@ -67,17 +67,9 @@
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// 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
@ -92,6 +84,7 @@
// 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 when printing from SD card)
// 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
@ -101,6 +94,12 @@
// 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
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
@ -110,7 +109,8 @@
// 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.
// 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
// 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!!
@ -125,6 +125,7 @@
// 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
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// 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
@ -245,6 +246,9 @@ bool Stopped=false;
Servo servos [ NUM_SERVOS ] ;
# endif
bool CooldownNoWait = true ;
bool target_direction ;
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@ -425,6 +429,7 @@ void setup()
servo_init ( ) ;
lcd_init ( ) ;
_delay_ms ( 1000 ) ; // wait 1sec to display the splash screen
# if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT ( CONTROLLERFAN_PIN ) ; //Set pin used for driver cooling fan
@ -676,7 +681,44 @@ 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 ) ;
# ifdef DUAL_X_CARRIAGE
# if EXTRUDERS == 1 || defined(COREXY) \
| | ! defined ( X2_ENABLE_PIN ) | | ! defined ( X2_STEP_PIN ) | | ! defined ( X2_DIR_PIN ) \
| | ! defined ( X2_HOME_POS ) | | ! defined ( X2_MIN_POS ) | | ! defined ( X2_MAX_POS ) \
| | ! defined ( X_MAX_PIN ) | | X_MAX_PIN < 0
# error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
# endif
# if X_HOME_DIR != -1 || X2_HOME_DIR != 1
# error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
# endif
static float x_home_pos ( int extruder ) {
if ( extruder = = 0 )
return base_home_pos ( X_AXIS ) + add_homeing [ 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_x_carriage_pos = X2_MAX_POS ;
# endif
static void axis_is_at_home ( int axis ) {
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS & & 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 ;
}
# endif
current_position [ axis ] = base_home_pos ( axis ) + add_homeing [ axis ] ;
min_pos [ axis ] = base_min_pos ( axis ) + add_homeing [ axis ] ;
max_pos [ axis ] = base_max_pos ( axis ) + add_homeing [ axis ] ;
@ -685,30 +727,38 @@ static void axis_is_at_home(int 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 ) {
int axis_home_dir = home_dir ( axis ) ;
# ifdef DUAL_X_CARRIAGE
if ( axis = = X_AXIS )
axis_home_dir = x_home_dir ( active_extruder ) ;
# endif
// Engage Servo endstop if enabled
# ifdef SERVO_ENDSTOPS[axis] > -1
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 ] ) ;
# ifdef SERVO_ENDSTOPS
if ( SERVO_ENDSTOPS [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 ] ) ;
}
# endif
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 ) ;
destination [ axis ] = 1.5 * max_length ( axis ) * axis_ home_dir;
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 ) ;
destination [ axis ] = - home_retract_mm ( axis ) * axis_ home_dir;
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 ) ;
destination [ axis ] = 2 * home_retract_mm ( axis ) * axis_ home_dir;
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 ( ) ;
@ -719,8 +769,10 @@ static void homeaxis(int axis) {
endstops_hit_on_purpose ( ) ;
// Retract Servo endstop if enabled
# ifdef SERVO_ENDSTOPS[axis] > -1
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 + 1 ] ) ;
# ifdef SERVO_ENDSTOPS
if ( SERVO_ENDSTOPS [ axis ] > - 1 ) {
servos [ servo_endstops [ axis ] ] . write ( servo_endstop_angles [ axis * 2 + 1 ] ) ;
}
# endif
}
}
@ -846,7 +898,7 @@ void process_commands()
# else // NOT DELTA
home_all_axis = ! ( ( code_seen ( axis_codes [ 0 ] ) ) | | ( code_seen ( axis_codes [ 1 ] ) ) | | ( code_seen ( axis_codes [ 2 ] ) ) ) ;
home_all_axis = ! ( ( code_seen ( axis_codes [ 0 ] ) ) | | ( code_seen ( axis_codes [ 1 ] ) ) | | ( code_seen ( axis_codes [ 2 ] ) ) ) ;
# if Z_HOME_DIR > 0 // If homing away from BED do Z first
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ Z_AXIS ] ) ) ) {
@ -859,8 +911,14 @@ void process_commands()
{
current_position [ X_AXIS ] = 0 ; current_position [ Y_AXIS ] = 0 ;
# ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir ( X_AXIS ) ;
# else
int x_axis_home_dir = x_home_dir ( active_extruder ) ;
# endif
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
destination [ X_AXIS ] = 1.5 * X_MAX_LENGTH * X_HOME_DIR ; destination [ Y_AXIS ] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR ;
destination [ X_AXIS ] = 1.5 * max_length ( X_AXIS ) * x_axis_home_dir ; destination [ Y_AXIS ] = 1.5 * max_length ( Y_AXIS ) * home_dir ( Y_AXIS ) ;
feedrate = homing_feedrate [ X_AXIS ] ;
if ( homing_feedrate [ Y_AXIS ] < feedrate )
feedrate = homing_feedrate [ Y_AXIS ] ;
@ -885,6 +943,13 @@ void process_commands()
if ( ( home_all_axis ) | | ( code_seen ( axis_codes [ X_AXIS ] ) ) )
{
# ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder ;
active_extruder = ! active_extruder ;
HOMEAXIS ( X ) ;
inactive_x_carriage_pos = current_position [ X_AXIS ] ;
active_extruder = tmp_extruder ;
# endif
HOMEAXIS ( X ) ;
}
@ -917,7 +982,7 @@ void process_commands()
}
}
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
# endif // DELTA
# endif // else DELTA
# ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops ( false ) ;
@ -1057,6 +1122,19 @@ void process_commands()
card . removeFile ( strchr_pointer + 4 ) ;
}
break ;
case 32 : //M32 - Select file and start SD print
if ( card . sdprinting ) {
st_synchronize ( ) ;
card . closefile ( ) ;
card . sdprinting = false ;
}
starpos = ( strchr ( strchr_pointer + 4 , ' * ' ) ) ;
if ( starpos ! = NULL )
* ( starpos - 1 ) = ' \0 ' ;
card . openFile ( strchr_pointer + 4 , true ) ;
card . startFileprint ( ) ;
starttime = millis ( ) ;
break ;
case 928 : //M928 - Start SD write
starpos = ( strchr ( strchr_pointer + 5 , ' * ' ) ) ;
if ( starpos ! = NULL ) {
@ -1159,7 +1237,13 @@ void process_commands()
# ifdef AUTOTEMP
autotemp_enabled = false ;
# endif
if ( code_seen ( ' S ' ) ) setTargetHotend ( code_value ( ) , tmp_extruder ) ;
if ( code_seen ( ' S ' ) ) {
setTargetHotend ( code_value ( ) , tmp_extruder ) ;
CooldownNoWait = true ;
} else if ( code_seen ( ' R ' ) ) {
setTargetHotend ( code_value ( ) , tmp_extruder ) ;
CooldownNoWait = false ;
}
# ifdef AUTOTEMP
if ( code_seen ( ' S ' ) ) autotemp_min = code_value ( ) ;
if ( code_seen ( ' B ' ) ) autotemp_max = code_value ( ) ;
@ -1174,7 +1258,7 @@ void process_commands()
codenum = millis ( ) ;
/* See if we are heating up or cooling down */
bool target_direction = isHeatingHotend ( tmp_extruder ) ; // true if heating, false if cooling
target_direction = isHeatingHotend ( tmp_extruder ) ; // true if heating, false if cooling
# ifdef TEMP_RESIDENCY_TIME
long residencyStart ;
@ -1230,9 +1314,18 @@ void process_commands()
case 190 : // M190 - Wait for bed heater to reach target.
# if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
LCD_MESSAGEPGM ( MSG_BED_HEATING ) ;
if ( code_seen ( ' S ' ) ) setTargetBed ( code_value ( ) ) ;
if ( code_seen ( ' S ' ) ) {
setTargetBed ( code_value ( ) ) ;
CooldownNoWait = true ;
} else if ( code_seen ( ' R ' ) ) {
setTargetBed ( code_value ( ) ) ;
CooldownNoWait = false ;
}
codenum = millis ( ) ;
while ( isHeatingBed ( ) )
target_direction = isHeatingBed ( ) ; // true if heating, false if cooling
while ( target_direction ? ( isHeatingBed ( ) ) : ( isCoolingBed ( ) & & ( CooldownNoWait = = false ) ) )
{
if ( ( millis ( ) - codenum ) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
@ -1716,6 +1809,18 @@ void process_commands()
# endif
}
break ;
# ifdef DOGLCD
case 250 : // M250 Set LCD contrast value: C<value> (value 0..63)
{
if ( code_seen ( ' C ' ) ) {
lcd_setcontrast ( ( ( int ) code_value ( ) ) & 63 ) ;
}
SERIAL_PROTOCOLPGM ( " lcd contrast value: " ) ;
SERIAL_PROTOCOL ( lcd_contrast ) ;
SERIAL_PROTOCOLLN ( " " ) ;
}
break ;
# endif
# ifdef PREVENT_DANGEROUS_EXTRUDE
case 302 : // allow cold extrudes, or set the minimum extrude temperature
{
@ -1973,6 +2078,20 @@ void process_commands()
if ( tmp_extruder ! = active_extruder ) {
// Save current position to return to after applying extruder offset
memcpy ( destination , current_position , sizeof ( destination ) ) ;
# ifdef DUAL_X_CARRIAGE
// only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos)
current_position [ Y_AXIS ] = current_position [ Y_AXIS ] -
extruder_offset [ Y_AXIS ] [ active_extruder ] +
extruder_offset [ Y_AXIS ] [ tmp_extruder ] ;
float tmp_x_pos = current_position [ X_AXIS ] ;
// Set the new active extruder and position
active_extruder = tmp_extruder ;
axis_is_at_home ( X_AXIS ) ; //this function updates X min/max values.
current_position [ X_AXIS ] = inactive_x_carriage_pos ;
inactive_x_carriage_pos = tmp_x_pos ;
# else
// Offset extruder (only by XY)
int i ;
for ( i = 0 ; i < 2 ; i + + ) {
@ -1982,6 +2101,7 @@ void process_commands()
}
// Set the new active extruder and position
active_extruder = tmp_extruder ;
# endif //else DUAL_X_CARRIAGE
plan_set_position ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
// Move to the old position if 'F' was in the parameters
if ( make_move & & Stopped = = false ) {
@ -2226,6 +2346,9 @@ void controllerFan()
| | ! READ ( E2_ENABLE_PIN )
# endif
# if EXTRUDER > 1
# if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
| | ! READ ( X2_ENABLE_PIN )
# endif
| | ! READ ( E1_ENABLE_PIN )
# endif
| | ! READ ( E0_ENABLE_PIN ) ) //If any of the drivers are enabled...
Guillaume Seguin
12 years ago