#' is necessary when calling from within sd files, as it stops buffer prereading
* M33 - Get the longname version of a path
* 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.
* M48 - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
* 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
* M104 - Set extruder target temp
* M105 - Read current temp
* M106 - Fan on
* M107 - Fan off
* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
* IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
* M110 - Set the current line number
* M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
* M112 - Emergency stop
* M114 - Output current position to serial port
* M115 - Capabilities string
* M117 - Display a message on the controller screen
* M119 - Output Endstop status to serial port
* M120 - Enable endstop detection
* M121 - Disable endstop detection
* 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
* M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
* M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
* M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
* 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: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
* 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 homing offset
* M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
* M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
* 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 - Set speed factor override percentage: S<factor in percent>
* M221 - Set extrude factor override percentage: S<factor in percent>
* M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
* M240 - Trigger a camera to take a photograph
* M250 - Set LCD contrast C<contrast value> (value 0..63)
* M280 - Set servo position absolute. P: servo index, S: angle or microseconds
* M300 - Play beep sound 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
* M380 - Activate solenoid on active extruder
* M381 - Disable all solenoids
* M400 - Finish all moves
* M401 - Lower Z probe if present
* M402 - Raise Z probe if present
* M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
* M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
* M406 - Turn off Filament Sensor extrusion control
* M407 - Display measured filament diameter
* M410 - Quickstop. Abort all the planned moves
* M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
* M428 - Set the home_offset logically based on the current_position
* M500 - Store parameters in EEPROM
* M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - Revert 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). Use S0 to leave off headings.
* 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]
* M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
* M666 - Set delta endstop adjustment
* M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
* M907 - Set digital trimpot motor current using axis codes.
* M908 - Control digital trimpot directly.
* M350 - Set microstepping mode.
* M351 - Toggle MS1 MS2 pins directly.
*
* ************ SCARA Specific - This can change to suit future G-code regulations
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
* M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
* M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
* M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
* M365 - SCARA calibration: Scaling factor, X, Y, Z axis
* ************* SCARA End ***************
*
* ************ Custom codes - This can change to suit future G-code regulations
* M100 - Watch Free Memory (For Debugging Only)
* M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)
* M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error
*
* "T" Codes
*
* T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
*
*/
#if ENABLED(M100_FREE_MEMORY_WATCHER)
void gcode_M100();
#endif
#if ENABLED(SDSUPPORT)
CardReader card;
#endif
bool Running = true;
uint8_t marlin_debug_flags = DEBUG_INFO | DEBUG_ERRORS;
static float feedrate = 1500.0, saved_feedrate;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
static char* current_command, *current_command_args;
static int cmd_queue_index_r = 0;
static int cmd_queue_index_w = 0;
static int commands_in_queue = 0;
static char command_queue[BUFSIZE][MAX_CMD_SIZE];
const float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
float home_offset[3] = { 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;
int fanSpeed = 0;
bool cancel_heatup = false;
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static bool relative_mode = false; //Determines Absolute or Relative Coordinates
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char* seen_pointer; ///< A pointer to find chars in the command string (X, Y, Z, E, etc.)
const char* queued_commands_P = NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000L;
millis_t print_job_start_ms = 0; ///< Print job start time
millis_t print_job_stop_ms = 0; ///< Print job stop time
static uint8_t target_extruder;
bool no_wait_for_cooling = true;
bool target_direction;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int xy_travel_speed = XY_TRAVEL_SPEED;
float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
float z_endstop_adj = 0;
#endif
// Extruder offsets
#if EXTRUDERS > 1
#ifndef EXTRUDER_OFFSET_X
#define EXTRUDER_OFFSET_X { 0 }
#endif
#ifndef EXTRUDER_OFFSET_Y
#define EXTRUDER_OFFSET_Y { 0 }
#endif
float extruder_offset[][EXTRUDERS] = {
EXTRUDER_OFFSET_X,
EXTRUDER_OFFSET_Y
#if ENABLED(DUAL_X_CARRIAGE)
, { 0 } // supports offsets in XYZ plane
#endif
};
#endif
#if HAS_SERVO_ENDSTOPS
const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif
#if ENABLED(BARICUDA)
int ValvePressure = 0;
int EtoPPressure = 0;
#endif
#if ENABLED(FWRETRACT)
bool autoretract_enabled = false;
bool retracted[EXTRUDERS] = { false };
bool retracted_swap[EXTRUDERS] = { false };
float retract_length = RETRACT_LENGTH;
float retract_length_swap = RETRACT_LENGTH_SWAP;
float retract_feedrate = RETRACT_FEEDRATE;
float retract_zlift = RETRACT_ZLIFT;
float retract_recover_length = RETRACT_RECOVER_LENGTH;
float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;
#endif // FWRETRACT
#if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
bool powersupply =
#if ENABLED(PS_DEFAULT_OFF)
false
#else
true
#endif
;
#endif
#if ENABLED(DELTA)
#define TOWER_1 X_AXIS
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
float delta[3] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
float delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
float delta_tower3_x = 0; // back middle tower
float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
//float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int delta_grid_spacing[2] = { 0, 0 };
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
#else
static bool home_all_axis = true;
#endif
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_SENSOR)
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA; //Stores the measured filament diameter
signed char measurement_delay[MAX_MEASUREMENT_DELAY + 1]; //ring buffer to delay measurement store extruder factor after subtracting 100
int delay_index1 = 0; //index into ring buffer
int delay_index2 = -1; //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
float delay_dist = 0; //delay distance counter
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
static bool filrunoutEnqueued = false;
#endif
#if ENABLED(SDSUPPORT)
static bool fromsd[BUFSIZE];
#endif
#if HAS_SERVOS
Servo servo[NUM_SERVOS];
#endif
#ifdef CHDK
unsigned long chdkHigh = 0;
boolean chdkActive = false;
#endif
#if ENABLED(PID_ADD_EXTRUSION_RATE)
int lpq_len = 20;
#endif
//===========================================================================
//================================ Functions ================================
//===========================================================================
void process_next_command();
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
bool setTargetedHotend(int code);
void serial_echopair_P(const char* s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char* s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
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); }
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
#if ENABLED(SDSUPPORT)
#include "SdFatUtil.h"
int freeMemory() { return SdFatUtil::FreeRam(); }
#else
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;
}
}
#endif //!SDSUPPORT
/**
* Inject the next command from the command queue, when possible
* Return false only if no command was pending
*/
static bool drain_queued_commands_P() {
if (!queued_commands_P) return false;
// Get the next 30 chars from the sequence of gcodes to run
char cmd[30];
strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0';
// Look for the end of line, or the end of sequence
size_t i = 0;
char c;
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
if (enqueuecommand(cmd)) { // buffer was not full (else we will retry later)
if (c)
queued_commands_P += i + 1; // move to next command
else
queued_commands_P = NULL; // will have no more commands in the sequence
}
return true;
}
/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
* Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
*/
void enqueuecommands_P(const char* pgcode) {
queued_commands_P = pgcode;
drain_queued_commands_P(); // first command executed asap (when possible)
}
/**
* Copy a command directly into the main command buffer, from RAM.
*
* This is done in a non-safe way and needs a rework someday.
* Returns false if it doesn't add any command
*/
bool enqueuecommand(const char* cmd) {
if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
// This is dangerous if a mixing of serial and this happens
char* command = command_queue[cmd_queue_index_w];
strcpy(command, cmd);
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_Enqueueing);
SERIAL_ECHO(command);
SERIAL_ECHOLNPGM("\"");
cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
commands_in_queue++;
return true;
}
void setup_killpin() {
#if HAS_KILL
SET_INPUT(KILL_PIN);
WRITE(KILL_PIN, HIGH);
#endif
}
void setup_filrunoutpin() {
#if HAS_FILRUNOUT
pinMode(FILRUNOUT_PIN, INPUT);
#if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILRUNOUT_PIN, HIGH);
#endif
#endif
}
// Set home pin
void setup_homepin(void) {
#if HAS_HOME
SET_INPUT(HOME_PIN);
WRITE(HOME_PIN, HIGH);
#endif
}
void setup_photpin() {
#if HAS_PHOTOGRAPH
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if HAS_POWER_SWITCH
#if ENABLED(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide() {
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, LOW);
#endif
}
void servo_init() {
#if NUM_SERVOS >= 1 && HAS_SERVO_0
servo[0].attach(SERVO0_PIN);
servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
#endif
#if NUM_SERVOS >= 2 && HAS_SERVO_1
servo[1].attach(SERVO1_PIN);
servo[1].detach();
#endif
#if NUM_SERVOS >= 3 && HAS_SERVO_2
servo[2].attach(SERVO2_PIN);
servo[2].detach();
#endif
#if NUM_SERVOS >= 4 && HAS_SERVO_3
servo[3].attach(SERVO3_PIN);
servo[3].detach();
#endif
// Set position of Servo Endstops that are defined
#if HAS_SERVO_ENDSTOPS
for (int i = 0; i < 3; i++)
if (servo_endstop_id[i] >= 0)
servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
#endif
}
/**
* Stepper Reset (RigidBoard, et.al.)
*/
#if HAS_STEPPER_RESET
void disableStepperDrivers() {
pinMode(STEPPER_RESET_PIN, OUTPUT);
digitalWrite(STEPPER_RESET_PIN, LOW); // drive it down to hold in reset motor driver chips
}
void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); } // set to input, which allows it to be pulled high by pullups
#endif
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
setup_killpin();
setup_filrunoutpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
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(" " SHORT_BUILD_VERSION);
#ifdef STRING_DISTRIBUTION_DATE
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOPGM(MSG_AUTHOR);
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#endif // STRING_CONFIG_H_AUTHOR
#endif // STRING_DISTRIBUTION_DATE
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);
#if ENABLED(SDSUPPORT)
for (int8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false;
#endif
// loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
Config_RetrieveSettings();
lcd_init();
tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
watchdog_init();
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(Z_PROBE_SLED)
pinMode(SLED_PIN, OUTPUT);
digitalWrite(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
#endif
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE - 1) get_command();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
} else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
SERIAL_PROTOCOLLNPGM(MSG_OK);
}
} else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
commands_in_queue--;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
checkHitEndstops();
idle();
}
void gcode_line_error(const char* err, bool doFlush = true) {
SERIAL_ERROR_START;
serialprintPGM(err);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
if (doFlush) FlushSerialRequestResend();
serial_count = 0;
}
/**
* Add to the circular command queue the next command from:
* - The command-injection queue (queued_commands_P)
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
void get_command() {
if (drain_queued_commands_P()) return; // priority is given to non-serial commands
#if ENABLED(NO_TIMEOUTS)
static millis_t last_command_time = 0;
millis_t ms = millis();
if (!MYSERIAL.available() && commands_in_queue == 0 && ms - last_command_time > NO_TIMEOUTS) {
SERIAL_ECHOLNPGM(MSG_WAIT);
last_command_time = ms;
}
#endif
//
// Loop while serial characters are incoming and the queue is not full
//
while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
#if ENABLED(NO_TIMEOUTS)
last_command_time = ms;
#endif
serial_char = MYSERIAL.read();
//
// If the character ends the line, or the line is full...
//
if (serial_char == '\n' || serial_char == '\r' || serial_count >= MAX_CMD_SIZE - 1) {
// end of line == end of comment
comment_mode = false;
if (!serial_count) return; // empty lines just exit
char* command = command_queue[cmd_queue_index_w];
command[serial_count] = 0; // terminate string
// this item in the queue is not from sd
#if ENABLED(SDSUPPORT)
fromsd[cmd_queue_index_w] = false;
#endif
char* npos = strchr(command, 'N');
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));
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));
return;
}
// if no errors, continue parsing
} else if (npos == command) {
gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
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;
}
}
}
// If command was e-stop process now
if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
commands_in_queue += 1;
serial_count = 0; //clear buffer
} else if (serial_char == '\\') { // Handle escapes
if (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) {
// if we have one more character, copy it over
serial_char = MYSERIAL.read();
command_queue[cmd_queue_index_w][serial_count++] = serial_char;
}
// otherwise do nothing
} else { // its not a newline, carriage return or escape char
if (serial_char == ';') comment_mode = true;
if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char;
}
}
#if ENABLED(SDSUPPORT)
if (!card.sdprinting || serial_count) return;
// '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering = false;
if (commands_in_queue == 0) stop_buffering = false;
while (!card.eof() && commands_in_queue < BUFSIZE && !stop_buffering) {
int16_t n = card.get();
serial_char = (char)n;
if (serial_char == '\n' || serial_char == '\r' ||
((serial_char == '#' || serial_char == ':') && !comment_mode) ||
serial_count >= (MAX_CMD_SIZE - 1) || n == -1
) {
if (card.eof()) {
SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
print_job_stop_ms = millis();
char time[30];
millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000;
int hours = t / 60 / 60, minutes = (t / 60) % 60;
sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time, true);
card.printingHasFinished();
card.checkautostart(true);
}
if (serial_char == '#') stop_buffering = true;
if (!serial_count) {
comment_mode = false; //for new command
return; //if empty line
}
command_queue[cmd_queue_index_w][serial_count] = 0; //terminate string
// if (!comment_mode) {
fromsd[cmd_queue_index_w] = true;
commands_in_queue += 1;
cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
// }
comment_mode = false; //for new command
serial_count = 0; //clear buffer
} else {
if (serial_char == ';') comment_mode = true;
if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char;
}
}
#endif // SDSUPPORT
}
bool code_has_value() {
int i = 1;
char c = seen_pointer[i];
if (c == '-' || c == '+') c = seen_pointer[++i];
if (c == '.') c = seen_pointer[++i];
return (c >= '0' && c <= '9');
}
float code_value() {
float ret;
char* e = strchr(seen_pointer, 'E');
if (e) {
*e = 0;
ret = strtod(seen_pointer + 1, NULL);
*e = 'E';
} else
ret = strtod(seen_pointer + 1, NULL);
return ret;
}
long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
int16_t code_value_short() { return (int16_t)strtol(seen_pointer + 1, NULL, 10); }
bool code_seen(char code) {
seen_pointer = strchr(current_command_args, code);
return (seen_pointer != NULL); // Return TRUE if the code-letter 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_bump_mm, HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#if ENABLED(DUAL_X_CARRIAGE)
#define DXC_FULL_CONTROL_MODE 0
#define DXC_AUTO_PARK_MODE 1
#define DXC_DUPLICATION_MODE 2
static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
static float x_home_pos(int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
static int x_home_dir(int extruder) {
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static millis_t delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE
#if ENABLED(DEBUG_LEVELING_FEATURE)
void print_xyz(const char* prefix, const float x, const float y, const float z) {
SERIAL_ECHO(prefix);
SERIAL_ECHOPAIR(": (", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", z);
SERIAL_ECHOLNPGM(")");
}
void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
#endif
static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
if (active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
min_pos[X_AXIS] = X2_MIN_POS;
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
return;